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rewrite(phase3): port adc/gpio from c-RCP, fix a critical ADC averaging regression #137

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Merged
SoundMatt merged 1 commit into from
Aug 21, 2026
Merged

rewrite(phase3): port adc/gpio from c-RCP, fix a critical ADC averaging regression #137

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1,065 changes: 834 additions & 231 deletions include/rcp/adc.hpp
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672 changes: 635 additions & 37 deletions include/rcp/gpio.hpp
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84 changes: 65 additions & 19 deletions include/rcp/mock.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -186,8 +186,9 @@ inline acf::WireErrorCode wire_error_code_for(const std::error_code& ec) noexcep
if (ec == make_error_code(i2c::I2cErrc::config_write_not_supported))
return acf::WireErrorCode::UnsupportedCmd; // evt[2:0]==111b config-write, not yet implemented by this mock
if (ec == make_error_code(i2c::I2cErrc::nack)) return acf::WireErrorCode::EpError;
if (ec == make_error_code(adc::AdcErrc::config_write_not_supported))
return acf::WireErrorCode::UnsupportedCmd; // evt[2:0]==111b config-write, not yet implemented by this mock
if (ec == make_error_code(adc::AdcErrc::reconfig_short) ||
ec == make_error_code(adc::AdcErrc::reconfig_out_of_range))
return acf::WireErrorCode::InvalidParameter; // evt[2:0]==111b config-write payload malformed/out of range (Phase 3, adc.hpp's own apply_reconfig)
if (ec == make_error_code(adc::AdcErrc::no_signal))
return acf::WireErrorCode::EpError; // internal no-valid-sample condition, not a TC18-defined ADC error code (see adc.hpp's own comment) — mirrors i2c::I2cErrc::nack's mapping above
if (ec == make_error_code(pwm::PwmErrc::config_write_not_supported))
Expand Down Expand Up @@ -556,33 +557,77 @@ class Server final {
// comment) — this dispatch path does not branch on req.op either, same
// rationale as dispatch_i2c/dispatch_spi above, just for a different
// reason (ADC has no write semantics implemented anywhere in this
// codebase, not that it is inherently full-duplex). Every request
// addressed here drives one AdcEndpoint::handle_request against a
// default-constructed AdcAveragingConfig (no averaging: one raw sample
// per request) and a take_sample callback that pulls the next scripted
// value set_adc_response() queued — Table 33 Row 2's 3-way
// Plain/Reserved/ConfigWrite classification (rcp::endpoint::
// evt_row2_kind_of) is checked by handle_request itself before
// take_sample is ever invoked, so a Reserved or ConfigWrite evt can
// never consume a scripted sample. `payload` is unused: §13.7.9.3
// states the ADC request itself carries no byte_msg_payload.
std::error_code dispatch_adc(const acf::AcfMessageInfo& req, const std::vector<uint8_t>& /*payload*/,
// codebase, not that it is inherently full-duplex).
//
// Table 33 Row 2's 3-way Plain/Reserved/ConfigWrite classification
// (rcp::endpoint::evt_row2_kind_of) is checked directly here (Phase 3:
// adc::AdcEndpoint no longer has its own combined handle_request, since
// c-RCP's own ep_adc.h/.c have no such function either — see adc.hpp's
// own file header): Reserved is rejected without consuming a scripted
// sample or touching adc_cfg_; ConfigWrite applies `payload` as a real
// §12.7.1 addressed register write against this server's own
// adc_cfg_ (adc::apply_reconfig, genuinely implemented as of Phase 3,
// unlike this mock's still-open Table 30/33 dispatch wiring for other
// endpoint types' own reconfig paths — full response-shape/register-
// read-back wiring for every endpoint type remains Phase 4's scope, see
// ROADMAP.md); Plain drives one AdcEndpoint::execute_measurement_cycle
// (samples_per_avg_interval=1, combine_avg_values=1: no averaging, one
// raw sample per request) against a take_sample callback that pulls the
// next scripted value set_adc_response() queued. An empty scripted
// queue reports a kAdcNoSignal-valued sample, which average_interval()
// carries through as the response's own value on the wire (adc.hpp's
// own corrected behavior) — this mock chooses to additionally surface
// that as an AdcErrc::no_signal *error* response instead, preserving
// this dispatch path's own pre-existing "queue underrun is an error"
// contract for set_adc_response()'s own callers/tests.
std::error_code dispatch_adc(const acf::AcfMessageInfo& req, const std::vector<uint8_t>& payload,
acf::AcfMessageInfo& out_resp,
std::vector<uint8_t>& out_resp_payload) noexcept {
if (!operational_requests_allowed()) {
return set_error_response(req, make_error_code(regmap::RegMapErrc::request_rejected),
out_resp, out_resp_payload);
}
auto take_sample = [this]() -> std::optional<uint16_t> {
if (adc_samples_.empty()) return std::nullopt;

switch (endpoint::evt_row2_kind_of(req.evt_op)) {
case endpoint::EvtRow2Kind::Reserved:
return set_error_response(req, endpoint::make_error_code(endpoint::EndpointErrc::reserved_evt_row2),
out_resp, out_resp_payload);
case endpoint::EvtRow2Kind::ConfigWrite: {
auto ec = adc::apply_reconfig(adc_cfg_, payload.data(), payload.size());
if (ec) return set_error_response(req, ec, out_resp, out_resp_payload);
out_resp = acf::make_response(req, acf::ResponseKind::WriteResponse);
return {};
}
case endpoint::EvtRow2Kind::Plain:
break;
}

adc::AdcFunctionalConfig cfg;
cfg.adc_samples_per_avg_interval = 1;
cfg.adc_combine_avg_values = 1;

auto take_sample = [this]() -> adc::AdcSample {
if (adc_samples_.empty()) return adc::AdcSample{adc::kAdcNoSignal, 0};
uint16_t v = adc_samples_.front();
adc_samples_.pop_front();
return v;
return adc::AdcSample{v, 0};
};
uint16_t value = 0;
auto ec = adc_.handle_request(req.evt_op, adc::AdcAveragingConfig{}, take_sample, value);

auto ec = adc_.execute_measurement_cycle(cfg, take_sample);
if (ec) return set_error_response(req, ec, out_resp, out_resp_payload);

std::vector<uint16_t> values;
uint64_t timestamp = 0;
ec = adc_.collect_response(cfg, values, timestamp);
if (ec) return set_error_response(req, ec, out_resp, out_resp_payload);
out_resp_payload = adc::encode_adc_value(value);

if (values.front() == adc::kAdcNoSignal) {
return set_error_response(req, adc::make_error_code(adc::AdcErrc::no_signal), out_resp,
out_resp_payload);
}

out_resp_payload.resize(adc::kAdcValueLen);
avtp::detail::put_u16(out_resp_payload.data(), values.front());
out_resp = acf::make_response(req, req.evt_ack ? acf::ResponseKind::Acknowledge
: acf::ResponseKind::ReadResponse);
return {};
Expand Down Expand Up @@ -864,6 +909,7 @@ class Server final {
spi::SpiEndpoint spi_;
i2c::I2cEndpoint i2c_;
adc::AdcEndpoint adc_;
adc::AdcFunctionalConfig adc_cfg_; // backs dispatch_adc's evt[2:0]==111b configuration-write path
pwm::PwmInEndpoint pwm_in_;
lin::LinEndpoint lin_;
can::CanEndpoint can_;
Expand Down
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