eive/eive-obsw
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eive-obsw
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added more spi test code, preprocessor defines 

and various bugfixes
This commit is contained in:
Robin Müller 2021-04-02 15:14:08 +02:00 committed by IRS Cleanroom Laptop
parent fca78108a2
commit 08351bcda2
9 changed files with 136 additions and 57 deletions
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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;
}

12
bsp_q7s/ObjectFactory.cpp
View File

@ -51,6 +51,7 @@
/* UDP server includes */
#include <fsfw/osal/common/UdpTmTcBridge.h>
#include <fsfw/osal/common/UdpTcPollingTask.h>
#include <linux/boardtest/SpiTestClass.h>
#if TEST_LIBGPIOD == 1
#include <linux/boardtest/LibgpiodTest.h>
@ -96,7 +97,9 @@ 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(
@ -184,7 +187,7 @@ void ObjectFactory::produce(){
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_0_LIS3_HANDLER,
auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmLis3Handler2->setStartUpImmediately();
@ -261,6 +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);
@ -382,6 +386,8 @@ void ObjectFactory::produce(){
Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0);
// rtdIc10->setStartUpImmediately();
// rtdIc4->setStartUpImmediately();
#endif /* Q7S_ADD_SPI_TEST == 0 */
#endif /* TE0720 == 0 */
new UdpTmTcBridge(objects::UDP_BRIDGE,
@ -404,4 +410,8 @@ 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 1
#endif /* BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ */

2
fsfw_hal

@ -1 +1 @@
Subproject commit 2fb50360ef8910ed785d31cc4da098a77c26fd81
Subproject commit 94fcbd587ea9eac76fbe6cbd85e1559c42235ce9

4
fsfwconfig/OBSWConfig.h
View File

@ -8,6 +8,8 @@
#ifdef RASPBERRY_PI
#include <rpi_config.h>
#elif defined(XIPHOS_Q7S)
#include <q7s_config.h>
#endif
#include "commonConfig.h"
#include "OBSWVersion.h"
@ -20,8 +22,6 @@ debugging. */
#define TEST_LIBGPIOD 0
#define TE0720 0
/* Add code for ACS board */
#define OBSW_ADD_ACS_BOARD 1
#define P60DOCK_DEBUG 0
#define PDU1_DEBUG 0

2
fsfwconfig/objects/systemObjectList.h
View File

@ -54,7 +54,7 @@ namespace objects {
/* Custom device handler */
PCDU_HANDLER = 0x44001000,
SOLAR_ARRAY_DEPL_HANDLER = 0x44001001,
SYRLINKS_HK_HANDLER = 0x44000009,
SYRLINKS_HK_HANDLER = 0x44001002,
/* 0x54 ('T') for thermal objects */
HEATER_HANDLER = 0x54000003,

129
linux/boardtest/SpiTestClass.cpp
View File

@ -21,11 +21,11 @@
SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId),
gpioIF(gpioIF) {
gpioIF(gpioIF) {
if(gpioIF == nullptr) {
sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
}
testMode = TestModes::GYRO_L3GD20H;
testMode = TestModes::MGM_LIS3MDL;
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
}
@ -36,11 +36,11 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
break;
}
case(TestModes::MGM_LIS3MDL): {
performLis3MdlTest(mgm0Lis3ChipSelect);
performLis3MdlTest(mgm2Lis3mdlChipSelect);
break;
}
case(TestModes::MGM_RM3100): {
performRm3100Test(mgm1Rm3100ChipSelect);
performRm3100Test(mgm3Rm3100ChipSelect);
break;
}
case(TestModes::GYRO_L3GD20H): {
@ -78,7 +78,7 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "placeholder";
std::string deviceName = "/dev/spidev2.0";
#endif
int fileDescriptor = 0;
@ -160,13 +160,14 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
acsInit();
/* Adapt accordingly */
if(lis3Id != mgm0Lis3ChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
if(lis3Id != mgm0Lis3mdlChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
}
gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = lis3Id;
uint8_t whoAmIReg = 0b0000'1111;
if(chipSelectPin == mgm0Lis3ChipSelect) {
uint8_t whoAmIRegExpectedVal = 0b0011'1101;
if(chipSelectPin == mgm0Lis3mdlChipSelect) {
currentGpioId = gpioIds::MGM_0_LIS3_CS;
}
else {
@ -177,7 +178,7 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "placeholder";
std::string deviceName = "/dev/spidev2.0";
#endif
int fileDescriptor = 0;
@ -189,10 +190,15 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
return;
}
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
spiTransferStruct.delay_usecs = 0;
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" <<
std::bitset<8>(whoAmIRegVal) << std::endl;
if(whoAmIRegVal != whoAmIRegExpectedVal) {
sif::warning << "SpiTestClass::performLis3MdlTest: WHO AM I register invalid!"
<< std::endl;
}
}
@ -223,7 +229,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "placeholder";
std::string deviceName = "/dev/spidev2.0";
#endif
int fileDescriptor = 0;
@ -293,46 +299,73 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
void SpiTestClass::acsInit() {
GpioCookie* gpioCookie = new GpioCookie();
std::string rpiGpioName = "gpiochip0";
GpiodRegular* gpio = nullptr;
{
gpio = new GpiodRegular(rpiGpioName, mgm0Lis3ChipSelect, "MGM_0_LIS3",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
}
{
gpio = new GpiodRegular(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
}
{
gpio = new GpiodRegular(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
}
{
gpio = new GpiodRegular(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
}
{
gpio = new GpiodRegular(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
}
{
gpio = new GpiodRegular(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
}
{
gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
}
if(gpioIF != nullptr) {
gpioIF->addGpios(gpioCookie);
}
#ifdef RASPBERRY_PI
std::string rpiGpioName = "gpiochip0";
gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
}
#elif defined(XIPHOS_Q7S)
std::string q7sGpioName5 = "gpiochip5";
std::string q7sGpioName6 = "gpiochip6";
gpio = new GpiodRegular(q7sGpioName5, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegular(q7sGpioName5, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegular(q7sGpioName5, gyro0AdisChipSelect, "GYRO_0_ADIS",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegular(q7sGpioName5, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegular(q7sGpioName5, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
gpio = new GpiodRegular(q7sGpioName6, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegular(q7sGpioName5, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
#endif
if(gpioIF != nullptr) {
gpioIF->addGpios(gpioCookie);
}
}
void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {

11
linux/boardtest/SpiTestClass.h
View File

@ -38,6 +38,7 @@ private:
void acsInit();
/* ACS board specific variables */
#ifdef RASPBERRY_PI
uint8_t mgm0Lis3ChipSelect = 0;
uint8_t mgm1Rm3100ChipSelect = 1;
uint8_t gyro0AdisChipSelect = 5;
@ -45,6 +46,16 @@ private:
uint8_t gyro2L3gd20ChipSelect = 4;
uint8_t mgm2Lis3mdlChipSelect = 17;
uint8_t mgm3Rm3100ChipSelect = 27;
#elif defined(XIPHOS_Q7S)
uint8_t mgm0Lis3mdlChipSelect = 5;
uint8_t mgm1Rm3100ChipSelect = 17;
uint8_t gyro0AdisResetLin = 20;
uint8_t gyro0AdisChipSelect = 21;
uint8_t gyro1L3gd20ChipSelect = 7;
uint8_t gyro2L3gd20ChipSelect = 3;
uint8_t mgm2Lis3mdlChipSelect = 0;
uint8_t mgm3Rm3100ChipSelect = 23;
#endif
static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;

4
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -33,8 +33,8 @@ void MGMHandlerLIS3MDL::doStartUp() {
/* Will be set by checking device ID (WHO AM I register) */
if(commandExecuted) {
commandExecuted = false;
internalState = InternalState::STATE_SETUP;
}
internalState = InternalState::STATE_SETUP;
break;
}
case(InternalState::STATE_SETUP): {
@ -463,7 +463,7 @@ void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
}
uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 10000;
return 20000;
}
void MGMHandlerLIS3MDL::modeChanged(void) {