134 lines
4.1 KiB
C++
134 lines
4.1 KiB
C++
#include <fsfw_hal/linux/uio/UioMapper.h>
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#include <linux/ipcore/PapbVcInterface.h>
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#include <unistd.h>
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#include <ctime>
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#include "fsfw/serviceinterface/ServiceInterface.h"
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PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,
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gpioId_t papbEmptyId, std::string uioFile, int mapNum)
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: gpioComIF(gpioComIF),
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papbBusyId(papbBusyId),
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papbEmptyId(papbEmptyId),
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uioFile(std::move(uioFile)),
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mapNum(mapNum) {}
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PapbVcInterface::~PapbVcInterface() {}
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ReturnValue_t PapbVcInterface::initialize() {
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UioMapper uioMapper(uioFile, mapNum);
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ReturnValue_t result = uioMapper.getMappedAdress(const_cast<uint32_t**>(&vcBaseReg),
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UioMapper::Permissions::WRITE_ONLY);
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if (result != returnvalue::OK) {
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return result;
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}
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return returnvalue::OK;
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}
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ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) {
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if (pollPapbBusySignal(0) == returnvalue::OK) {
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startPacketTransfer();
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} else {
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return DirectTmSinkIF::IS_BUSY;
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}
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for (size_t idx = 0; idx < size; idx++) {
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// This delay is super-important, DO NOT REMOVE!
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// Polling the GPIO too often can mess up the scheduler.
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// TODO: Maybe this should not be done like this. It would be better if there was a custom
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// FPGA module which can accept packets and then takes care of dumping that packet into
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// the PTME. DMA would be an ideal solution for this.
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// nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
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if (pollPapbBusySignal(2) == returnvalue::OK) {
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*(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(data[idx]);
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} else {
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abortPacketTransfer();
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return returnvalue::FAILED;
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}
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}
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// nanosleep(&BETWEEN_POLL_DELAY, &remDelay);
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if (pollPapbBusySignal(2) == returnvalue::OK) {
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completePacketTransfer();
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} else {
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abortPacketTransfer();
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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void PapbVcInterface::startPacketTransfer() { *vcBaseReg = CONFIG_START; }
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void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; }
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ReturnValue_t PapbVcInterface::pollPapbBusySignal(uint32_t maxPollRetries) const {
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uint32_t busyIdx = 0;
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nextDelay.tv_nsec = 0;
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while (true) {
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// Check if PAPB interface is ready to receive data. Use the configuration register for this.
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// Bit 5, see PTME ptme_001_01-0-7-r2 Table 31.
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bool busy = ((*vcBaseReg) >> 5) & 0b1;
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if (not busy) {
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return returnvalue::OK;
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}
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busyIdx++;
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if (busyIdx >= maxPollRetries) {
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return PAPB_BUSY;
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}
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// Ignore signal handling here for now.
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nanosleep(&nextDelay, &remDelay);
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// Adaptive delay.
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if (nextDelay.tv_nsec == 0) {
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nextDelay.tv_nsec = FIRST_NON_NULL_DELAY_NS;
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} else if (nextDelay.tv_nsec * 2 <= MAX_DELAY_PAPB_POLLING_NS) {
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nextDelay.tv_nsec *= 2;
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}
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}
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return returnvalue::OK;
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}
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void PapbVcInterface::isVcInterfaceBufferEmpty() {
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ReturnValue_t result = returnvalue::OK;
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gpio::Levels papbEmptyState = gpio::Levels::HIGH;
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result = gpioComIF->readGpio(papbEmptyId, papbEmptyState);
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if (result != returnvalue::OK) {
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sif::warning << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
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<< std::endl;
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return;
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}
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if (papbEmptyState == gpio::Levels::HIGH) {
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sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is empty" << std::endl;
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} else {
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sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is not empty" << std::endl;
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}
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return;
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}
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bool PapbVcInterface::isBusy() const { return pollPapbBusySignal(0) == PAPB_BUSY; }
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void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); }
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ReturnValue_t PapbVcInterface::sendTestFrame() {
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/** Size of one complete transfer frame data field amounts to 1105 bytes */
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uint8_t testPacket[1105];
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/** Fill one test packet */
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for (int idx = 0; idx < 1105; idx++) {
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testPacket[idx] = static_cast<uint8_t>(idx & 0xFF);
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}
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ReturnValue_t result = write(testPacket, 1105);
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if (result != returnvalue::OK) {
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return result;
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}
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return returnvalue::OK;
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}
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void PapbVcInterface::abortPacketTransfer() { *vcBaseReg = CONFIG_ABORT; }
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