eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

merged mueller master

Browse Source
This commit is contained in:
Jakob Meier
2021-04-25 09:33:21 +02:00
parent 076c00717c 0c892982ae
commit 053e5f6e92
55 changed files with 363 additions and 1297 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
bsp_q7s/InitMission.cpp
View File

@ -137,6 +137,7 @@ void initmission::initTasks() {
//TODO: Add handling of missed deadlines
/* Polling Sequence Table Default */
#if Q7S_ADD_SPI_TEST == 0
FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
"PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
@ -144,6 +145,7 @@ void initmission::initTasks() {
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
#endif
#if TE0720 == 0
FixedTimeslotTaskIF* gomSpacePstTask = factory->
@ -155,13 +157,20 @@ void initmission::initTasks() {
}
#endif
PeriodicTaskIF* testTask = factory->createPeriodicTask(
"GPIOD_TEST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
#if OBSW_ADD_TEST_CODE == 1
PeriodicTaskIF* testTask = factory->createPeriodicTask(
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#if Q7S_ADD_SPI_TEST == 1
result = testTask->addComponent(objects::SPI_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
}
#endif
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if TE0720 == 1 && TEST_LIBGPIOD == 1
result = testTask->addComponent(objects::LIBGPIOD_TEST);
@ -178,7 +187,10 @@ void initmission::initTasks() {
#if TE0720 == 0
gomSpacePstTask->startTask();
#endif
#if Q7S_ADD_SPI_TEST == 0
pollingSequenceTableTaskDefault->startTask();
#endif
pusVerification->startTask();
pusEvents->startTask();
@ -186,6 +198,8 @@ void initmission::initTasks() {
pusMedPrio->startTask();
pusLowPrio->startTask();
#if OBSW_ADD_TEST_CODE == 1
testTask->startTask();
#endif
sif::info << "Tasks started.." << std::endl;
}

131
bsp_q7s/ObjectFactory.cpp
View File

@ -5,6 +5,7 @@
#include <devices/gpioIds.h>
#include <tmtc/pusIds.h>
#include <devices/powerSwitcherList.h>
#include <devices/spi.h>
#include <bsp_q7s/devices/HeaterHandler.h>
#include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>
@ -21,6 +22,9 @@
#include <mission/devices/IMTQHandler.h>
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
#include <mission/devices/SyrlinksHkHandler.h>
#include <mission/devices/MGMHandlerLIS3MDL.h>
#include <mission/devices/MGMHandlerRM3100.h>
#include <mission/devices/GyroL3GD20Handler.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
@ -28,25 +32,26 @@
#include <linux/csp/CspCookie.h>
#include <linux/csp/CspComIF.h>
#include <linux/i2c/I2cCookie.h>
#include <linux/i2c/I2cComIF.h>
#include <linux/gpio/LinuxLibgpioIF.h>
#include <linux/gpio/GpioCookie.h>
#include <linux/uart/UartComIF.h>
#include <linux/uart/UartCookie.h>
#include <linux/spi/SpiComIF.h>
#include <linux/spi/SpiCookie.h>
#include <fsfw_hal/linux/i2c/I2cCookie.h>
#include <fsfw_hal/linux/i2c/I2cComIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
/* UDP server includes */
#include <fsfw/osal/common/UdpTmTcBridge.h>
#include <fsfw/osal/common/UdpTcPollingTask.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <linux/boardtest/SpiTestClass.h>
#if TEST_LIBGPIOD == 1
#include <linux/boardtest/LibgpiodTest.h>
@ -92,7 +97,21 @@ void ObjectFactory::produce(){
new CspComIF(objects::CSP_COM_IF);
new I2cComIF(objects::I2C_COM_IF);
new UartComIF(objects::UART_COM_IF);
#if Q7S_ADD_SPI_TEST == 0
new SpiComIF(objects::SPI_COM_IF, gpioComIF);
#endif
/* Temperature sensors */
Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
i2cCookieTmp1075tcs1);
tmp1075Handler_1->setStartUpImmediately();
Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(
objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
i2cCookieTmp1075tcs2);
tmp1075Handler_2->setStartUpImmediately();
GpioCookie* heaterGpiosCookie = new GpioCookie;
#if TE0720 == 0
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
@ -123,19 +142,68 @@ void ObjectFactory::produce(){
// pdu1handler->setModeNormal();
// pdu2handler->setModeNormal();
// acuhandler->setModeNormal();
#endif
/* Temperature sensors */
Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
i2cCookieTmp1075tcs1);
tmp1075Handler_1->setStartUpImmediately();
Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(
objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
i2cCookieTmp1075tcs2);
tmp1075Handler_2->setStartUpImmediately();
(void) p60dockhandler;
(void) pdu1handler;
(void) pdu2handler;
(void) acuhandler;
#if OBSW_ADD_ACS_BOARD == 1
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
GpiodRegular* gpio = nullptr;
gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_1_ADIS"),
gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegular(std::string("gpiochip5"), 7, std::string("CS_GYRO_2_L3G"),
gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegular(std::string("gpiochip5"), 3, std::string("CS_GYRO_3_L3G"),
gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
gpio = new GpiodRegular(std::string("gpiochip5"), 5, std::string("CS_MGM_0_LIS3_A"),
gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegular(std::string("gpiochip5"), 17, std::string("CS_MGM_1_RM3100_A"),
gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegular(std::string("gpiochip6"), 0, std::string("CS_MGM_2_LIS3_B"),
gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegular(std::string("gpiochip5"), 10, std::string("CS_MGM_3_RM3100_B"),
gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
gpioComIF->addGpios(gpioCookieAcsBoard);
std::string spiDev = "/dev/spidev2.0";
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmLis3Handler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmLis3Handler2->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmRm3100Handler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie);
gyroL3gHandler->setStartUpImmediately();
#endif
GpioCookie* heaterGpiosCookie = new GpioCookie;
#if TE0720 == 0
/* Pin H2-11 on stack connector */
GpiodRegular* gpioConfigHeater0 = new GpiodRegular(std::string("gpiochip7"), 6,
std::string("Heater0"), gpio::OUT, 0);
@ -196,6 +264,7 @@ void ObjectFactory::produce(){
objects::UART_COM_IF, syrlinksUartCookie);
syrlinksHkHandler->setModeNormal();
#if Q7S_ADD_SPI_TEST == 0
GpioCookie* rtdGpioCookie = new GpioCookie;
gpioCallbacks::initTcsBoardDecoder(gpioComIF);
@ -318,17 +387,19 @@ void ObjectFactory::produce(){
// rtdIc10->setStartUpImmediately();
// rtdIc4->setStartUpImmediately();
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
std::string("/dev/i2c-0"));
IMTQHandler* imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
imtqHandler->setStartUpImmediately();
#endif /* Q7S_ADD_SPI_TEST == 0 */
#endif
#endif /* TE0720 == 0 */
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE,
objects::TC_STORE);
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
std::string("/dev/i2c-0"));
IMTQHandler* imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
imtqHandler->setStartUpImmediately();
#if TE0720 == 1 && TEST_LIBGPIOD == 1
/* Configure MIO0 as input */
GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
@ -344,4 +415,8 @@ void ObjectFactory::produce(){
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
#endif
#if Q7S_ADD_SPI_TEST == 1
new SpiTestClass(objects::SPI_TEST, gpioComIF);
#endif
}

11
bsp_q7s/boardconfig/q7s_config.h Normal file
View File

@ -0,0 +1,11 @@
#ifndef BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_
#define BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_
/* Only one of those 2 should be enabled! */
/* Add code for ACS board */
#define OBSW_ADD_ACS_BOARD 0
#define Q7S_ADD_SPI_TEST 0
#endif /* BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ */

2
bsp_q7s/devices/HeaterHandler.cpp
View File

@ -2,7 +2,7 @@
#include <fsfwconfig/devices/powerSwitcherList.h>
#include <fsfw/ipc/QueueFactory.h>
#include <devices/gpioIds.h>
#include <linux/gpio/GpioCookie.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) :

2
bsp_q7s/devices/HeaterHandler.h
View File

@ -10,7 +10,7 @@
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/timemanager/Countdown.h>
#include <linux/gpio/GpioIF.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <unordered_map>
/**

2
bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
View File

@ -3,7 +3,7 @@
#include <devices/powerSwitcherList.h>
#include <devices/gpioIds.h>
#include <linux/gpio/GpioCookie.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/ipc/QueueFactory.h>

4
bsp_q7s/devices/SolarArrayDeploymentHandler.h
View File

@ -1,8 +1,6 @@
#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
#include <linux/gpio/GpioIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
@ -11,7 +9,7 @@
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/timemanager/Countdown.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <unordered_map>
/**

9
bsp_q7s/gpio/gpioCallbacks.cpp
View File

@ -1,7 +1,8 @@
#include <bsp_q7s/gpio/gpioCallbacks.h>
#include <fsfwconfig/devices/gpioIds.h>
#include <linux/gpio/LinuxLibgpioIF.h>
#include <linux/gpio/GpioCookie.h>
#include "gpioCallbacks.h"
#include <devices/gpioIds.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw/serviceinterface/ServiceInterface.h>

4
bsp_q7s/gpio/gpioCallbacks.h
View File

@ -1,8 +1,8 @@
#ifndef LINUX_GPIO_GPIOCALLBACKS_H_
#define LINUX_GPIO_GPIOCALLBACKS_H_
#include <linux/gpio/gpioDefinitions.h>
#include <linux/gpio/GpioIF.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
namespace gpioCallbacks {