eive-obsw/bsp_rpi/ObjectFactory.cpp

115 lines
4.6 KiB
C++
Raw Normal View History

2020-09-30 17:17:01 +02:00
#include "ObjectFactory.h"
2021-02-22 17:36:44 +01:00
#include <bsp_rpi/gpio/GPIORPi.h>
2020-09-30 17:17:01 +02:00
2020-11-20 18:27:07 +01:00
#include <objects/systemObjectList.h>
2021-02-23 22:07:39 +01:00
#include <devices/addresses.h>
2021-02-22 17:36:44 +01:00
#include <devices/gpioIds.h>
2020-11-20 18:27:07 +01:00
#include <OBSWConfig.h>
#include <tmtc/apid.h>
#include <tmtc/pusIds.h>
2020-09-30 17:17:01 +02:00
2021-02-22 12:57:41 +01:00
#include <linux/boardtest/LibgpiodTest.h>
2021-02-22 18:46:45 +01:00
#include <linux/boardtest/SpiTestClass.h>
2021-02-22 12:57:41 +01:00
#include <linux/gpio/GpioCookie.h>
#include <linux/gpio/LinuxLibgpioIF.h>
2020-09-30 17:17:01 +02:00
2021-02-23 22:07:39 +01:00
#include <linux/spi/SpiCookie.h>
2020-11-20 18:27:07 +01:00
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
2021-02-23 22:07:39 +01:00
#include <mission/devices/MGMHandlerLIS3MDL.h>
2020-09-30 17:17:01 +02:00
2021-02-22 18:46:45 +01:00
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <fsfw/tasks/TaskFactory.h>
2021-02-23 22:07:39 +01:00
#include <linux/spi/SpiComIF.h>
2021-03-06 18:12:50 +01:00
#include <mission/devices/MGMHandlerRM3100.h>
2021-02-22 18:46:45 +01:00
2020-11-20 18:27:07 +01:00
void Factory::setStaticFrameworkObjectIds() {
2021-02-24 11:35:22 +01:00
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::packetDestination = objects::TM_FUNNEL;
2020-09-30 17:17:01 +02:00
2021-02-24 11:35:22 +01:00
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
2020-09-30 17:17:01 +02:00
2021-02-24 11:35:22 +01:00
TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
// No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT;
2020-09-30 17:17:01 +02:00
2021-02-24 11:35:22 +01:00
LocalDataPoolManager::defaultHkDestination = objects::NO_OBJECT;
2020-12-29 02:16:39 +01:00
2021-02-24 11:35:22 +01:00
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
TmPacketStored::timeStamperId = objects::TIME_STAMPER;
2020-09-30 17:17:01 +02:00
}
void ObjectFactory::produce(){
2021-02-24 11:35:22 +01:00
Factory::setStaticFrameworkObjectIds();
ObjectFactory::produceGenericObjects();
2020-09-30 17:17:01 +02:00
2021-02-24 11:35:22 +01:00
new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
objects::CCSDS_PACKET_DISTRIBUTOR,
objects::TM_STORE, objects::TC_STORE);
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
2021-01-14 00:40:30 +01:00
2021-02-23 16:47:34 +01:00
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
2021-02-22 17:36:44 +01:00
#if RPI_ADD_SPI_TEST == 1
2021-02-24 11:35:22 +01:00
new SpiTestClass(objects::SPI_TEST, gpioIF);
2021-02-22 17:36:44 +01:00
#endif
2021-02-22 12:57:41 +01:00
2021-02-22 17:36:44 +01:00
#if RPI_LOOPBACK_TEST_GPIO == 1
2021-02-24 11:35:22 +01:00
GpioCookie* gpioCookieLoopback = new GpioCookie();
/* Loopback pins. Adapt according to setup */
gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
int bcmPinSender = 26;
gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
int bcmPinReader = 16;
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
gpio::Direction::OUT, 0);
2021-02-23 22:07:39 +01:00
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
2021-02-22 17:36:44 +01:00
gpio::Direction::IN, 0);
2021-02-24 11:35:22 +01:00
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
2021-02-24 11:36:35 +01:00
#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
2021-02-23 22:07:39 +01:00
new SpiComIF(objects::SPI_COM_IF, gpioIF);
#if RPI_TEST_ACS_BOARD == 1
2021-02-24 11:35:22 +01:00
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
"MGM_0_LIS3", gpio::Direction::OUT, 1);
2021-02-23 22:07:39 +01:00
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
"MGM_1_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
"MGM_2_LIS3", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
"MGM_3_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
"GYRO_1_L3G", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
"GYRO_2_L3G", gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookieAcsBoard);
2021-03-06 15:13:28 +01:00
std::string spiDev = "/dev/spidev0.0";
2021-03-06 20:37:17 +01:00
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev, 24,
spi::SpiMode::MODE_3, 3'900'000);
2021-03-06 18:12:50 +01:00
auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
2021-02-24 11:35:22 +01:00
objects::SPI_COM_IF, spiCookie);
2021-03-06 18:12:50 +01:00
mgmLis3Handler->setStartUpImmediately();
2021-03-06 20:37:17 +01:00
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, 16,
2021-03-06 18:12:50 +01:00
spi::SpiMode::MODE_3, 976'000);
auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmRm3100Handler->setStartUpImmediately();
2021-02-24 11:36:35 +01:00
#endif /* RPI_TEST_ACS_BOARD == 1 */
2020-09-30 17:17:01 +02:00
}