Merge branch 'refactor-fix-ptme' into cfdp-source-handler

CHANGELOG.md

@@ -16,13 +16,33 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
-- Bumped `eive-tmtc` to v5.7.0.
-- Bumped `eive-fsfw`
-
 ## Added
 
 - CFDP source handler, which allow file downlink using the standardized
   CFDP interface.
+
+## Fixed
+
+- If the PTME is driven in a way where it fills faster than it can be emptied, the interface
+  can become full during the process of a regular packet write. The interface of the PAPB VC
+  component was adapted to account for this partial success state. The caller must now check
+  for the `PARTIALLY_WRITTEN` state and must take care of finishing a write in some shape or
+  form before starting the next packet transfer.
+- Host build fixes
+
+# [v7.1.0] 2023-10-11
+
+- Bumped `eive-tmtc` to v5.8.0.
+- Activate Xiphos WDT with a timeout period of 80 seconds using the `libxiphos` API. The WDT
+  calls are done by the new `XiphosWdtHandler` object.
+
+# [v7.0.0] 2023-10-11
+
+- Bumped `eive-tmtc` to v5.7.1.
+- Bumped `eive-fsfw`
+
+## Added
+
 - EPS Subsystem has been added to EIVE System Tree
 - Power Controller for calculating the State of Charge and FDIR regarding low SoC has been
   introduced.
@@ -36,7 +56,7 @@ will consitute of a breaking change warranting a new major release:
 ## Fixed
 
 - Missing `nullptr` checks for PLOC Supervisor handler, which could lead to crashes.
-- Host build fixes
+- SCEX bugfix for normal and transition commanding.
 
 # [v6.6.0] 2023-09-18
 

CMakeLists.txt

@@ -9,8 +9,8 @@
 # ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
-set(OBSW_VERSION_MAJOR 6)
-set(OBSW_VERSION_MINOR 6)
+set(OBSW_VERSION_MAJOR 7)
+set(OBSW_VERSION_MINOR 1)
 set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 314 translations.
  * @details
- * Generated on: 2023-10-11 12:58:28
+ * Generated on: 2023-10-13 09:44:05
  */
 #include "translateEvents.h"
 

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 173 translations.
- * Generated on: 2023-10-11 12:58:28
+ * Contains 174 translations.
+ * Generated on: 2023-10-13 09:44:05
  */
 #include "translateObjects.h"
 
@@ -11,6 +11,7 @@ const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
 const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
 const char *POWER_CONTROLLER_STRING = "POWER_CONTROLLER";
 const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
+const char *XIPHOS_WDT_STRING = "XIPHOS_WDT";
 const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
 const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
@@ -192,6 +193,8 @@ const char *translateObject(object_id_t object) {
       return POWER_CONTROLLER_STRING;
     case 0x43000006:
       return GLOBAL_JSON_CFG_STRING;
+    case 0x43000007:
+      return XIPHOS_WDT_STRING;
     case 0x43400001:
       return THERMAL_CONTROLLER_STRING;
     case 0x44000001:

bsp_q7s/core/CMakeLists.txt

@@ -1 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE CoreController.cpp WatchdogHandler.cpp)
+target_sources(${OBSW_NAME} PRIVATE CoreController.cpp WatchdogHandler.cpp
+                                    XiphosWdtHandler.cpp)

bsp_q7s/core/XiphosWdtHandler.cpp

@@ -0,0 +1,122 @@
+#include "XiphosWdtHandler.h"
+
+#include "fsfw/ipc/QueueFactory.h"
+
+XiphosWdtHandler::XiphosWdtHandler(object_id_t objectId)
+    : SystemObject(objectId),
+      requestQueue(QueueFactory::instance()->createMessageQueue()),
+      actionHelper(this, requestQueue) {}
+
+ReturnValue_t XiphosWdtHandler::initialize() {
+  ReturnValue_t result = actionHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  int retval = xsc_watchdog_init(&wdtHandle);
+  if (retval != 0) {
+    sif::error << "XiphosWdtHandler: Initiating watchdog failed with code " << retval << ": "
+               << strerror(retval) << std::endl;
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  if (wdtHandle == nullptr) {
+    sif::error << "XiphosWdtHandler: WDT handle is nullptr!" << std::endl;
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  retval = xsc_watchdog_set_timeout(wdtHandle, timeoutSeconds);
+  if (retval != 0) {
+    // This propably means that the default timeout is used. Still continue with task init.
+    sif::warning << "XiphosWdtHandler: Setting WDT timeout of " << timeoutSeconds
+                 << " seconds failed with code " << result << ": " << strerror(retval) << std::endl;
+  }
+  return enableWdt();
+}
+
+ReturnValue_t XiphosWdtHandler::performOperation(uint8_t opCode) {
+  CommandMessage command;
+  ReturnValue_t result;
+  for (result = requestQueue->receiveMessage(&command); result == returnvalue::OK;
+       result = requestQueue->receiveMessage(&command)) {
+    result = actionHelper.handleActionMessage(&command);
+    if (result == returnvalue::OK) {
+      continue;
+    }
+    sif::warning << "Can not handle message with message type " << command.getMessageType()
+                 << std::endl;
+  }
+  if (enabled) {
+    int retval = xsc_watchdog_keepalive(wdtHandle);
+    if (retval != 0) {
+      sif::warning << "XiphosWdtHandler: Feeding WDT failed with code " << retval << ": "
+                   << strerror(retval) << std::endl;
+      return returnvalue::FAILED;
+    }
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t XiphosWdtHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                              const uint8_t *data, size_t size) {
+  switch (actionId) {
+    case (ActionId::ENABLE): {
+      ReturnValue_t result = enableWdt();
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      return EXECUTION_FINISHED;
+    }
+    case (ActionId::DISABLE): {
+      ReturnValue_t result = disableWdt();
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      return EXECUTION_FINISHED;
+    }
+  }
+  return HasActionsIF::INVALID_ACTION_ID;
+}
+
+ReturnValue_t XiphosWdtHandler::enableWdt() {
+  int nowayout = 0;
+  int status = 0;
+  int retval = xsc_watchdog_get_status(&nowayout, &status);
+  // If this fails for whatever reason, just try enabling in any case.
+  if (retval != 0) {
+    sif::warning << "XiphosWdtHandler: Getting WDT status failed" << std::endl;
+  }
+  // Of course the enable API will fail if the device is already on, just perfect, love me some
+  // good C API... :)))
+  if (retval != 0 or status == 0) {
+    retval = xsc_watchdog_enable(wdtHandle);
+    if (retval != 0) {
+      sif::error << "XiphosWdtHandler: Enabling WDT failed with code " << retval << ": "
+                 << strerror(retval) << std::endl;
+      return returnvalue::FAILED;
+    }
+  }
+  enabled = true;
+  return returnvalue::OK;
+}
+
+ReturnValue_t XiphosWdtHandler::disableWdt() {
+  int nowayout = 0;
+  int status = 0;
+  int retval = xsc_watchdog_get_status(&nowayout, &status);
+  // If this fails for whatever reason, just try disabling in any case.
+  if (retval != 0) {
+    sif::warning << "XiphosWdtHandler: Getting WDT status failed" << std::endl;
+  }
+  // Of course the disable API will fail if the device is already off, just perfect, love me some
+  // good C API... :)))
+  if (retval != 0 or status == 1) {
+    retval = xsc_watchdog_disable(wdtHandle);
+    if (retval != 0) {
+      sif::error << "XiphosWdtHandler: Disabling WDT failed with code " << retval << ": "
+                 << strerror(retval) << std::endl;
+      return returnvalue::FAILED;
+    }
+  }
+  enabled = false;
+  return returnvalue::OK;
+}
+
+MessageQueueId_t XiphosWdtHandler::getCommandQueue() const { return requestQueue->getId(); }

bsp_q7s/core/XiphosWdtHandler.h

@@ -0,0 +1,36 @@
+#ifndef BSP_Q7S_CORE_XIPHOSWDTHANDLER_H_
+#define BSP_Q7S_CORE_XIPHOSWDTHANDLER_H_
+
+#include <fsfw/action/HasActionsIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <libxiphos.h>
+
+class XiphosWdtHandler : public SystemObject, public ExecutableObjectIF, public HasActionsIF {
+ public:
+  enum ActionId { ENABLE = 0, DISABLE = 1 };
+
+  XiphosWdtHandler(object_id_t objectId);
+  ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t initialize() override;
+
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
+  [[nodiscard]] virtual MessageQueueId_t getCommandQueue() const override;
+
+ private:
+  // Wrappers to ensure idempotency of trash C API.
+  ReturnValue_t enableWdt();
+  ReturnValue_t disableWdt();
+  // Timeout duration range specified by Xiphos: 0.001 seconds to 171 seconds. The libxiphos API
+  // expects an int, so I guess this translates to 1 to 171 seconds.
+  // WARNING: DO NOT SET THIS HIGHER THAN 80 SECONDS!
+  // Possible bug in Xiphos/Xilinx kernel driver for watchdog, related to overflow.
+  int timeoutSeconds = 80;
+  bool enabled = false;
+  struct watchdog_s* wdtHandle = nullptr;
+  MessageQueueIF* requestQueue = nullptr;
+  ActionHelper actionHelper;
+};
+
+#endif /* BSP_Q7S_CORE_XIPHOSWDTHANDLER_H_ */

bsp_q7s/em/emObjectFactory.cpp

@@ -1,4 +1,5 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <bsp_q7s/core/XiphosWdtHandler.h>
 #include <bsp_q7s/objectFactory.h>
 #include <dummies/ComCookieDummy.h>
 #include <dummies/PcduHandlerDummy.h>
@@ -37,6 +38,7 @@ void ObjectFactory::produce(void* args) {
 
   PersistentTmStores stores;
   readFirmwareVersion();
+  new XiphosWdtHandler(objects::XIPHOS_WDT);
   ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
                                        *SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
                                        enableHkSets, true);

bsp_q7s/fmObjectFactory.cpp

@@ -1,4 +1,5 @@
 #include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
+#include <bsp_q7s/core/XiphosWdtHandler.h>
 #include <bsp_q7s/objectFactory.h>
 #include <devices/gpioIds.h>
 #include <fsfw/storagemanager/LocalPool.h>
@@ -34,6 +35,7 @@ void ObjectFactory::produce(void* args) {
 
   PersistentTmStores stores;
   readFirmwareVersion();
+  new XiphosWdtHandler(objects::XIPHOS_WDT);
   ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
                                        *SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
                                        true, true);

bsp_q7s/scheduling.cpp

@@ -82,6 +82,16 @@ void scheduling::initTasks() {
   }
 #endif
 
+  // Medium priority, higher than something like payload, but not the highest priority to also
+  // detect tasks which choke other tasks.
+  PeriodicTaskIF* xiphosWdtTask =
+      factory->createPeriodicTask("XIPHOS_WDT", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4,
+                                  missedDeadlineFunc, &RR_SCHEDULING);
+  result = xiphosWdtTask->addComponent(objects::XIPHOS_WDT);
+  if (result != returnvalue::OK) {
+    scheduling::printAddObjectError("XIPHOS_WDT", objects::XIPHOS_WDT);
+  }
+
   PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask(
       "CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER);
@@ -414,6 +424,7 @@ void scheduling::initTasks() {
   };
 
   sif::info << "Starting tasks.." << std::endl;
+  xiphosWdtTask->startTask();
   tmTcDistributor->startTask();
 
 #if OBSW_ADD_TCPIP_SERVERS == 1

common/config/eive/objects.h

@@ -28,6 +28,7 @@ enum commonObjects : uint32_t {
   CORE_CONTROLLER = 0x43000003,
   POWER_CONTROLLER = 0x43000004,
   GLOBAL_JSON_CFG = 0x43000006,
+  XIPHOS_WDT = 0x43000007,
 
   /* 0x44 ('D') for device handlers */
   MGM_0_LIS3_HANDLER = 0x44120006,

common/config/eive/resultClassIds.h

@@ -41,6 +41,7 @@ enum commonClassIds : uint8_t {
   LOCAL_PARAM_HANDLER,      // LPH
   PERSISTENT_TM_STORE,      // PTM
   TM_SINK,                  // TMS
+  VIRTUAL_CHANNEL,          // VCS
   COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
 }

generators/bsp_hosted_objects.csv

@@ -3,6 +3,7 @@
 0x43000003;CORE_CONTROLLER
 0x43000004;POWER_CONTROLLER
 0x43000006;GLOBAL_JSON_CFG
+0x43000007;XIPHOS_WDT
 0x43400001;THERMAL_CONTROLLER
 0x44000001;DUMMY_HANDLER
 0x44120006;MGM_0_LIS3_HANDLER

generators/bsp_hosted_returnvalues.csv

@@ -520,3 +520,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x6e00;PTM_DumpDone;No description;0;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h
 0x6e01;PTM_BusyDumping;No description;1;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h
 0x6f00;TMS_IsBusy;No description;0;TM_SINK;mission/tmtc/DirectTmSinkIF.h
+0x6f01;TMS_PartiallyWritten;No description;1;TM_SINK;mission/tmtc/DirectTmSinkIF.h
+0x6f02;TMS_IncompletePartialWrite;No description;2;TM_SINK;mission/tmtc/DirectTmSinkIF.h
+0x7000;VCS_ChannelDoesNotExist;No description;0;VIRTUAL_CHANNEL;mission/com/VirtualChannel.h

generators/bsp_q7s_objects.csv

@@ -3,6 +3,7 @@
 0x43000003;CORE_CONTROLLER
 0x43000004;POWER_CONTROLLER
 0x43000006;GLOBAL_JSON_CFG
+0x43000007;XIPHOS_WDT
 0x43400001;THERMAL_CONTROLLER
 0x44120006;MGM_0_LIS3_HANDLER
 0x44120010;GYRO_0_ADIS_HANDLER

generators/bsp_q7s_returnvalues.csv

@@ -615,4 +615,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x6e00;PTM_DumpDone;No description;0;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h
 0x6e01;PTM_BusyDumping;No description;1;PERSISTENT_TM_STORE;mission/tmtc/PersistentTmStore.h
 0x6f00;TMS_IsBusy;No description;0;TM_SINK;mission/tmtc/DirectTmSinkIF.h
-0x7100;SCBU_KeyNotFound;No description;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h
+0x6f01;TMS_PartiallyWritten;No description;1;TM_SINK;mission/tmtc/DirectTmSinkIF.h
+0x6f02;TMS_IncompletePartialWrite;No description;2;TM_SINK;mission/tmtc/DirectTmSinkIF.h
+0x7000;VCS_ChannelDoesNotExist;No description;0;VIRTUAL_CHANNEL;mission/com/VirtualChannel.h
+0x7200;SCBU_KeyNotFound;No description;0;SCRATCH_BUFFER;bsp_q7s/memory/scratchApi.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 314 translations.
  * @details
- * Generated on: 2023-10-11 12:58:28
+ * Generated on: 2023-10-13 09:44:05
  */
 #include "translateEvents.h"
 

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 177 translations.
- * Generated on: 2023-10-11 12:58:28
+ * Contains 178 translations.
+ * Generated on: 2023-10-13 09:44:05
  */
 #include "translateObjects.h"
 
@@ -11,6 +11,7 @@ const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
 const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
 const char *POWER_CONTROLLER_STRING = "POWER_CONTROLLER";
 const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
+const char *XIPHOS_WDT_STRING = "XIPHOS_WDT";
 const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
 const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
 const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
@@ -196,6 +197,8 @@ const char *translateObject(object_id_t object) {
       return POWER_CONTROLLER_STRING;
     case 0x43000006:
       return GLOBAL_JSON_CFG_STRING;
+    case 0x43000007:
+      return XIPHOS_WDT_STRING;
     case 0x43400001:
       return THERMAL_CONTROLLER_STRING;
     case 0x44120006:

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 314 translations.
  * @details
- * Generated on: 2023-10-11 12:58:28
+ * Generated on: 2023-10-13 09:44:05
  */
 #include "translateEvents.h"
 

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 177 translations.
- * Generated on: 2023-10-11 12:58:28
+ * Contains 178 translations.
+ * Generated on: 2023-10-13 09:44:05
  */
 #include "translateObjects.h"
 
@@ -11,6 +11,7 @@ const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
 const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
 const char *POWER_CONTROLLER_STRING = "POWER_CONTROLLER";
 const char *GLOBAL_JSON_CFG_STRING = "GLOBAL_JSON_CFG";
+const char *XIPHOS_WDT_STRING = "XIPHOS_WDT";
 const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
 const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
 const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
@@ -196,6 +197,8 @@ const char *translateObject(object_id_t object) {
       return POWER_CONTROLLER_STRING;
     case 0x43000006:
       return GLOBAL_JSON_CFG_STRING;
+    case 0x43000007:
+      return XIPHOS_WDT_STRING;
     case 0x43400001:
       return THERMAL_CONTROLLER_STRING;
     case 0x44120006:

linux/ipcore/PapbVcInterface.cpp

@@ -23,11 +23,15 @@ ReturnValue_t PapbVcInterface::initialize() {
   return returnvalue::OK;
 }
 
-ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
+ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size, size_t& writtenSize) {
   // There are no packets smaller than 4, this is considered a configuration error.
   if (size < 4) {
     return returnvalue::FAILED;
   }
+  // The user must call finishWrite before starting a new packet transfer.
+  if (partialWriteActive) {
+    return INCOMPLETE_PARTIAL_WRITE;
+  }
   if (pollReadyForPacket()) {
     startPacketTransfer(ByteWidthCfg::ONE);
   } else {
@@ -37,19 +41,7 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
     abortPacketTransfer();
     return returnvalue::FAILED;
   }
-  for (size_t idx = 0; idx < size; idx++) {
-    if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
-      abortPacketTransfer();
-      return returnvalue::FAILED;
-    }
-    *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
-  }
-  if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
-    abortPacketTransfer();
-    return returnvalue::FAILED;
-  }
-  completePacketTransfer();
-  return returnvalue::OK;
+  return finishWriteInternal(data, 0, size, writtenSize, false);
 }
 
 void PapbVcInterface::startPacketTransfer(ByteWidthCfg initWidth) {
@@ -65,6 +57,43 @@ bool PapbVcInterface::pollReadyForPacket() const {
   return (reg >> 6) & 0b1;
 }
 
+ReturnValue_t PapbVcInterface::finishWrite(const uint8_t* data, size_t start,
+                                           size_t remainingSize) {
+  if (not pollReadyForPacket()) {
+    return returnvalue::FAILED;
+  }
+  size_t dummy = 0;
+  return finishWriteInternal(data, start, remainingSize, dummy, true);
+}
+
+ReturnValue_t PapbVcInterface::finishWriteInternal(const uint8_t* data, size_t start,
+                                                   size_t remainingSize, size_t& writtenSize,
+                                                   bool abortOnPartialWrite) {
+  for (size_t idx = 0; idx < remainingSize; idx++) {
+    if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
+      if (not pollReadyForPacket()) {
+        writtenSize = start + idx;
+        partialWriteActive = true;
+        if (abortOnPartialWrite) {
+          abortPacketTransfer();
+          partialWriteActive = false;
+          return returnvalue::FAILED;
+        }
+        return PARTIALLY_WRITTEN;
+      }
+      abortPacketTransfer();
+      return returnvalue::FAILED;
+    }
+    *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[start + idx]);
+  }
+  if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
+    abortPacketTransfer();
+    return returnvalue::FAILED;
+  }
+  completePacketTransfer();
+  return returnvalue::OK;
+}
+
 bool PapbVcInterface::isVcInterfaceBufferEmpty() {
   ReturnValue_t result = returnvalue::OK;
   gpio::Levels papbEmptyState = gpio::Levels::HIGH;
@@ -101,21 +130,4 @@ inline bool PapbVcInterface::pollReadyForOctet(uint32_t maxCycles) const {
   return false;
 }
 
-ReturnValue_t PapbVcInterface::sendTestFrame() {
-  /** Size of one complete transfer frame data field amounts to 1105 bytes */
-  uint8_t testPacket[1105];
-
-  /** Fill one test packet */
-  for (int idx = 0; idx < 1105; idx++) {
-    testPacket[idx] = static_cast<uint8_t>(idx & 0xFF);
-  }
-
-  ReturnValue_t result = write(testPacket, 1105);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-
-  return returnvalue::OK;
-}
-
 void PapbVcInterface::abortPacketTransfer() { *vcBaseReg = CONFIG_ABORT; }

linux/ipcore/PapbVcInterface.h

@@ -40,7 +40,11 @@ class PapbVcInterface : public VirtualChannelIF {
    * @param size
    * @return returnvalue::OK on successfull write, PAPB_BUSY if PAPB is busy.
    */
-  ReturnValue_t write(const uint8_t* data, size_t size) override;
+  ReturnValue_t write(const uint8_t* data, size_t size, size_t& writtenSize) override;
+
+  ReturnValue_t finishWrite(const uint8_t* data, size_t start, size_t remainingSize) override;
+  ReturnValue_t finishWriteInternal(const uint8_t* data, size_t start, size_t remainingSize,
+                                    size_t& writtenSize, bool abortOnPartialWrite);
 
   void cancelTransfer() override;
 
@@ -88,6 +92,7 @@ class PapbVcInterface : public VirtualChannelIF {
 
   std::string uioFile;
   int mapNum = 0;
+  bool partialWriteActive = false;
   mutable struct timespec nextDelay = {.tv_sec = 0, .tv_nsec = 0};
   const struct timespec BETWEEN_POLL_DELAY = {.tv_sec = 0, .tv_nsec = 10};
   mutable struct timespec remDelay;
@@ -126,12 +131,6 @@ class PapbVcInterface : public VirtualChannelIF {
    *          the packet buffer of the virtual channel or not.
    */
   bool isVcInterfaceBufferEmpty();
-
-  /**
-   * @brief   This function sends a complete telemetry transfer frame data field (1105 bytes)
-   *          to the papb interface of the PTME IP Core. Can be used to test the implementation.
-   */
-  ReturnValue_t sendTestFrame();
 };
 
 #endif /* LINUX_OBC_PAPBVCINTERFACE_H_ */

linux/ipcore/Ptme.cpp

@@ -19,15 +19,12 @@ ReturnValue_t Ptme::initialize() {
   return returnvalue::OK;
 }
 
-ReturnValue_t Ptme::writeToVc(uint8_t vcId, const uint8_t* data, size_t size) {
-  VcInterfaceMapIter vcInterfaceMapIter = vcInterfaceMap.find(vcId);
-  if (vcInterfaceMapIter == vcInterfaceMap.end()) {
-    sif::warning << "Ptme::writeToVc: No virtual channel interface found for the virtual "
-                    "channel with id "
-                 << static_cast<unsigned int>(vcId) << std::endl;
-    return UNKNOWN_VC_ID;
+bool Ptme::containsVc(uint8_t vcId) const {
+  auto channelIter = vcInterfaceMap.find(vcId);
+  if (channelIter == vcInterfaceMap.end()) {
+    return false;
   }
-  return vcInterfaceMapIter->second->write(data, size);
+  return true;
 }
 
 void Ptme::addVcInterface(VcId_t vcId, VirtualChannelIF* vc) {
@@ -50,21 +47,10 @@ void Ptme::addVcInterface(VcId_t vcId, VirtualChannelIF* vc) {
   }
 }
 
-bool Ptme::isBusy(uint8_t vcId) const {
-  const auto& vcInterfaceMapIter = vcInterfaceMap.find(vcId);
-  if (vcInterfaceMapIter == vcInterfaceMap.end()) {
-    sif::warning << "Ptme::writeToVc: No virtual channel interface found for the virtual "
-                    "channel with id "
-                 << static_cast<unsigned int>(vcId) << std::endl;
-    return UNKNOWN_VC_ID;
+VirtualChannelIF* Ptme::getVirtChannel(uint8_t vcId) {
+  auto channelIter = vcInterfaceMap.find(vcId);
+  if (channelIter == vcInterfaceMap.end()) {
+    return nullptr;
   }
-  return vcInterfaceMapIter->second->isBusy();
-}
-
-void Ptme::cancelTransfer(uint8_t vcId) {
-  VcInterfaceMapIter vcInterfaceMapIter = vcInterfaceMap.find(vcId);
-  if (vcInterfaceMapIter == vcInterfaceMap.end()) {
-    return;
-  }
-  return vcInterfaceMapIter->second->cancelTransfer();
+  return channelIter->second;
 }

linux/ipcore/Ptme.h

@@ -34,9 +34,8 @@ class Ptme : public PtmeIF, public SystemObject {
   virtual ~Ptme();
 
   ReturnValue_t initialize() override;
-  ReturnValue_t writeToVc(uint8_t vcId, const uint8_t* data, size_t size) override;
-  bool isBusy(uint8_t vcId) const override;
-  void cancelTransfer(uint8_t vcId) override;
+  bool containsVc(uint8_t vcId) const override;
+  VirtualChannelIF* getVirtChannel(uint8_t vcId) override;
 
   /**
    * @brief   This function adds the reference to a virtual channel interface to the vcInterface

linux/ipcore/PtmeIF.h

@@ -1,6 +1,8 @@
 #ifndef LINUX_OBC_PTMEIF_H_
 #define LINUX_OBC_PTMEIF_H_
 
+#include <linux/ipcore/VirtualChannelIF.h>
+
 #include "fsfw/returnvalues/returnvalue.h"
 
 /**
@@ -14,16 +16,8 @@ class PtmeIF {
  public:
   virtual ~PtmeIF(){};
 
-  /**
-   * @brief   Implements to function to write to a specific virtual channel.
-   *
-   * @param vcId  Virtual channel to write to
-   * @param data  Pointer to buffer holding the data to write
-   * @param size  Number of bytes to write
-   */
-  virtual ReturnValue_t writeToVc(uint8_t vcId, const uint8_t* data, size_t size) = 0;
-  virtual bool isBusy(uint8_t vcId) const = 0;
-  virtual void cancelTransfer(uint8_t vcId) = 0;
+  virtual bool containsVc(uint8_t vcId) const = 0;
+  virtual VirtualChannelIF* getVirtChannel(uint8_t vcId) = 0;
 };
 
 #endif /* LINUX_OBC_PTMEIF_H_ */

mission/com/TmStoreTaskBase.cpp

@@ -138,8 +138,17 @@ ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
     return result;
   }
   dumpedLen = tmReader.getFullPacketLen();
-  result = channel.write(tmReader.getFullData(), dumpedLen);
-  if (result == DirectTmSinkIF::IS_BUSY) {
+  size_t partiallyWrittenSize = 0;
+  result = channel.write(tmReader.getFullData(), dumpedLen, partiallyWrittenSize);
+  if (result == VirtualChannelIF::PARTIALLY_WRITTEN) {
+    result = channel.handleLastWriteSynchronously(tmReader.getFullData(), partiallyWrittenSize,
+                                                  dumpedLen - partiallyWrittenSize, 200);
+    if (result != returnvalue::OK) {
+      // TODO: Event? Might lead to dangerous spam though..
+      sif::warning << "PersistentTmStore: Synchronous write of last segment failed with code 0x"
+                   << std::setw(4) << std::hex << result << std::dec << std::endl;
+    }
+  } else if (result == DirectTmSinkIF::IS_BUSY) {
     sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
   } else if (result != returnvalue::OK) {
     sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;

mission/com/VirtualChannel.cpp

@@ -1,25 +1,64 @@
 #include "VirtualChannel.h"
 
+#include <fsfw/tasks/TaskFactory.h>
+
 VirtualChannel::VirtualChannel(object_id_t objectId, uint8_t vcId, const char* vcName, PtmeIF& ptme,
                                const std::atomic_bool& txOn)
     : SystemObject(objectId), ptme(ptme), vcId(vcId), vcName(vcName), txOn(txOn) {}
 
 ReturnValue_t VirtualChannel::initialize() { return returnvalue::OK; }
 
-ReturnValue_t VirtualChannel::sendNextTm(const uint8_t* data, size_t size) {
-  return write(data, size);
+ReturnValue_t VirtualChannel::sendNextTm(const uint8_t* data, size_t size, size_t& writtenSize) {
+  return write(data, size, writtenSize);
 }
 
-ReturnValue_t VirtualChannel::write(const uint8_t* data, size_t size) {
-  return ptme.writeToVc(vcId, data, size);
+ReturnValue_t VirtualChannel::write(const uint8_t* data, size_t size, size_t& writtenSize) {
+  if (!ptme.containsVc(vcId)) {
+    return CHANNEL_DOES_NOT_EXIST;
+  }
+  return ptme.getVirtChannel(vcId)->write(data, size, writtenSize);
 }
 
 uint8_t VirtualChannel::getVcid() const { return vcId; }
 
+ReturnValue_t VirtualChannel::finishWrite(const uint8_t* data, size_t start, size_t remainingSize) {
+  if (!ptme.containsVc(vcId)) {
+    return CHANNEL_DOES_NOT_EXIST;
+  }
+  return ptme.getVirtChannel(vcId)->finishWrite(data, start, remainingSize);
+}
+
 const char* VirtualChannel::getName() const { return vcName.c_str(); }
 
-bool VirtualChannel::isBusy() const { return ptme.isBusy(vcId); }
+bool VirtualChannel::isBusy() const {
+  if (!ptme.containsVc(vcId)) {
+    return CHANNEL_DOES_NOT_EXIST;
+  }
+  return ptme.getVirtChannel(vcId)->isBusy();
+}
 
-void VirtualChannel::cancelTransfer() { ptme.cancelTransfer(vcId); }
+void VirtualChannel::cancelTransfer() {
+  if (!ptme.containsVc(vcId)) {
+    return;
+  }
+  ptme.getVirtChannel(vcId)->cancelTransfer();
+}
 
 bool VirtualChannel::isTxOn() const { return txOn; }
+
+ReturnValue_t VirtualChannel::handleLastWriteSynchronously(const uint8_t* data, size_t start,
+                                                           size_t remLen, unsigned maxDelayMs) {
+  unsigned delayMs = 0;
+  while (true) {
+    if (isBusy()) {
+      if (delayMs >= maxDelayMs) {
+        break;
+      }
+      TaskFactory::delayTask(10);
+      delayMs += 10;
+      continue;
+    }
+    return finishWrite(data, start, remLen);
+  }
+  return returnvalue::FAILED;
+}

mission/com/VirtualChannel.h

@@ -15,6 +15,10 @@
  */
 class VirtualChannel : public SystemObject, public VirtualChannelIF {
  public:
+  static constexpr uint8_t CLASS_ID = CLASS_ID::VIRTUAL_CHANNEL;
+
+  static constexpr ReturnValue_t CHANNEL_DOES_NOT_EXIST = returnvalue::makeCode(CLASS_ID, 0);
+
   /**
    * @brief   Constructor
    *
@@ -25,9 +29,12 @@ class VirtualChannel : public SystemObject, public VirtualChannelIF {
                  const std::atomic_bool& linkStateProvider);
 
   ReturnValue_t initialize() override;
-  ReturnValue_t sendNextTm(const uint8_t* data, size_t size);
+  ReturnValue_t sendNextTm(const uint8_t* data, size_t size, size_t& writtenSize);
   bool isBusy() const override;
-  ReturnValue_t write(const uint8_t* data, size_t size) override;
+  ReturnValue_t write(const uint8_t* data, size_t size, size_t& writtenSize) override;
+  ReturnValue_t finishWrite(const uint8_t* data, size_t start, size_t remainingSize) override;
+  ReturnValue_t handleLastWriteSynchronously(const uint8_t* data, size_t start, size_t remLen,
+                                             unsigned maxDelayMs);
   void cancelTransfer() override;
   uint8_t getVcid() const;
   bool isTxOn() const;

mission/com/VirtualChannelWithQueue.cpp

@@ -36,8 +36,19 @@ ReturnValue_t VirtualChannelWithQueue::handleNextTm(bool performWriteOp) {
     return result;
   }
 
+  // TODO: Hnadle partial write handling
+  size_t partiallyWrittenSize = 0;
   if (performWriteOp) {
-    result = write(data, size);
+    result = write(data, size, partiallyWrittenSize);
+    if (result == PARTIALLY_WRITTEN) {
+      result = handleLastWriteSynchronously(data, size, partiallyWrittenSize, 200);
+      if (result != returnvalue::OK) {
+        // TODO: Event? Might lead to dangerous spam though..
+        sif::warning
+            << "VirtualChannelWithQueue: Synchronous write of last segment failed with code 0x"
+            << std::setw(4) << std::hex << result << std::dec << std::endl;
+      }
+    }
   }
   // Try delete in any case, ignore failures (which should not happen), it is more important to
   // propagate write errors.

mission/controller/CMakeLists.txt

@@ -1,7 +1,7 @@
 if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "")
-  target_sources(${LIB_EIVE_MISSION} PRIVATE ThermalController.cpp
-                                             AcsController.cpp
-                                             PowerController.cpp)
+  target_sources(
+    ${LIB_EIVE_MISSION} PRIVATE ThermalController.cpp AcsController.cpp
+                                PowerController.cpp)
 endif()
 
 add_subdirectory(acs)

mission/payload/ScexDeviceHandler.cpp

@@ -38,9 +38,13 @@ void ScexDeviceHandler::doShutDown() {
   setMode(_MODE_POWER_DOWN);
 }
 
-ReturnValue_t ScexDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) { return OK; }
+ReturnValue_t ScexDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}
 
-ReturnValue_t ScexDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) { return OK; }
+ReturnValue_t ScexDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  return NOTHING_TO_SEND;
+}
 
 ReturnValue_t ScexDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                          const uint8_t* commandData,
@@ -269,7 +273,7 @@ ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       // Unknown DeviceCommand
       return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
   }
-  if (helper.getPacketCounter() == helper.getTotalPacketCounter()) {
+  if (helper.getPacketCounter() >= helper.getTotalPacketCounter()) {
     reader.finish();
     commandActive = false;
     if (id != PING) {

mission/system/power/CMakeLists.txt

@@ -1 +1,2 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE epsModeTree.cpp EpsSubsystem.cpp GomspacePowerFdir.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE epsModeTree.cpp EpsSubsystem.cpp
+                                           GomspacePowerFdir.cpp)

mission/tmtc/DirectTmSinkIF.h

@@ -13,6 +13,8 @@ class DirectTmSinkIF {
   static constexpr uint8_t CLASS_ID = CLASS_ID::TM_SINK;
 
   static constexpr ReturnValue_t IS_BUSY = returnvalue::makeCode(CLASS_ID, 0);
+  static constexpr ReturnValue_t PARTIALLY_WRITTEN = returnvalue::makeCode(CLASS_ID, 1);
+  static constexpr ReturnValue_t INCOMPLETE_PARTIAL_WRITE = returnvalue::makeCode(CLASS_ID, 2);
 
   /**
    * @brief   Implements the functionality to write to a TM sink directly
@@ -20,9 +22,12 @@ class DirectTmSinkIF {
    * @param data  Pointer to buffer holding the data to write
    * @param size  Number of bytes to write
    * @return returnvalue::OK on success, returnvalue::FAILED on failure, IS_BUSY
-   *    if the TM sink is busy.
+   *    if the TM sink is busy, PARTIALLY_WRITTEN if only a portion of the bytes could be
+   *    written.
    */
-  virtual ReturnValue_t write(const uint8_t* data, size_t size) = 0;
+  virtual ReturnValue_t write(const uint8_t* data, size_t size, size_t& writtenSize) = 0;
+
+  virtual ReturnValue_t finishWrite(const uint8_t* data, size_t start, size_t remainingSize) = 0;
 
   virtual bool isBusy() const = 0;
 };

tmtc

@@ -1 +1 @@
-Subproject commit 012e9b148e882cea78fdfce192ac3d9e3034f342
+Subproject commit 10e163be752a6a259b6d3dabea825acc9c9725f8