diff --git a/CHANGELOG.md b/CHANGELOG.md
index e1d14b27..b29d00b0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,8 +18,20 @@ will consitute of a breaking change warranting a new major release:
# [v6.0.0] to be released
+- `q7s-package` version v3.2.0
- Important bugfixes for PTME. See `q7s-package` CHANGELOG.
+## Changed
+
+- Added back PTME busy bit polling. This is necessary due to changes to the AXI APB interface
+ to the PTME core.
+
+## Fixed
+
+- For the live channel (VC0), telemetry was still only dumped if the transmitter is active.
+ Please note that this fix will lead to crashes for FW versions below v3.2.
+ However, it might not be an issue for the oldest firmware on the satellite (v2.5.1).
+
# [v5.2.0] 2023-07-02
## Fixed
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b07423ac..3695c324 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,8 +9,8 @@
# ##############################################################################
cmake_minimum_required(VERSION 3.13)
-set(OBSW_VERSION_MAJOR 5)
-set(OBSW_VERSION_MINOR 2)
+set(OBSW_VERSION_MAJOR 6)
+set(OBSW_VERSION_MINOR 0)
set(OBSW_VERSION_REVISION 0)
# set(CMAKE_VERBOSE TRUE)
diff --git a/README.md b/README.md
index 6b06283c..ce57c33f 100644
--- a/README.md
+++ b/README.md
@@ -964,6 +964,12 @@ used by other software components to read the current chip and copy.
This is a configuration scripts which runs after the Network Time Protocol has run. This script
currently sets the static IP address `192.168.133.10` and starts the `can` interface.
+## Initial boot delay
+
+You can create a file named `boot_delays_secs.txt` inside the home folder to delay the OBSW boot
+for 6 seconds if the file is empty of for the number of seconds specified inside the file. This
+can be helpful if something inside the OBSW leads to an immediate crash of the OBC.
+
## PCDU
Connect to serial console of P60 Dock
diff --git a/bsp_q7s/boardconfig/busConf.h b/bsp_q7s/boardconfig/busConf.h
index 6a3e0d9e..146386c4 100644
--- a/bsp_q7s/boardconfig/busConf.h
+++ b/bsp_q7s/boardconfig/busConf.h
@@ -85,13 +85,9 @@ static constexpr char EN_RW_4[] = "enable_rw_4";
static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
static constexpr char ENABLE_RADFET[] = "enable_radfet";
-static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
-static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
-static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
-static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
static constexpr char PTME_RESETN[] = "ptme_resetn";
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 0e55661e..8223ceaf 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -731,20 +731,12 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
// GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
GpioCookie* gpioCookiePtmeIp = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
- gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, "PAPB VC0");
- gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, "PAPB VC0");
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
- gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, "PAPB VC1");
- gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, "PAPB VC1");
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
- gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, "PAPB VC2");
- gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, "PAPB VC2");
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
- gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, "PAPB VC3");
- gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
@@ -753,19 +745,14 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
// Creating virtual channel interfaces
- VirtualChannelIF* vc0 =
- new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY,
- q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
- VirtualChannelIF* vc1 =
- new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY,
- q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
- VirtualChannelIF* vc2 =
- new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY,
- q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
- VirtualChannelIF* vc3 =
- new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY,
- q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
-
+ VirtualChannelIF* vc0 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_EMPTY,
+ q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
+ VirtualChannelIF* vc1 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_EMPTY,
+ q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
+ VirtualChannelIF* vc2 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_EMPTY,
+ q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
+ VirtualChannelIF* vc3 = new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_EMPTY,
+ q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
// Creating ptme object and adding virtual channel interfaces
Ptme* ptme = new Ptme(objects::PTME);
ptme->addVcInterface(ccsds::VC0, vc0);
diff --git a/common/config/devices/gpioIds.h b/common/config/devices/gpioIds.h
index ac193bd2..bed82142 100644
--- a/common/config/devices/gpioIds.h
+++ b/common/config/devices/gpioIds.h
@@ -96,13 +96,9 @@ enum gpioId_t {
SPI_MUX,
VC0_PAPB_EMPTY,
- VC0_PAPB_BUSY,
VC1_PAPB_EMPTY,
- VC1_PAPB_BUSY,
VC2_PAPB_EMPTY,
- VC2_PAPB_BUSY,
VC3_PAPB_EMPTY,
- VC3_PAPB_BUSY,
PTME_RESETN,
PDEC_RESET,
diff --git a/linux/ipcore/PapbVcInterface.cpp b/linux/ipcore/PapbVcInterface.cpp
index 60968cc6..5dcb4519 100644
--- a/linux/ipcore/PapbVcInterface.cpp
+++ b/linux/ipcore/PapbVcInterface.cpp
@@ -7,20 +7,16 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
-PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
- gpioId_t papbEmptyId, std::string uioFile, int mapNum)
- : gpioComIF(gpioComIF),
- papbBusyId(papbBusyId),
- papbEmptyId(papbEmptyId),
- uioFile(std::move(uioFile)),
- mapNum(mapNum) {}
+PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId,
+ std::string uioFile, int mapNum)
+ : gpioComIF(gpioComIF), papbEmptyId(papbEmptyId), uioFile(std::move(uioFile)), mapNum(mapNum) {}
PapbVcInterface::~PapbVcInterface() {}
ReturnValue_t PapbVcInterface::initialize() {
UioMapper uioMapper(uioFile, mapNum);
ReturnValue_t result = uioMapper.getMappedAdress(const_cast<uint32_t**>(&vcBaseReg),
- UioMapper::Permissions::WRITE_ONLY);
+ UioMapper::Permissions::READ_WRITE);
if (result != returnvalue::OK) {
return result;
}
@@ -32,63 +28,27 @@ ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
if (size < 4) {
return returnvalue::FAILED;
}
- if (pollInterfaceReadiness(0, true) == returnvalue::OK) {
+ if (pollReadyForPacket()) {
startPacketTransfer(ByteWidthCfg::ONE);
} else {
return DirectTmSinkIF::IS_BUSY;
}
- // TODO: This should work but does not.. :(
- // size_t idx = 0;
- // while (idx < size) {
- //
- // nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
- // if ((size - idx) < 4) {
- // *vcBaseReg = CONFIG_DATA_INPUT | (size - idx - 1);
- // usleep(1);
- // }
- // if (pollPapbBusySignal(2) == returnvalue::OK) {
- // // vcBaseReg + DATA_REG_OFFSET + 3 = static_cast<uint8_t>(data + idx);
- // // vcBaseReg + DATA_REG_OFFSET + 2 = static_cast<uint8_t>(data + idx + 1);
- // // vcBaseReg + DATA_REG_OFFSET + 1 = static_cast<uint8_t>(data + idx + 2);
- // // vcBaseReg + DATA_REG_OFFSET = static_cast<uint8_t>(data + idx + 3);
- //
- // // std::memcpy((vcBaseReg + DATA_REG_OFFSET), data + idx , nextWriteSize);
- // *(vcBaseReg + DATA_REG_OFFSET) = *reinterpret_cast<const uint32_t*>(data + idx);
- // //uint8_t* byteReg = reinterpret_cast<uint8_t*>(vcBaseReg + DATA_REG_OFFSET);
- //
- // //byteReg[0] = data[idx];
- // //byteReg[1] = data[idx];
- // } else {
- // abortPacketTransfer();
- // return returnvalue::FAILED;
- // }
- // // TODO: Change this after the bugfix. Right now, the PAPB ignores the content of the byte
- // // width configuration.5
- // // It's okay to increment by a larger amount for the last segment here, loop will be over
- // // in any case.
- // idx += 4;
- // }
- for (size_t idx = 0; idx < size; idx++) {
- // This delay is super-important, DO NOT REMOVE!
- // Polling the GPIO or the config register too often messes up the scheduler.
- // TODO: Maybe this should not be done like this. It would be better if there was a custom
- // FPGA module which can accept packets and then takes care of dumping that packet into
- // the PTME. DMA would be an ideal solution for this.
- nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
- if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
- *(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
- } else {
- abortPacketTransfer();
- return returnvalue::FAILED;
- }
- }
- nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
- if (pollInterfaceReadiness(2, false) == returnvalue::OK) {
- completePacketTransfer();
- } else {
+ if (not pollReadyForOctet(MAX_BUSY_POLLS)) {
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;
}
@@ -98,63 +58,49 @@ void PapbVcInterface::startPacketTransfer(ByteWidthCfg initWidth) {
void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
-ReturnValue_t PapbVcInterface::pollInterfaceReadiness(uint32_t maxPollRetries,
- bool checkReadyState) const {
- uint32_t busyIdx = 0;
- nextDelay.tv_nsec = FIRST_DELAY_PAPB_POLLING_NS;
-
- while (true) {
- // Check if PAPB interface is ready to receive data. Use the configuration register for this.
- // Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
- uint32_t reg = *vcBaseReg;
- bool busy = (reg >> 5) & 0b1;
- bool ready = (reg >> 6) & 0b1;
- if (not busy) {
- return returnvalue::OK;
- }
- if (checkReadyState and not ready) {
- return PAPB_BUSY;
- }
-
- busyIdx++;
- if (busyIdx >= maxPollRetries) {
- return PAPB_BUSY;
- }
-
- // Ignore signal handling here for now.
- nanosleep(&nextDelay, &remDelay);
- // Adaptive delay.
- if (nextDelay.tv_nsec * 2 <= MAX_DELAY_PAPB_POLLING_NS) {
- nextDelay.tv_nsec *= 2;
- }
- }
- return returnvalue::OK;
+bool PapbVcInterface::pollReadyForPacket() const {
+ // Check if PAPB interface is ready to receive data. Use the configuration register for this.
+ // Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
+ uint32_t reg = *vcBaseReg;
+ return (reg >> 6) & 0b1;
}
-void PapbVcInterface::isVcInterfaceBufferEmpty() {
+bool PapbVcInterface::isVcInterfaceBufferEmpty() {
ReturnValue_t result = returnvalue::OK;
gpio::Levels papbEmptyState = gpio::Levels::HIGH;
result = gpioComIF->readGpio(papbEmptyId, papbEmptyState);
if (result != returnvalue::OK) {
- sif::warning << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
- << std::endl;
- return;
+ sif::error << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
+ << std::endl;
+ return true;
}
if (papbEmptyState == gpio::Levels::HIGH) {
- sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is empty" << std::endl;
- } else {
- sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is not empty" << std::endl;
+ return true;
}
- return;
+ return false;
}
-bool PapbVcInterface::isBusy() const { return pollInterfaceReadiness(0, true) == PAPB_BUSY; }
+bool PapbVcInterface::isBusy() const { return not pollReadyForPacket(); }
void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
+inline bool PapbVcInterface::pollReadyForOctet(uint32_t maxCycles) const {
+ uint32_t reg;
+ uint32_t idx = 0;
+ while (idx < maxCycles) {
+ reg = *vcBaseReg;
+ // Busy bit.
+ if (not((reg >> 5) & 0b1)) {
+ return true;
+ }
+ idx++;
+ }
+ return false;
+}
+
ReturnValue_t PapbVcInterface::sendTestFrame() {
/** Size of one complete transfer frame data field amounts to 1105 bytes */
uint8_t testPacket[1105];
diff --git a/linux/ipcore/PapbVcInterface.h b/linux/ipcore/PapbVcInterface.h
index e54def5d..b5160748 100644
--- a/linux/ipcore/PapbVcInterface.h
+++ b/linux/ipcore/PapbVcInterface.h
@@ -30,8 +30,7 @@ class PapbVcInterface : public VirtualChannelIF {
* @param uioFile UIO file providing access to the PAPB bus
* @param mapNum Map number of UIO map associated with this virtual channel
*/
- PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId, gpioId_t papbEmptyId,
- std::string uioFile, int mapNum);
+ PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbEmptyId, std::string uioFile, int mapNum);
virtual ~PapbVcInterface();
bool isBusy() const override;
@@ -81,11 +80,9 @@ class PapbVcInterface : public VirtualChannelIF {
static constexpr long int FIRST_DELAY_PAPB_POLLING_NS = 10;
static constexpr long int MAX_DELAY_PAPB_POLLING_NS = 40;
+ static constexpr uint32_t MAX_BUSY_POLLS = 1000;
LinuxLibgpioIF* gpioComIF = nullptr;
-
- /** Pulled to low when virtual channel not ready to receive data */
- gpioId_t papbBusyId = gpio::NO_GPIO;
/** High when external buffer memory of virtual channel is empty */
gpioId_t papbEmptyId = gpio::NO_GPIO;
@@ -120,13 +117,15 @@ class PapbVcInterface : public VirtualChannelIF {
*
* @return returnvalue::OK when ready to receive data else PAPB_BUSY.
*/
- inline ReturnValue_t pollInterfaceReadiness(uint32_t maxPollRetries, bool checkReadyState) const;
+ inline bool pollReadyForPacket() const;
+
+ inline bool pollReadyForOctet(uint32_t maxCycles) const;
/**
* @brief This function can be used for debugging to check whether there are packets in
* the packet buffer of the virtual channel or not.
*/
- void isVcInterfaceBufferEmpty();
+ bool isVcInterfaceBufferEmpty();
/**
* @brief This function sends a complete telemetry transfer frame data field (1105 bytes)
diff --git a/mission/com/LiveTmTask.cpp b/mission/com/LiveTmTask.cpp
index d09c6ced..39648c15 100644
--- a/mission/com/LiveTmTask.cpp
+++ b/mission/com/LiveTmTask.cpp
@@ -19,13 +19,8 @@ LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunne
ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
readCommandQueue();
while (true) {
- bool performWriteOp = true;
- if (mode == MODE_OFF or ptmeLocked) {
- performWriteOp = false;
- }
-
// The funnel tasks are scheduled here directly as well.
- ReturnValue_t result = channel.handleNextTm(performWriteOp);
+ ReturnValue_t result = channel.handleNextTm(!ptmeLocked);
if (result == DirectTmSinkIF::IS_BUSY) {
sif::error << "Lost live TM, PAPB busy" << std::endl;
}
diff --git a/mission/com/PersistentLogTmStoreTask.cpp b/mission/com/PersistentLogTmStoreTask.cpp
index 77f2bb7d..28545457 100644
--- a/mission/com/PersistentLogTmStoreTask.cpp
+++ b/mission/com/PersistentLogTmStoreTask.cpp
@@ -42,13 +42,7 @@ ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
if (not someonesBusy) {
TaskFactory::delayTask(100);
} else if (vcBusyDuringDump) {
- // TODO: Might not be necessary
- sif::debug << "VC busy, delaying" << std::endl;
TaskFactory::delayTask(10);
- } else {
- // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
- // Polling the PAPB of the PTME core too often leads to scheuduling issues.
- TaskFactory::delayTask(2);
}
}
}
diff --git a/mission/com/PersistentSingleTmStoreTask.cpp b/mission/com/PersistentSingleTmStoreTask.cpp
index 1b77365b..d6f43289 100644
--- a/mission/com/PersistentSingleTmStoreTask.cpp
+++ b/mission/com/PersistentSingleTmStoreTask.cpp
@@ -24,13 +24,7 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
if (not busy) {
TaskFactory::delayTask(100);
} else if (dumpContext.vcBusyDuringDump) {
- sif::debug << "VC busy, delaying" << std::endl;
- // TODO: Might not be necessary
TaskFactory::delayTask(10);
- } else {
- // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
- // Polling the PAPB of the PTME core too often leads to scheuduling issues.
- TaskFactory::delayTask(2);
}
}
}