eive-obsw/bsp_q7s/core/ObjectFactory.cpp

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#include "ObjectFactory.h"
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#include <fsfw/subsystem/Subsystem.h>
#include <mission/system/objects/CamSwitcher.h>
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#include "OBSWConfig.h"
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#include "bsp_q7s/boardtest/Q7STestTask.h"
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#include "bsp_q7s/callbacks/gnssCallback.h"
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#include "bsp_q7s/callbacks/pcduSwitchCb.h"
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#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
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#include "bsp_q7s/callbacks/rwSpiCallback.h"
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#include "busConf.h"
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#include "ccsdsConfig.h"
#include "devConf.h"
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#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "devices/powerSwitcherList.h"
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#include "eive/definitions.h"
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#include "fsfw/ipc/QueueFactory.h"
#include "linux/ObjectFactory.h"
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#include "linux/boardtest/I2cTestClass.h"
#include "linux/boardtest/SpiTestClass.h"
#include "linux/boardtest/UartTestClass.h"
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#include "linux/callbacks/gpioCallbacks.h"
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#include "linux/csp/CspComIF.h"
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#include "linux/devices/GPSHyperionLinuxController.h"
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#include "linux/devices/ScexUartReader.h"
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#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
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#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
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#include "linux/devices/ploc/PlocMPSoCHandler.h"
#include "linux/devices/ploc/PlocMPSoCHelper.h"
#include "linux/devices/ploc/PlocMemoryDumper.h"
#include "linux/devices/ploc/PlocSupervisorHandler.h"
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#include "linux/devices/startracker/StarTrackerHandler.h"
#include "linux/devices/startracker/StrHelper.h"
#include "linux/ipcore/AxiPtmeConfig.h"
#include "linux/ipcore/PapbVcInterface.h"
#include "linux/ipcore/PdecHandler.h"
#include "linux/ipcore/Ptme.h"
#include "linux/ipcore/PtmeConfig.h"
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#include "mission/csp/CspCookie.h"
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#include "mission/system/fdir/AcsBoardFdir.h"
#include "mission/system/fdir/GomspacePowerFdir.h"
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#include "mission/system/fdir/RtdFdir.h"
#include "mission/system/fdir/SusFdir.h"
#include "mission/system/fdir/SyrlinksFdir.h"
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#include "mission/system/objects/AcsSubsystem.h"
#include "mission/system/objects/RwAssembly.h"
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#include "mission/system/objects/TcsBoardAssembly.h"
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#include "mission/system/tree/acsModeTree.h"
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#include "mission/system/tree/comModeTree.h"
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#include "mission/system/tree/payloadModeTree.h"
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#include "mission/system/tree/tcsModeTree.h"
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#include "tmtc/pusIds.h"
#if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h"
#endif
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#include <mission/devices/ImtqHandler.h>
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#include <mission/devices/PcduHandler.h>
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#include <mission/devices/SyrlinksHandler.h>
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#include <sstream>
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#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
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#include "fsfw_hal/common/gpio/gpioDefinitions.h"
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#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/i2c/I2cCookie.h"
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#include "fsfw_hal/linux/serial/SerialComIF.h"
#include "fsfw_hal/linux/serial/SerialCookie.h"
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#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
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#include "mission/core/GenericFactory.h"
#include "mission/devices/ACUHandler.h"
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#include "mission/devices/BpxBatteryHandler.h"
#include "mission/devices/GyroADIS1650XHandler.h"
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#include "mission/devices/HeaterHandler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/PDU1Handler.h"
#include "mission/devices/PDU2Handler.h"
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#include "mission/devices/PayloadPcduHandler.h"
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#include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h"
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#include "mission/devices/SolarArrayDeploymentHandler.h"
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#include "mission/devices/Tmp1075Handler.h"
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#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
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#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
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#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
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#include "mission/system/objects/AcsBoardAssembly.h"
#include "mission/tmtc/CcsdsIpCoreHandler.h"
#include "mission/tmtc/TmFunnelHandler.h"
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#include "mission/tmtc/VirtualChannel.h"
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ResetArgs RESET_ARGS_GNSS;
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void Factory::setStaticFrameworkObjectIds() {
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PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
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PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
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CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
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CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
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#if OBSW_Q7S_EM == 1
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DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
#else
DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
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#endif /* OBSW_Q7S_EM == 1 */
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LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
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VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
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}
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void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
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void ObjectFactory::createTmpComponents() {
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std::vector<std::pair<object_id_t, address_t>> tmpDevIds = {{
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{objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
{objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
{objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
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// damaged
// {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
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{objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
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}};
std::vector<I2cCookie*> tmpDevCookies;
for (size_t idx = 0; idx < tmpDevIds.size(); idx++) {
tmpDevCookies.push_back(
new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
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auto* tmpDevHandler =
new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
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tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
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// TODO: Remove this after TCS subsystem was added
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// These devices are connected to the 3V3 stack and should be powered permanently. Therefore,
// we set them to normal mode immediately here.
tmpDevHandler->setModeNormal();
}
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}
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void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
SerialComIF** uartComIF, SpiComIF** spiMainComIF,
I2cComIF** i2cComIF, SpiComIF** spiRWComIF) {
if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
spiRWComIF == nullptr) {
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sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
<< std::endl;
}
*gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
/* Communication interfaces */
new CspComIF(objects::CSP_COM_IF);
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*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
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*uartComIF = new SerialComIF(objects::UART_COM_IF);
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*spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
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}
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void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
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CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
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auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
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P60DockHandler* p60dockhandler =
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new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
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PDU1Handler* pdu1handler =
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new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
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PDU2Handler* pdu2handler =
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new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
ACUHandler* acuhandler =
new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
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auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
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/**
* Setting PCDU devices to mode normal immediately after start up because PCDU is always
* running.
*/
p60dockhandler->setModeNormal();
pdu1handler->setModeNormal();
pdu2handler->setModeNormal();
acuhandler->setModeNormal();
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if (pwrSwitcher != nullptr) {
*pwrSwitcher = pcduHandler;
}
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#if OBSW_DEBUG_P60DOCK == 1
p60dockhandler->setDebugMode(true);
#endif
#if OBSW_DEBUG_ACU == 1
acuhandler->setDebugMode(true);
#endif
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}
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ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
Stack5VHandler& stackHandler) {
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using namespace gpio;
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if (gpioComIF == nullptr) {
return returnvalue::FAILED;
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}
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GpioCookie* gpioCookieRadSensor = new GpioCookie;
std::stringstream consumer;
consumer << "0x" << std::hex << objects::RAD_SENSOR;
GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
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q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), Direction::OUT, Levels::HIGH);
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gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
Levels::LOW);
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gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
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gpioChecker(gpioComIF->addGpios(gpioCookieRadSensor), "RAD sensor");
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SpiCookie* spiCookieRadSensor =
new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
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spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
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spiCookieRadSensor, gpioComIF, stackHandler);
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static_cast<void>(radSensor);
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#if OBSW_DEBUG_RAD_SENSOR == 1
radSensor->enablePeriodicDataPrint(true);
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#endif
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return returnvalue::OK;
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}
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void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
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PowerSwitchIF* pwrSwitcher) {
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using namespace gpio;
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GpioCookie* gpioCookieAcsBoard = new GpioCookie();
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std::vector<std::reference_wrapper<DeviceHandlerBase>> assemblyChildren;
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std::stringstream consumer;
GpiodRegularByLineName* gpio = nullptr;
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
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gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
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gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
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gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
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gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
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gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
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gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
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gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
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gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
// GNSS reset pins are active low
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gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), Direction::OUT,
Levels::HIGH);
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gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), Direction::OUT,
Levels::HIGH);
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gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
// Enable pins must be pulled low for regular operations
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), Direction::OUT,
Levels::LOW);
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gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), Direction::OUT,
Levels::LOW);
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gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
// Enable pins for GNSS
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), Direction::OUT,
Levels::LOW);
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gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), Direction::OUT,
Levels::LOW);
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gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
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// Select pin. 0 for GPS side A, 1 for GPS side B
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
Levels::LOW);
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gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
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gpioChecker(gpioComIF->addGpios(gpioCookieAcsBoard), "ACS Board");
AcsBoardFdir* fdir = nullptr;
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static_cast<void>(fdir);
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#if OBSW_ADD_ACS_BOARD == 1
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std::string spiDev = q7s::SPI_DEFAULT_DEV;
SpiCookie* spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
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auto mgmLis3Handler0 = new MgmLIS3MDLHandler(
objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
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mgmLis3Handler0->setCustomFdir(fdir);
assemblyChildren.push_back(*mgmLis3Handler0);
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#if OBSW_TEST_ACS == 1
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mgmLis3Handler->setStartUpImmediately();
mgmLis3Handler->setToGoToNormalMode(true);
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#endif
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#if OBSW_DEBUG_ACS == 1
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
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#endif
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spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
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auto mgmRm3100Handler1 =
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
spi::RM3100_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
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mgmRm3100Handler1->setCustomFdir(fdir);
assemblyChildren.push_back(*mgmRm3100Handler1);
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#if OBSW_TEST_ACS == 1
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mgmRm3100Handler->setStartUpImmediately();
mgmRm3100Handler->setToGoToNormalMode(true);
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#endif
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#if OBSW_DEBUG_ACS == 1
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
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#endif
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spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
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auto* mgmLis3Handler2 = new MgmLIS3MDLHandler(
objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
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mgmLis3Handler2->setCustomFdir(fdir);
assemblyChildren.push_back(*mgmLis3Handler2);
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#if OBSW_TEST_ACS == 1
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mgmLis3Handler->setStartUpImmediately();
mgmLis3Handler->setToGoToNormalMode(true);
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#endif
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#if OBSW_DEBUG_ACS == 1
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
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#endif
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spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
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auto* mgmRm3100Handler3 =
new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
spi::RM3100_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
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mgmRm3100Handler3->setCustomFdir(fdir);
assemblyChildren.push_back(*mgmRm3100Handler3);
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#if OBSW_TEST_ACS == 1
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mgmRm3100Handler->setStartUpImmediately();
mgmRm3100Handler->setToGoToNormalMode(true);
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#endif
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#if OBSW_DEBUG_ACS == 1
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
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#endif
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// Commented until ACS board V2 in in clean room again
// Gyro 0 Side A
spiCookie =
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
auto adisHandler =
new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
ADIS1650X::Type::ADIS16505);
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir);
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assemblyChildren.push_back(*adisHandler);
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#if OBSW_TEST_ACS == 1
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adisHandler->setStartUpImmediately();
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adisHandler->setToGoToNormalModeImmediately();
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#endif
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#if OBSW_DEBUG_ACS == 1
adisHandler->enablePeriodicPrintouts(true, 10);
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#endif
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// Gyro 1 Side A
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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auto gyroL3gHandler1 = new GyroHandlerL3GD20H(
objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
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gyroL3gHandler1->setCustomFdir(fdir);
assemblyChildren.push_back(*gyroL3gHandler1);
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#if OBSW_TEST_ACS == 1
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gyroL3gHandler->setStartUpImmediately();
gyroL3gHandler->setToGoToNormalMode(true);
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#endif
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#if OBSW_DEBUG_ACS == 1
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
#endif
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// Gyro 2 Side B
spiCookie =
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
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spiCookie, ADIS1650X::Type::ADIS16505);
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir);
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assemblyChildren.push_back(*adisHandler);
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#if OBSW_TEST_ACS == 1
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adisHandler->setStartUpImmediately();
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adisHandler->setToGoToNormalModeImmediately();
#endif
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// Gyro 3 Side B
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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auto gyroL3gHandler3 = new GyroHandlerL3GD20H(
objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
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gyroL3gHandler3->setCustomFdir(fdir);
assemblyChildren.push_back(*gyroL3gHandler3);
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#if OBSW_TEST_ACS == 1
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gyroL3gHandler->setStartUpImmediately();
gyroL3gHandler->setToGoToNormalMode(true);
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#endif
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#if OBSW_DEBUG_ACS == 1
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
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#endif
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bool debugGps = false;
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#if OBSW_DEBUG_GPS == 1
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debugGps = true;
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#endif
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RESET_ARGS_GNSS.gpioComIF = gpioComIF;
RESET_ARGS_GNSS.waitPeriodMs = 100;
auto gpsCtrl =
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new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
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gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
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AcsBoardHelper acsBoardHelper = AcsBoardHelper(
objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
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auto acsAss =
new AcsBoardAssembly(objects::ACS_BOARD_ASS, pwrSwitcher, acsBoardHelper, gpioComIF);
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static_cast<void>(acsAss);
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for (auto& assChild : assemblyChildren) {
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ReturnValue_t result = assChild.get().connectModeTreeParent(*acsAss);
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if (result != returnvalue::OK) {
sif::error << "Connecting assembly for ACS board component " << assChild.get().getObjectId()
<< " failed" << std::endl;
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}
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}
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gpsCtrl->connectModeTreeParent(*acsAss);
acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
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#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
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}
void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher,
HealthTableIF* healthTable) {
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using namespace gpio;
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GpioCookie* heaterGpiosCookie = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
std::stringstream consumer;
consumer << "0x" << std::hex << objects::HEATER_HANDLER;
/* Pin H2-11 on stack connector */
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gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), Direction::OUT,
Levels::LOW);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpio);
/* Pin H2-12 on stack connector */
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gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), Direction::OUT,
Levels::LOW);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpio);
/* Pin H2-13 on stack connector */
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gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), Direction::OUT,
Levels::LOW);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(), Direction::OUT,
Levels::LOW);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(), Direction::OUT,
Levels::LOW);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(), Direction::OUT,
Levels::LOW);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(), Direction::OUT,
Levels::LOW);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(), Direction::OUT,
Levels::LOW);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
gpioIF->addGpios(heaterGpiosCookie);
HeaterHelper helper({{
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{new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
gpioIds::HEATER_0},
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{new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
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{new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
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{new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
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{new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
{new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
{new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
{new HealthDevice(objects::HEATER_7_HPA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
}});
new HeaterHandler(objects::HEATER_HANDLER, gpioIF, helper, pwrSwitcher,
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pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
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}
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void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher,
GpioIF& gpioIF) {
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using namespace gpio;
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GpioCookie* solarArrayDeplCookie = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
std::stringstream consumer;
consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0, consumer.str(), Direction::OUT,
Levels::LOW);
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solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), Direction::OUT,
Levels::LOW);
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solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
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ReturnValue_t result = gpioIF.addGpios(solarArrayDeplCookie);
if (result != returnvalue::OK) {
sif::error << "Adding Solar Array Deployment GPIO cookie failed" << std::endl;
}
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new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, gpioIF, pwrSwitcher,
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pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
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gpioIds::DEPLSA1, gpioIds::DEPLSA2, *SdCardManager::instance());
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}
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void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
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auto* syrlinksUartCookie =
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new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
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syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
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syrlinksUartCookie->setParityEven();
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auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
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auto syrlinksHandler =
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new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
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pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
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syrlinksHandler->setPowerSwitcher(pwrSwitcher);
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syrlinksHandler->setStartUpImmediately();
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syrlinksHandler->connectModeTreeParent(satsystem::com::SUBSYSTEM);
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#if OBSW_DEBUG_SYRLINKS == 1
syrlinksHandler->setDebugMode(true);
#endif
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}
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void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitch) {
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using namespace gpio;
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std::stringstream consumer;
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auto* camSwitcher =
new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, pcdu::PDU2_CH8_PAYLOAD_CAMERA);
camSwitcher->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
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#if OBSW_ADD_PLOC_MPSOC == 1
consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
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auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
consumer.str(), Direction::OUT, Levels::HIGH);
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auto mpsocGpioCookie = new GpioCookie;
mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
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gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
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auto mpsocCookie =
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new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
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mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
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mpsocCookie->setNoFixedSizeReply();
auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
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auto* mpsocHandler = new PlocMPSoCHandler(
objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
mpsocHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
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#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
#if OBSW_ADD_PLOC_SUPERVISOR == 1
consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
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auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(),
Direction::OUT, Levels::LOW);
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auto supvGpioCookie = new GpioCookie;
supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
gpioComIF->addGpios(supvGpioCookie);
auto supervisorCookie =
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new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
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uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
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supervisorCookie->setNoFixedSizeReply();
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auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
pcdu::PDU1_CH6_PLOC_12V, *supvHelper);
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supvHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
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#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
static_cast<void>(consumer);
}
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void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
PowerSwitchIF* pwrSwitcher) {
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using namespace gpio;
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GpioCookie* gpioCookieRw = new GpioCookie;
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GpioCallback* csRw1 =
new GpioCallback("Chip select reaction wheel 1", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
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GpioCallback* csRw2 =
new GpioCallback("Chip select reaction wheel 2", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
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GpioCallback* csRw3 =
new GpioCallback("Chip select reaction wheel 3", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
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GpioCallback* csRw4 =
new GpioCallback("Chip select reaction wheel 4", Direction::OUT, Levels::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
std::stringstream consumer;
GpiodRegularByLineName* gpio = nullptr;
consumer << "0x" << std::hex << objects::RW1;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), Direction::OUT,
Levels::LOW);
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gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::RW2;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), Direction::OUT,
Levels::LOW);
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gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::RW3;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), Direction::OUT,
Levels::LOW);
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gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::RW4;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), Direction::OUT,
Levels::LOW);
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gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
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gpioChecker(gpioComIF->addGpios(gpioCookieRw), "RWs");
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#if OBSW_ADD_RW == 1
std::array<std::pair<address_t, gpioId_t>, 4> rwCookieParams = {
{{addresses::RW1, gpioIds::CS_RW1},
{addresses::RW2, gpioIds::CS_RW2},
{addresses::RW3, gpioIds::CS_RW3},
{addresses::RW4, gpioIds::CS_RW4}}};
std::array<SpiCookie*, 4> rwCookies = {};
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std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
gpioIds::EN_RW4};
std::array<RwHandler*, 4> rws = {};
for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
&rwSpiCallback::spiCallback, nullptr);
rws[idx] = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
rwGpioIds[idx]);
rwCookies[idx]->setCallbackArgs(rws[idx]);
#if OBSW_TEST_RW == 1
rws[idx]->setStartUpImmediately();
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#endif
#if OBSW_DEBUG_RW == 1
rws[idx]->setDebugMode(true);
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#endif
}
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RwHelper rwHelper(rwIds);
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auto* rwAss =
new RwAssembly(objects::RW_ASS, pwrSwitcher, pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
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for (uint8_t idx = 0; idx < rws.size(); idx++) {
ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
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if (result != returnvalue::OK) {
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sif::error << "Connecting RW " << static_cast<int>(idx) << " to RW assembly failed"
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<< std::endl;
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}
}
rwAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
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#endif /* OBSW_ADD_RW == 1 */
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}
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ReturnValue_t ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF,
CcsdsIpCoreHandler** ipCoreHandler) {
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using namespace gpio;
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// GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
GpioCookie* gpioCookiePtmeIp = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
std::stringstream consumer;
consumer.str("PAPB VC0");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
consumer.str("PAPB VC0");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
consumer.str("PAPB VC 1");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
consumer.str("");
consumer.str("PAPB VC 1");
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gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
consumer.str("");
consumer.str("PAPB VC 2");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
consumer.str("");
consumer.str("PAPB VC 2");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
consumer.str("");
consumer.str("PAPB VC 3");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
consumer.str("");
consumer.str("PAPB VC 3");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
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gpioChecker(gpioComIF->addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
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// Creating virtual channel interfaces
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VcInterfaceIF* vc0 =
new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC0);
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VcInterfaceIF* vc1 =
new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC1);
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VcInterfaceIF* vc2 =
new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC2);
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VcInterfaceIF* vc3 =
new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
q7s::uiomapids::PTME_VC3);
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// Creating ptme object and adding virtual channel interfaces
Ptme* ptme = new Ptme(objects::PTME);
ptme->addVcInterface(ccsds::VC0, vc0);
ptme->addVcInterface(ccsds::VC1, vc1);
ptme->addVcInterface(ccsds::VC2, vc2);
ptme->addVcInterface(ccsds::VC3, vc3);
AxiPtmeConfig* axiPtmeConfig =
new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
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#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
// Set to high value when not sending via syrlinks
static const uint32_t TRANSMITTER_TIMEOUT = 86400000; // 1 day
#else
static const uint32_t TRANSMITTER_TIMEOUT = 900000; // 15 minutes
#endif
*ipCoreHandler = new CcsdsIpCoreHandler(
objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
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gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
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VirtualChannel* vc = nullptr;
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vc = new VirtualChannel(ccsds::VC0, config::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
(*ipCoreHandler)->addVirtualChannel(ccsds::VC0, vc);
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vc = new VirtualChannel(ccsds::VC1, config::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
(*ipCoreHandler)->addVirtualChannel(ccsds::VC1, vc);
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vc = new VirtualChannel(ccsds::VC2, config::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
(*ipCoreHandler)->addVirtualChannel(ccsds::VC2, vc);
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vc = new VirtualChannel(ccsds::VC3, config::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
(*ipCoreHandler)->addVirtualChannel(ccsds::VC3, vc);
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ReturnValue_t result = (*ipCoreHandler)->connectModeTreeParent(satsystem::com::SUBSYSTEM);
if (result != returnvalue::OK) {
sif::error
<< "ObjectFactory::createCcsdsComponents: Connecting COM subsystem to CCSDS handler failed"
<< std::endl;
}
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GpioCookie* gpioCookiePdec = new GpioCookie;
consumer.str("");
consumer << "0x" << std::hex << objects::PDEC_HANDLER;
// GPIO also low after linux boot (specified by device-tree)
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), Direction::OUT,
Levels::LOW);
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gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
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gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");
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struct UioNames uioNames {};
uioNames.configMemory = q7s::UIO_PDEC_CONFIG_MEMORY;
uioNames.ramMemory = q7s::UIO_PDEC_RAM;
uioNames.registers = q7s::UIO_PDEC_REGISTERS;
uioNames.irq = q7s::UIO_PDEC_IRQ;
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new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
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uioNames);
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GpioCookie* gpioRS485Chip = new GpioCookie;
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
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Direction::OUT, Levels::LOW);
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gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
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Direction::OUT, Levels::LOW);
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gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
// Default configuration enables RX channels (RXEN = LOW)
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
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Direction::OUT, Levels::LOW);
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gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
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Direction::OUT, Levels::LOW);
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gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
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gpioChecker(gpioComIF->addGpios(gpioRS485Chip), "RS485 Transceiver");
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return returnvalue::OK;
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}
void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
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PowerSwitchIF* pwrSwitcher,
Stack5VHandler& stackHandler) {
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using namespace gpio;
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// Create all GPIO components first
GpioCookie* plPcduGpios = new GpioCookie;
GpiodRegularByLineName* gpio = nullptr;
std::string consumer;
// Switch pins are active high
consumer = "PLPCDU_ENB_VBAT_0";
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT0, consumer, Direction::OUT,
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gpio::Levels::LOW);
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT0, gpio);
consumer = "PLPCDU_ENB_VBAT_1";
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT1, consumer, Direction::OUT,
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gpio::Levels::LOW);
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT1, gpio);
consumer = "PLPCDU_ENB_DRO";
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_DRO, consumer, Direction::OUT,
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gpio::Levels::LOW);
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_DRO, gpio);
consumer = "PLPCDU_ENB_X8";
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_X8, consumer, Direction::OUT,
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gpio::Levels::LOW);
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_X8, gpio);
consumer = "PLPCDU_ENB_TX";
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_TX, consumer, Direction::OUT,
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gpio::Levels::LOW);
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_TX, gpio);
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consumer = "PLPCDU_ENB_MPA";
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_MPA, consumer, Direction::OUT,
gpio::Levels::LOW);
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_MPA, gpio);
consumer = "PLPCDU_ENB_HPA";
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_HPA, consumer, Direction::OUT,
gpio::Levels::LOW);
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_HPA, gpio);
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// Chip select pin is active low
consumer = "PLPCDU_ADC_CS";
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, Direction::OUT,
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gpio::Levels::HIGH);
plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
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gpioChecker(gpioComIF->addGpios(plPcduGpios), "PL PCDU");
SpiCookie* spiCookie =
new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, plpcdu::MAX_ADC_REPLY_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
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// Create device handler components
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auto plPcduHandler =
new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
gpioComIF, SdCardManager::instance(), stackHandler, false);
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spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
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// plPcduHandler->enablePeriodicPrintout(true, 5);
// static_cast<void>(plPcduHandler);
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#if OBSW_TEST_PL_PCDU == 1
plPcduHandler->setStartUpImmediately();
#endif
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#if OBSW_DEBUG_PL_PCDU == 1
plPcduHandler->setToGoToNormalModeImmediately(true);
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plPcduHandler->enablePeriodicPrintout(true, 10);
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#endif
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plPcduHandler->connectModeTreeParent(satsystem::pl::SUBSYSTEM);
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}
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void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
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new Q7STestTask(objects::TEST_TASK);
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#if OBSW_ADD_SPI_TEST_CODE == 1
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new SpiTestClass(objects::SPI_TEST, gpioComIF);
#endif
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#if OBSW_ADD_I2C_TEST_CODE == 1
new I2cTestClass(objects::I2C_TEST, q7s::I2C_PL_EIVE);
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#endif
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#if OBSW_ADD_UART_TEST_CODE == 1
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// auto* reader= new ScexUartReader(objects::SCEX_UART_READER);
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new UartTestClass(objects::UART_TEST);
#endif
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}
void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
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auto* starTrackerCookie =
new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
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startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
starTrackerCookie->setNoFixedSizeReply();
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
auto starTracker =
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
starTracker->setPowerSwitcher(pwrSwitcher);
starTracker->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
}
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
pcdu::Switches::PDU1_CH3_MGT_5V);
imtqHandler->setPowerSwitcher(pwrSwitcher);
imtqHandler->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
static_cast<void>(imtqHandler);
#if OBSW_TEST_IMTQ == 1
imtqHandler->setStartUpImmediately();
imtqHandler->setToGoToNormal(true);
#endif
#if OBSW_DEBUG_IMTQ == 1
imtqHandler->setDebugMode(true);
#endif
}
void ObjectFactory::createBpxBatteryComponent() {
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
BpxBatteryHandler* bpxHandler =
new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
bpxHandler->setStartUpImmediately();
bpxHandler->setToGoToNormalMode(true);
#if OBSW_DEBUG_BPX_BATT == 1
bpxHandler->setDebugMode(true);
#endif
}
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void ObjectFactory::createMiscComponents() { new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER); }
void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
CommandMessage msg;
ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
duallane::A_SIDE);
ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
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if (result != returnvalue::OK) {
sif::warning << "Sending mode command failed" << std::endl;
}
}