From 1a0e632d2f442f13a439a35fa8d270641d041568 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 27 Mar 2023 17:42:54 +0200
Subject: [PATCH] go down to nanoseconds

---
 linux/ipcore/PapbVcInterface.cpp             | 9 +++++----
 linux/ipcore/PapbVcInterface.h               | 3 ++-
 mission/tmtc/PersistentLogTmStoreTask.cpp    | 2 +-
 mission/tmtc/PersistentSingleTmStoreTask.cpp | 2 +-
 4 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/linux/ipcore/PapbVcInterface.cpp b/linux/ipcore/PapbVcInterface.cpp
index 57dcb963..e41bf23b 100644
--- a/linux/ipcore/PapbVcInterface.cpp
+++ b/linux/ipcore/PapbVcInterface.cpp
@@ -3,6 +3,7 @@
 #include <unistd.h>
 
 #include "fsfw/serviceinterface/ServiceInterface.h"
+#include <ctime>
 
 PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
                                  gpioId_t papbEmptyId, std::string uioFile, int mapNum)
@@ -56,7 +57,7 @@ ReturnValue_t PapbVcInterface::pollPapbBusySignal(uint32_t maxPollRetries) const
   gpio::Levels papbBusyState = gpio::Levels::LOW;
   ReturnValue_t result;
   uint32_t busyIdx = 0;
-  uint32_t nextDelay = 1;
+  struct timespec nextDelay = {.tv_sec = 0, .tv_nsec = 10};
 
   while (true) {
     /** Check if PAPB interface is ready to receive data */
@@ -75,9 +76,9 @@ ReturnValue_t PapbVcInterface::pollPapbBusySignal(uint32_t maxPollRetries) const
       return PAPB_BUSY;
     }
 
-    usleep(nextDelay);
-    if (nextDelay * 2 <= MAX_DELAY_PAPB_POLLING_US) {
-      nextDelay *= 2;
+    nanosleep(&nextDelay, const_cast<struct timespec*>(&remDelay));
+    if (nextDelay.tv_nsec * 2 <= MAX_DELAY_PAPB_POLLING_NS) {
+      nextDelay.tv_nsec *= 2;
     }
   }
   return returnvalue::OK;
diff --git a/linux/ipcore/PapbVcInterface.h b/linux/ipcore/PapbVcInterface.h
index f0cd327b..59200207 100644
--- a/linux/ipcore/PapbVcInterface.h
+++ b/linux/ipcore/PapbVcInterface.h
@@ -76,7 +76,7 @@ class PapbVcInterface : public VirtualChannelIF {
    */
   static const int DATA_REG_OFFSET = 256;
 
-  static constexpr uint32_t MAX_DELAY_PAPB_POLLING_US = 4;
+  static constexpr long int MAX_DELAY_PAPB_POLLING_NS = 40;
 
   LinuxLibgpioIF* gpioComIF = nullptr;
 
@@ -87,6 +87,7 @@ class PapbVcInterface : public VirtualChannelIF {
 
   std::string uioFile;
   int mapNum = 0;
+  struct timespec remDelay;
 
   volatile uint32_t* vcBaseReg = nullptr;
 
diff --git a/mission/tmtc/PersistentLogTmStoreTask.cpp b/mission/tmtc/PersistentLogTmStoreTask.cpp
index 2b7e1333..2f30dafc 100644
--- a/mission/tmtc/PersistentLogTmStoreTask.cpp
+++ b/mission/tmtc/PersistentLogTmStoreTask.cpp
@@ -34,7 +34,7 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
     if (not someonesBusy) {
       TaskFactory::delayTask(100);
     } else if (someFileWasSwapped) {
-      TaskFactory::delayTask(2);
+      TaskFactory::delayTask(1);
     }
   }
 }
diff --git a/mission/tmtc/PersistentSingleTmStoreTask.cpp b/mission/tmtc/PersistentSingleTmStoreTask.cpp
index 32ae06c4..693d2c2c 100644
--- a/mission/tmtc/PersistentSingleTmStoreTask.cpp
+++ b/mission/tmtc/PersistentSingleTmStoreTask.cpp
@@ -19,7 +19,7 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
     if (not busy) {
       TaskFactory::delayTask(100);
     } else if (fileHasSwapped) {
-      TaskFactory::delayTask(2);
+      TaskFactory::delayTask(1);
     }
   }
 }