diff --git a/.gitmodules b/.gitmodules
index b0016647..1f3dc6ec 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,7 +15,7 @@
url = https://github.com/rmspacefish/lwgps.git
[submodule "generators/fsfwgen"]
path = generators/fsfwgen
- url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-generators.git
+ url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen.git
[submodule "thirdparty/arcsec_star_tracker"]
path = thirdparty/arcsec_star_tracker
url = https://egit.irs.uni-stuttgart.de/eive/arcsec_star_tracker.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f1c6d05..e9b1b68c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -97,18 +97,18 @@ if(TGT_BSP)
endif()
endif()
- if(${TGT_BSP} MATCHES "arm/raspberrypi")
+ if(TGT_BSP MATCHES "arm/raspberrypi")
# Used by configure file
set(RASPBERRY_PI ON)
set(FSFW_HAL_ADD_RASPBERRY_PI ON)
endif()
- if(${TGT_BSP} MATCHES "arm/beagleboneblack")
+ if(TGT_BSP MATCHES "arm/beagleboneblack")
# Used by configure file
set(BEAGLEBONEBLACK ON)
endif()
- if(${TGT_BSP} MATCHES "arm/q7s")
+ if(TGT_BSP MATCHES "arm/q7s")
# Used by configure file
set(XIPHOS_Q7S ON)
endif()
@@ -122,9 +122,9 @@ if(NOT EIVE_BUILD_WATCHDOG)
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
- if(${TGT_BSP} MATCHES "arm/q7s")
+ if(TGT_BSP MATCHES "arm/q7s")
configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
- elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
+ elseif(TGT_BSP MATCHES "arm/raspberrypi")
configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
endif()
endif()
@@ -135,8 +135,6 @@ set(FSFW_ADDITIONAL_INC_PATHS
"${COMMON_PATH}/config"
${CMAKE_CURRENT_BINARY_DIR}
)
-# Set for lwgps library
-set(LWGPS_CONFIG_PATH "${COMMON_PATH}/config")
################################################################################
# Executable and Sources
diff --git a/README.md b/README.md
index 77263fd2..b12400e9 100644
--- a/README.md
+++ b/README.md
@@ -65,7 +65,7 @@ prerequisites.
as a [separate download](#arm-toolchain)
2. [Q7S sysroot](#q7s-sysroot) on local development machine
3. Recommended: Eclipse or [Vivado 2018.2 SDK](#vivado) for OBSW development
-3. [TCF agent] running on Q7S
+3. [TCF agent](https://wiki.eclipse.org/TCF) running on Q7S
## Hardware Design
@@ -324,6 +324,33 @@ For Linux, you can also download a more recent version of the
[Linaro 8.3.0 cross-compiler](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads)
from [here](https://developer.arm.com/-/media/Files/downloads/gnu-a/8.3-2019.03/binrel/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz?revision=e09a1c45-0ed3-4a8e-b06b-db3978fd8d56&la=en&hash=93ED4444B8B3A812B893373B490B90BBB28FD2E3)
+### Compatibility issues with wayland on more recent Linux distributions
+
+If Vivado crashes and you find following lines in the `hs_err_pid*` files:
+
+```sh
+#
+# An unexpected error has occurred (11)
+#
+Stack:
+/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/server/libjvm.so(+0x923da9) [0x7f666cf5eda9]
+/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/server/libjvm.so(JVM_handle_linux_signal+0xb6) [0x7f666cf653f6]
+/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/server/libjvm.so(+0x9209d3) [0x7f666cf5b9d3]
+/lib/x86_64-linux-gnu/libc.so.6(+0x35fc0) [0x7f66a993efc0]
+/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/libawt_xawt.so(+0x42028) [0x7f664e24d028]
+...
+```
+
+You can [solve this](https://forums.xilinx.com/t5/Design-Entry/Bug-Vivado-2017-4-crashing-on-rightclick-in-console-log/td-p/881811)
+by logging in with `xorg` like specified [here](https://www.maketecheasier.com/switch-xorg-wayland-ubuntu1710/).
+
+### Using `docnav` on more recent Linux versions
+
+If you want to use `docnav` for navigating Xilinx documentation, it is recommended to install
+it as a standalone version from [here](https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/documentation-nav.html).
+This is because the `docnav` installed as part of version 2018.2 requires `libpng12`, which is not part of
+more recent disitributions anymore.
+
## Installing toolchain without Vivado
You can download the toolchains for Windows and Linux
diff --git a/bsp_hosted/fsfwconfig/devices/powerSwitcherList.h b/bsp_hosted/fsfwconfig/devices/powerSwitcherList.h
index cacd23a1..c216c828 100644
--- a/bsp_hosted/fsfwconfig/devices/powerSwitcherList.h
+++ b/bsp_hosted/fsfwconfig/devices/powerSwitcherList.h
@@ -5,7 +5,7 @@
namespace pcduSwitches {
/* Switches are uint8_t datatype and go from 0 to 255 */
- enum switcherList {
+ enum SwitcherList {
Q7S,
PAYLOAD_PCDU_CH1,
RW,
@@ -22,7 +22,7 @@ namespace pcduSwitches {
SUS_NOMINAL,
SOLAR_CELL_EXP,
PLOC,
- ACS_BORAD_SIDE_A,
+ ACS_BOARD_SIDE_A,
NUMBER_OF_SWITCHES
};
diff --git a/bsp_linux_board/InitMission.cpp b/bsp_linux_board/InitMission.cpp
index febae2f3..d265fded 100644
--- a/bsp_linux_board/InitMission.cpp
+++ b/bsp_linux_board/InitMission.cpp
@@ -36,6 +36,7 @@ void initmission::initMission() {
void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance();
+ ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(factory == nullptr) {
/* Should never happen ! */
return;
@@ -46,11 +47,11 @@ void initmission::initTasks() {
void (*missedDeadlineFunc) (void) = nullptr;
#endif
+
/* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
- ReturnValue_t result = tmTcDistributor->addComponent(
- objects::CCSDS_PACKET_DISTRIBUTOR);
+ result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
@@ -78,21 +79,70 @@ void initmission::initTasks() {
}
/* PUS Services */
- PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
+ std::vector pusTasks;
+ createPusTasks(*factory, missedDeadlineFunc, pusTasks);
+
+ std::vector pstTasks;
+ createPstTasks(*factory, missedDeadlineFunc, pstTasks);
+#if OBSW_ADD_TEST_CODE == 1
+ std::vector testTasks;
+ createTestTasks(*factory, missedDeadlineFunc, pstTasks);
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+ auto taskStarter = [](std::vector& taskVector, std::string name) {
+ for(const auto& task: taskVector) {
+ if(task != nullptr) {
+ task->startTask();
+ }
+ else {
+ sif::error << "Task in vector " << name << " is invalid!" << std::endl;
+ }
+ }
+ };
+
+ sif::info << "Starting tasks.." << std::endl;
+ tmTcDistributor->startTask();
+ udpBridgeTask->startTask();
+ udpPollingTask->startTask();
+
+ taskStarter(pusTasks, "PUS Tasks");
+#if OBSW_ADD_TEST_CODE == 1
+ taskStarter(testTasks, "Test Tasks");
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+ taskStarter(pstTasks, "PST Tasks");
+
+#if OBSW_ADD_TEST_PST == 1
+ if(startTestPst) {
+ pstTestTask->startTask();
+ }
+#endif /* RPI_TEST_ACS_BOARD == 1 */
+ sif::info << "Tasks started.." << std::endl;
+}
+
+void initmission::createPusTasks(TaskFactory& factory,
+ TaskDeadlineMissedFunction missedDeadlineFunc, std::vector& taskVec) {
+ ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+ PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl;
}
+ taskVec.push_back(pusVerification);
- PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
+ PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
- result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
- if(result != HasReturnvaluesIF::RETURN_OK){
- initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
+ result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+ if(result != HasReturnvaluesIF::RETURN_OK) {
+ initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
+ result = pusEvents->addComponent(objects::EVENT_MANAGER);
+ if(result != HasReturnvaluesIF::RETURN_OK) {
+ initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+ }
+ taskVec.push_back(pusEvents);
- PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
+ PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -102,8 +152,9 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
}
+ taskVec.push_back(pusHighPrio);
- PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
+ PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -121,8 +172,9 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
}
+ taskVec.push_back(pusMedPrio);
- PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
+ PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -133,26 +185,34 @@ void initmission::initTasks() {
initmission::printAddObjectError("INT_ERR_RPRT",
objects::INTERNAL_ERROR_REPORTER);
}
+ taskVec.push_back(pusLowPrio);
+}
- bool startTestPst = true;
-#if OBSW_ADD_TEST_PST == 1
- FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
- PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
- result = pst::pstTest(pstTestTask);
- if(result != HasReturnvaluesIF::RETURN_OK) {
- sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
- startTestPst = false;
+void initmission::createPstTasks(TaskFactory& factory,
+ TaskDeadlineMissedFunction missedDeadlineFunc, std::vector &taskVec) {
+ ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+#if OBSW_ADD_SPI_TEST_CODE == 0
+ FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
+ "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
+ missedDeadlineFunc);
+ result = pst::pstSpi(spiPst);
+ if (result != HasReturnvaluesIF::RETURN_OK) {
+ sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
}
-#endif /* RPI_TEST_ACS_BOARD == 1 */
+ taskVec.push_back(spiPst);
+#endif
+}
- PeriodicTaskIF* testTask = factory->createPeriodicTask(
+void initmission::createTestTasks(TaskFactory& factory,
+ TaskDeadlineMissedFunction missedDeadlineFunc,
+ std::vector &taskVec) {
+ ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+ PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-#if OBSW_ADD_TEST_CODE == 1
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
-#endif /* OBSW_ADD_TEST_CODE == 1 */
#if RPI_ADD_SPI_TEST == 1
result = testTask->addComponent(objects::SPI_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -172,25 +232,16 @@ void initmission::initTasks() {
}
#endif /* RPI_ADD_GPIO_TEST == 1 */
- sif::info << "Starting tasks.." << std::endl;
- tmTcDistributor->startTask();
- udpBridgeTask->startTask();
- udpPollingTask->startTask();
-
- pusVerification->startTask();
- pusEvents->startTask();
- pusHighPrio->startTask();
- pusMedPrio->startTask();
- pusLowPrio->startTask();
-
-#if OBSW_ADD_TEST_CODE == 1
- testTask->startTask();
-#endif /* OBSW_ADD_TEST_CODE == 1 */
-
+ bool startTestPst = true;
+ static_cast(startTestPst);
#if OBSW_ADD_TEST_PST == 1
- if(startTestPst) {
- pstTestTask->startTask();
+ FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("TEST_PST", 50,
+ PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
+ result = pst::pstTest(pstTestTask);
+ if(result != HasReturnvaluesIF::RETURN_OK) {
+ sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
+ startTestPst = false;
}
#endif /* RPI_TEST_ACS_BOARD == 1 */
- sif::info << "Tasks started.." << std::endl;
+
}
diff --git a/bsp_linux_board/InitMission.h b/bsp_linux_board/InitMission.h
index 01c72008..f5da5855 100644
--- a/bsp_linux_board/InitMission.h
+++ b/bsp_linux_board/InitMission.h
@@ -1,9 +1,24 @@
#ifndef BSP_LINUX_INITMISSION_H_
#define BSP_LINUX_INITMISSION_H_
+#include "fsfw/tasks/Typedef.h"
+#include
+
+class PeriodicTaskIF;
+class TaskFactory;
+
namespace initmission {
void initMission();
void initTasks();
+
+void createPstTasks(TaskFactory& factory,
+ TaskDeadlineMissedFunction missedDeadlineFunc,
+ std::vector &taskVec);
+void createTestTasks(TaskFactory& factory,
+ TaskDeadlineMissedFunction missedDeadlineFunc,
+ std::vector &taskVec);
+void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+ std::vector& taskVec);
};
#endif /* BSP_LINUX_INITMISSION_H_ */
diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp
index 237a7ead..5cd52c91 100644
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@@ -14,8 +14,6 @@
#include "mission/core/GenericFactory.h"
#include "mission/utility/TmFunnel.h"
#include
-#include "mission/devices/MGMHandlerLIS3MDL.h"
-#include "mission/devices/MGMHandlerRM3100.h"
#include "mission/devices/GyroADIS16507Handler.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
@@ -33,6 +31,8 @@
#include "fsfw/osal/common/UdpTcPollingTask.h"
#endif
+#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
+#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/rpi/GpioRPi.h"
@@ -64,10 +64,12 @@ void ObjectFactory::produce(void* args){
ObjectFactory::produceGenericObjects();
#if OBSW_USE_TMTC_TCP_BRIDGE == 1
- new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+ auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+ tmtcBridge->setMaxNumberOfPacketsStored(50);
new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#else
- new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+ auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+ tmtcBridge->setMaxNumberOfPacketsStored(50);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#endif
@@ -81,7 +83,104 @@ void ObjectFactory::produce(void* args){
SpiCookie* spiCookie = nullptr;
static_cast(spiCookie);
+#if OBSW_ADD_ACS_BOARD == 1
+ if(gpioCookie == nullptr) {
+ gpioCookie = new GpioCookie();
+ }
+ // TODO: Missing pin for Gyro 2
+ gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
+ "MGM_0_LIS3", gpio::Direction::OUT, 1);
+ gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
+ "MGM_1_RM3100", gpio::Direction::OUT, 1);
+ gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
+ "MGM_2_LIS3", gpio::Direction::OUT, 1);
+ gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
+ "MGM_3_RM3100", gpio::Direction::OUT, 1);
+ gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
+ "GYRO_0_ADIS", gpio::Direction::OUT, 1);
+ gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
+ "GYRO_1_L3G", gpio::Direction::OUT, 1);
+ gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
+ "GYRO_2_ADIS", gpio::Direction::OUT, 1);
+ gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN,
+ "GYRO_3_L3G", gpio::Direction::OUT, 1);
+ gpioIF->addGpios(gpioCookie);
+
+ spiDev = "/dev/spidev0.1";
+ 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 MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
+ objects::SPI_COM_IF, spiCookie, 0);
+ mgmLis3Handler->setStartUpImmediately();
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+ mgmLis3Handler->setToGoToNormalMode(true);
+#endif
+
+ 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 MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
+ objects::SPI_COM_IF, spiCookie, 0);
+ mgmRm3100Handler->setStartUpImmediately();
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+ mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
+
+ 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);
+ mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
+ objects::SPI_COM_IF, spiCookie, 0);
+ mgmLis3Handler->setStartUpImmediately();
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+ mgmLis3Handler->setToGoToNormalMode(true);
+#endif
+
+ spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
+ RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+ mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
+ objects::SPI_COM_IF, spiCookie, 0);
+ mgmRm3100Handler->setStartUpImmediately();
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+ mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
+
+ spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
+ ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+ auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
+ spiCookie);
+ adisHandler->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, 0);
+ gyroL3gHandler->setStartUpImmediately();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
+ gyroL3gHandler->setToGoToNormalMode(true);
+#endif
+
+ spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
+ ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+ adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+ spiCookie);
+ adisHandler->setStartUpImmediately();
+
+ spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
+ L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+ gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
+ spiCookie, 0);
+ gyroL3gHandler->setStartUpImmediately();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
+ gyroL3gHandler->setToGoToNormalMode(true);
+#endif
+
+#endif /* RPI_TEST_ACS_BOARD == 1 */
+
#if OBSW_ADD_TEST_CODE == 1
+ createTestTasks();
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+}
+
+void ObjectFactory::createTestTasks() {
+
new TestTask(objects::TEST_TASK);
#if RPI_ADD_SPI_TEST == 1
@@ -108,47 +207,6 @@ void ObjectFactory::produce(void* args){
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
-#if RPI_TEST_ACS_BOARD == 1
- if(gpioCookie == nullptr) {
- gpioCookie = new GpioCookie();
- }
- gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
- "MGM_0_LIS3", gpio::Direction::OUT, 1);
- gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
- "MGM_1_RM3100", gpio::Direction::OUT, 1);
- gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
- "MGM_2_LIS3", gpio::Direction::OUT, 1);
- gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
- "MGM_3_RM3100", gpio::Direction::OUT, 1);
- gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
- "GYRO_0_ADIS", gpio::Direction::OUT, 1);
- gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
- "GYRO_1_L3G", gpio::Direction::OUT, 1);
- gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
- "GYRO_2_L3G", gpio::Direction::OUT, 1);
- gpioIF->addGpios(gpioCookie);
-
- spiDev = "/dev/spidev0.0";
- 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_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 /* RPI_TEST_ACS_BOARD == 1 */
-
#if RPI_TEST_ADIS16507 == 1
if(gpioCookie == nullptr) {
gpioCookie = new GpioCookie();
@@ -157,7 +215,7 @@ void ObjectFactory::produce(void* args){
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookie);
- spiDev = "/dev/spidev0.0";
+ spiDev = "/dev/spidev0.1";
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
nullptr, nullptr);
@@ -175,5 +233,4 @@ void ObjectFactory::produce(void* args){
gpsHandler->setStartUpImmediately();
#endif
-#endif /* OBSW_ADD_TEST_CODE == 1 */
}
diff --git a/bsp_linux_board/ObjectFactory.h b/bsp_linux_board/ObjectFactory.h
index feaba70e..3b9aca49 100644
--- a/bsp_linux_board/ObjectFactory.h
+++ b/bsp_linux_board/ObjectFactory.h
@@ -5,6 +5,8 @@
namespace ObjectFactory {
void setStatics();
void produce(void* args);
+
+ void createTestTasks();
};
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */
diff --git a/bsp_linux_board/boardconfig/rpiConfig.h.in b/bsp_linux_board/boardconfig/rpiConfig.h.in
index 5198ddb7..7341fcca 100644
--- a/bsp_linux_board/boardconfig/rpiConfig.h.in
+++ b/bsp_linux_board/boardconfig/rpiConfig.h.in
@@ -19,13 +19,14 @@
/* Adapt these values accordingly */
namespace gpio {
-static constexpr uint8_t MGM_0_BCM_PIN = 0;
-static constexpr uint8_t MGM_1_BCM_PIN = 1;
-static constexpr uint8_t MGM_2_BCM_PIN = 17;
-static constexpr uint8_t MGM_3_BCM_PIN = 27;
+static constexpr uint8_t MGM_0_BCM_PIN = 17;
+static constexpr uint8_t MGM_1_BCM_PIN = 27;
+static constexpr uint8_t MGM_2_BCM_PIN = 22;
+static constexpr uint8_t MGM_3_BCM_PIN = 23;
static constexpr uint8_t GYRO_0_BCM_PIN = 5;
static constexpr uint8_t GYRO_1_BCM_PIN = 6;
-static constexpr uint8_t GYRO_2_BCM_PIN = 4;
+static constexpr uint8_t GYRO_2_BCM_PIN = 13;
+static constexpr uint8_t GYRO_3_BCM_PIN = 19;
}
#endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */
diff --git a/bsp_q7s/CMakeLists.txt b/bsp_q7s/CMakeLists.txt
index 408d58c1..b2c24d5f 100644
--- a/bsp_q7s/CMakeLists.txt
+++ b/bsp_q7s/CMakeLists.txt
@@ -12,6 +12,6 @@ else()
add_subdirectory(gpio)
add_subdirectory(core)
add_subdirectory(memory)
- add_subdirectory(spiCallbacks)
+ add_subdirectory(callbacks)
add_subdirectory(devices)
endif()
diff --git a/bsp_q7s/boardconfig/busConf.h b/bsp_q7s/boardconfig/busConf.h
index b70060f5..a86a6c79 100644
--- a/bsp_q7s/boardconfig/busConf.h
+++ b/bsp_q7s/boardconfig/busConf.h
@@ -10,32 +10,66 @@ static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-1";
static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL3";
static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL4";
+static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL5";
static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8";
-static constexpr char GPIO_ACS_BOARD_DEFAULT_CHIP[] = "gpiochip5";
-static constexpr char GPIO_MGM2_LIS3_CHIP[] = "gpiochip6";
+static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0";
+static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";
-// TODO: Determine new pins, additional ADIS gyro device
-static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 1;
-static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 7;
-static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 3;
-static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 3;
+/**************************************************************/
+/** OBC1E */
+/**************************************************************/
+static constexpr char GPIO_MULTIPURPOSE_1V8_OBC1D[] = "/amba_pl/gpio@42020000";
+static const char* const GPIO_GYRO_ADIS_LABEL = GPIO_MULTIPURPOSE_1V8_OBC1D;
+static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 0; // Package Pin: W20
+static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 2; // AA22
-static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5;
-static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;
-static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0;
-static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10;
+/**************************************************************/
+/** OBC1F B0 */
+/**************************************************************/
+static constexpr char GPIO_FLEX_OBC1F_B0[] = "/amba_pl/gpio@42030000";
+static constexpr uint32_t GPIO_FLEX_OBC1F_B0_WIDTH = 20;
+static const char* const GPIO_ACS_BOARD_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
+static const char* const GPIO_RW_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
+static const char* const GPIO_RAD_SENSOR_LABEL = GPIO_FLEX_OBC1F_B0;
-static constexpr char GPIO_RW_DEFAULT_CHIP[] = "gpiochip5";
-static constexpr uint32_t GPIO_RW_0_CS = 7;
-static constexpr uint32_t GPIO_RW_1_CS = 3;
-static constexpr uint32_t GPIO_RW_2_CS = 11;
-static constexpr uint32_t GPIO_RW_3_CS = 6;
-static constexpr char GPIO_RW_SPI_MUX_CHIP[] = "gpiochip11";
-static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 57;
+static constexpr uint32_t GPIO_RW_0_CS = 7; // B20
+static constexpr uint32_t GPIO_RW_1_CS = 3; // G22
+static constexpr uint32_t GPIO_RW_2_CS = 11; // E18
+static constexpr uint32_t GPIO_RW_3_CS = 6; // B19
-static constexpr char GPIO_HEATER_CHIP[] = "gpiochip7";
+static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 18; // N22
+static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 1; // M21
+static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5; // C18
+static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16; // A16
+static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10; // C17
+
+// Active low enable pin (needs to be driven low for regular operations)
+static constexpr uint32_t GPIO_GYRO_0_ENABLE = 2; // H22
+
+// Active low reset pin (needs to be driven high for regular operations)
+static constexpr uint32_t GPIO_RESET_GNSS_0 = 9; // C22
+static constexpr uint32_t GPIO_RESET_GNSS_1 = 12; // B21
+
+static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19; // R18
+
+/**************************************************************/
+/** OBC1F B1 */
+/**************************************************************/
+static constexpr char GPIO_FLEX_OBC1F_B1[] = "/amba_pl/gpio@42030000";
+// Need to use chip name here for now because the label name is the name for
+// gpiochip 5 and gpiochip6
+static constexpr char GPIO_FLEX_OBC1F_B1_CHIP[] = "gpiochip6";
+static const char* const GPIO_MGM2_LIS3_LABEL = GPIO_FLEX_OBC1F_B1_CHIP;
+static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0; // D18
+
+/**************************************************************/
+/** OBC1C */
+/**************************************************************/
+static constexpr char GPIO_3V3_OBC1C[] = "/amba_pl/gpio@42040000";
+static const char* const GPIO_HEATER_LABEL = GPIO_3V3_OBC1C;
+static const char* const GPIO_SOLAR_ARR_DEPL_LABEL = GPIO_3V3_OBC1C;
static constexpr uint32_t GPIO_HEATER_0_PIN = 6;
static constexpr uint32_t GPIO_HEATER_1_PIN = 12;
static constexpr uint32_t GPIO_HEATER_2_PIN = 7;
@@ -44,13 +78,23 @@ static constexpr uint32_t GPIO_HEATER_4_PIN = 3;
static constexpr uint32_t GPIO_HEATER_5_PIN = 0;
static constexpr uint32_t GPIO_HEATER_6_PIN = 1;
static constexpr uint32_t GPIO_HEATER_7_PIN = 11;
+static constexpr uint32_t GPIO_GYRO_2_ENABLE = 18; // F22
-static constexpr char GPIO_SOLAR_ARR_DEPL_CHIP[] = "gpiochip7";
static constexpr uint32_t GPIO_SOL_DEPL_SA_0_PIN = 4;
static constexpr uint32_t GPIO_SOL_DEPL_SA_1_PIN = 2;
-static constexpr char GPIO_RAD_SENSOR_CHIP[] = "gpiochip5";
-static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19;
+static constexpr char GPIO_RW_SPI_MUX_LABEL[] = "zynq_gpio";
+// Uses EMIO interface to PL, starts at 54
+static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 54;
+
+static constexpr uint32_t SPI_MUX_BIT_1 = 13;
+static constexpr uint32_t SPI_MUX_BIT_2 = 14;
+static constexpr uint32_t SPI_MUX_BIT_3 = 15;
+static constexpr uint32_t SPI_MUX_BIT_4 = 16;
+static constexpr uint32_t SPI_MUX_BIT_5 = 17;
+static constexpr uint32_t SPI_MUX_BIT_6 = 9;
+static constexpr uint32_t EN_RW_CS = 17;
+
}
#endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */
diff --git a/bsp_q7s/boardconfig/q7sConfig.h.in b/bsp_q7s/boardconfig/q7sConfig.h.in
index 61e924d8..43283ea1 100644
--- a/bsp_q7s/boardconfig/q7sConfig.h.in
+++ b/bsp_q7s/boardconfig/q7sConfig.h.in
@@ -5,30 +5,31 @@
#cmakedefine01 Q7S_SIMPLE_MODE
-#define Q7S_SD_NONE 0
-#define Q7S_SD_COLD_REDUNDANT 1
-#define Q7S_SD_HOT_REDUNDANT 2
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code */
+/*******************************************************************/
+
+//! Timers can mess up the code when debugging
+//! All of this should be enabled for mission code!
+
+/*******************************************************************/
+/** Other flags */
+/*******************************************************************/
+
+#define Q7S_SD_NONE 0
+#define Q7S_SD_COLD_REDUNDANT 1
+#define Q7S_SD_HOT_REDUNDANT 2
// The OBSW will perform different actions to set up the SD cards depending on the flag set here
// Set to Q7S_SD_NONE: Don't do anything
// Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and
// turn off the second SD card if it is on
// Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them
-#define Q7S_SD_CARD_CONFIG Q7S_SD_COLD_REDUNDANT
+#define Q7S_SD_CARD_CONFIG Q7S_SD_COLD_REDUNDANT
// Probably better if this is disabled for mission code. Convenient for development
-#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1
-#define Q7S_ADD_RTD_DEVICES 0
+#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1
-/* Only one of those 2 should be enabled! */
-/* Add code for ACS board */
-#define OBSW_ADD_ACS_BOARD 0
-#if OBSW_ADD_ACS_BOARD == 0
-#define Q7S_ADD_SPI_TEST 0
-#endif
-
-#define Q7S_ADD_SYRLINKS_HANDLER 1
-
-#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
+#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
namespace config {
diff --git a/bsp_q7s/spiCallbacks/CMakeLists.txt b/bsp_q7s/callbacks/CMakeLists.txt
similarity index 76%
rename from bsp_q7s/spiCallbacks/CMakeLists.txt
rename to bsp_q7s/callbacks/CMakeLists.txt
index 59d507e6..8c83e26f 100644
--- a/bsp_q7s/spiCallbacks/CMakeLists.txt
+++ b/bsp_q7s/callbacks/CMakeLists.txt
@@ -1,3 +1,4 @@
target_sources(${TARGET_NAME} PRIVATE
rwSpiCallback.cpp
+ gnssCallback.cpp
)
diff --git a/bsp_q7s/callbacks/gnssCallback.cpp b/bsp_q7s/callbacks/gnssCallback.cpp
new file mode 100644
index 00000000..479f4a2b
--- /dev/null
+++ b/bsp_q7s/callbacks/gnssCallback.cpp
@@ -0,0 +1,26 @@
+#include "gnssCallback.h"
+#include "devices/gpioIds.h"
+
+#include "fsfw/tasks/TaskFactory.h"
+
+ReturnValue_t gps::triggerGpioResetPin(void *args) {
+ ResetArgs* resetArgs = reinterpret_cast(args);
+ if(args == nullptr) {
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ if (resetArgs->gpioComIF == nullptr) {
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ gpioId_t gpioId;
+ if(resetArgs->gnss1) {
+ gpioId = gpioIds::GNSS_1_NRESET;
+
+ }
+ else {
+ gpioId = gpioIds::GNSS_0_NRESET;
+ }
+ resetArgs->gpioComIF->pullLow(gpioId);
+ TaskFactory::delayTask(resetArgs->waitPeriodMs);
+ resetArgs->gpioComIF->pullHigh(gpioId);
+ return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/bsp_q7s/callbacks/gnssCallback.h b/bsp_q7s/callbacks/gnssCallback.h
new file mode 100644
index 00000000..9cbb6669
--- /dev/null
+++ b/bsp_q7s/callbacks/gnssCallback.h
@@ -0,0 +1,19 @@
+#ifndef BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
+#define BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
+
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+struct ResetArgs {
+ bool gnss1 = false;
+ LinuxLibgpioIF* gpioComIF = nullptr;
+ uint32_t waitPeriodMs = 100;
+};
+
+namespace gps {
+
+ReturnValue_t triggerGpioResetPin(void* args);
+
+}
+
+#endif /* BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_ */
diff --git a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp b/bsp_q7s/callbacks/rwSpiCallback.cpp
similarity index 96%
rename from bsp_q7s/spiCallbacks/rwSpiCallback.cpp
rename to bsp_q7s/callbacks/rwSpiCallback.cpp
index dce79c42..73516fb4 100644
--- a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp
+++ b/bsp_q7s/callbacks/rwSpiCallback.cpp
@@ -1,9 +1,10 @@
-#include
-#include
-#include
-#include
-#include
+#include "rwSpiCallback.h"
#include "devices/gpioIds.h"
+#include "mission/devices/RwHandler.h"
+
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
namespace rwSpiCallback {
@@ -211,7 +212,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
result = HasReturnvaluesIF::RETURN_OK;
}
- cookie->assignTransferSize(decodedFrameLen);
+ cookie->setTransferSize(decodedFrameLen);
closeSpi(gpioId, gpioIF, mutex);
diff --git a/bsp_q7s/spiCallbacks/rwSpiCallback.h b/bsp_q7s/callbacks/rwSpiCallback.h
similarity index 93%
rename from bsp_q7s/spiCallbacks/rwSpiCallback.h
rename to bsp_q7s/callbacks/rwSpiCallback.h
index e5a79e64..cc7c6cbe 100644
--- a/bsp_q7s/spiCallbacks/rwSpiCallback.h
+++ b/bsp_q7s/callbacks/rwSpiCallback.h
@@ -1,9 +1,9 @@
#ifndef BSP_Q7S_RW_SPI_CALLBACK_H_
#define BSP_Q7S_RW_SPI_CALLBACK_H_
-#include
-#include
-#include
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw_hal/linux/spi/SpiComIF.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
namespace rwSpiCallback {
diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index 1b5f10fd..e7d8779b 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -121,7 +121,7 @@ void initmission::initTasks() {
std::vector pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
-#if OBSW_ADD_TEST_TASK == 1
+#if OBSW_ADD_TEST_CODE == 1
std::vector testTasks;
createTestTasks(*factory, missedDeadlineFunc, testTasks);
#endif
@@ -147,7 +147,7 @@ void initmission::initTasks() {
taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector");
-#if OBSW_ADD_TEST_TASK == 1
+#if OBSW_ADD_TEST_CODE == 1
taskStarter(testTasks, "Test task vector");
#endif
@@ -167,7 +167,7 @@ void initmission::createPstTasks(TaskFactory& factory,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if BOARD_TE0720 == 0
/* Polling Sequence Table Default */
-#if Q7S_ADD_SPI_TEST == 0
+#if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc);
@@ -289,15 +289,19 @@ void initmission::createPusTasks(TaskFactory &factory,
void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector& taskVec) {
+#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+#endif
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
+#if OBSW_ADD_TEST_TASK == 1
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
+#endif /* OBSW_ADD_TEST_TASK == 1 */
-#if Q7S_ADD_SPI_TEST == 1
+#if OBSW_ADD_SPI_TEST_CODE == 1
result = testTask->addComponent(objects::SPI_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 9f6f6cd4..d956a392 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -9,12 +9,13 @@
#include "devices/powerSwitcherList.h"
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/core/CoreController.h"
-#include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "bsp_q7s/devices/PlocSupervisorHandler.h"
#include "bsp_q7s/devices/PlocUpdater.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
+#include "bsp_q7s/callbacks/rwSpiCallback.h"
+#include "bsp_q7s/callbacks/gnssCallback.h"
#include "linux/devices/HeaterHandler.h"
#include "linux/devices/SolarArrayDeploymentHandler.h"
@@ -32,10 +33,9 @@
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/devices/Max31865PT1000Handler.h"
+#include "mission/devices/GyroADIS16507Handler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
-#include "mission/devices/MGMHandlerLIS3MDL.h"
-#include "mission/devices/MGMHandlerRM3100.h"
#include "mission/devices/PlocMPSoCHandler.h"
#include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h"
@@ -52,7 +52,9 @@
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
+#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
+#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/i2c/I2cCookie.h"
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
@@ -81,6 +83,9 @@
#include "linux/boardtest/LibgpiodTest.h"
#endif
+ResetArgs resetArgsGnss0;
+ResetArgs resetArgsGnss1;
+
void ObjectFactory::setStatics() {
Factory::setStaticFrameworkObjectIds();
}
@@ -92,6 +97,8 @@ void Factory::setStaticFrameworkObjectIds() {
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+ //DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
+ DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
// No storage object for now.
TmFunnel::storageDestination = objects::NO_OBJECT;
@@ -102,7 +109,7 @@ void Factory::setStaticFrameworkObjectIds() {
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}
-void ObjectFactory::produce(void* args){
+void ObjectFactory::produce(void* args) {
ObjectFactory::setStatics();
ObjectFactory::produceGenericObjects();
LinuxLibgpioIF* gpioComIF = nullptr;
@@ -116,21 +123,22 @@ void ObjectFactory::produce(void* args){
createPcduComponents();
createRadSensorComponent(gpioComIF);
createSunSensorComponents(gpioComIF, spiComIF);
+
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF);
#endif /* OBSW_ADD_ACS_BOARD == 1 */
createHeaterComponents();
createSolarArrayDeploymentComponents();
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
+#if OBSW_ADD_SYRLINKS == 1
createSyrlinksComponents();
-#endif /* Q7S_ADD_SYRLINKS_HANDLER == 1 */
+#endif /* OBSW_ADD_SYRLINKS == 1 */
-#if Q7S_ADD_RTD_DEVICES == 1
+#if OBSW_ADD_RTD_DEVICES == 1
createRtdComponents();
-#endif /* Q7S_ADD_RTD_DEVICES == 1 */
+#endif /* OBSW_ADD_RTD_DEVICES == 1 */
- I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ,
- IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
+ I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
+ q7s::I2C_DEFAULT_DEV);
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
createReactionWheelComponents(gpioComIF);
@@ -167,17 +175,18 @@ void ObjectFactory::produce(void* args){
auto udpBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
sif::info << "Created UDP server for TMTC commanding with listener port " <<
- udpBridge->getUdpPort() << std::endl;
+ udpBridge->getUdpPort() << std::endl;
#else
- new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+ auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+ tmtcBridge->setMaxNumberOfPacketsStored(50);
auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
- sif::info << "Created TCP server for TMTC commanding with listener port " <<
- tcpServer->getTcpPort() << std::endl;
+ sif::info << "Created TCP server for TMTC commanding with listener port "
+ << tcpServer->getTcpPort() << std::endl;
#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
/* Test Task */
#if OBSW_ADD_TEST_CODE == 1
- createTestComponents();
+ createTestComponents(gpioComIF);
#endif /* OBSW_ADD_TEST_CODE == 1 */
new PlocUpdater(objects::PLOC_UPDATER);
@@ -198,19 +207,17 @@ void ObjectFactory::createTmpComponents() {
#endif
/* Temperature sensors */
- Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
- objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
- i2cCookieTmp1075tcs1);
+ Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(objects::TMP1075_HANDLER_1,
+ objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
(void) tmp1075Handler_1;
- Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(
- objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
- i2cCookieTmp1075tcs2);
+ Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(objects::TMP1075_HANDLER_2,
+ objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
(void) tmp1075Handler_2;
}
-void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
- UartComIF** uartComIF, SpiComIF** spiComIF) {
- if(gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
+void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF, UartComIF** uartComIF,
+ SpiComIF** spiComIF) {
+ if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
<< std::endl;
}
@@ -220,9 +227,9 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
new CspComIF(objects::CSP_COM_IF);
new I2cComIF(objects::I2C_COM_IF);
*uartComIF = new UartComIF(objects::UART_COM_IF);
-#if Q7S_ADD_SPI_TEST == 0
+#if OBSW_ADD_SPI_TEST_CODE == 0
*spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
-#endif /* Q7S_ADD_SPI_TEST == 0 */
+#endif /* Q7S_ADD_SPI_TEST_CODE == 0 */
#if BOARD_TE0720 == 0
/* Adding gpios for chip select decoding to the gpioComIf */
@@ -231,23 +238,19 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
}
void ObjectFactory::createPcduComponents() {
- CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
- addresses::P60DOCK);
- CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
- addresses::PDU1);
- CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
- addresses::PDU2);
- CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
- addresses::ACU);
+ CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
+ CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
+ CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
+ CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
/* Device Handler */
P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER,
objects::CSP_COM_IF, p60DockCspCookie);
- PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER,
- objects::CSP_COM_IF, pdu1CspCookie);
- PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER,
- objects::CSP_COM_IF, pdu2CspCookie);
- ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER,
- objects::CSP_COM_IF, acuCspCookie);
+ PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
+ pdu1CspCookie);
+ PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
+ pdu2CspCookie);
+ ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
+ acuCspCookie);
new PCDUHandler(objects::PCDU_HANDLER, 50);
/**
@@ -262,8 +265,8 @@ void ObjectFactory::createPcduComponents() {
void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookieRadSensor = new GpioCookie;
- GpiodRegular* chipSelectRadSensor = new GpiodRegular(q7s::GPIO_RAD_SENSOR_CHIP,
- q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, 1);
+ auto chipSelectRadSensor = new GpiodRegularByLabel(q7s::GPIO_RAD_SENSOR_LABEL,
+ q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, gpio::HIGH);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
gpioComIF->addGpios(gpioCookieRadSensor);
@@ -273,49 +276,48 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
}
-void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
- SpiComIF* spiComIF) {
+void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComIF* spiComIF) {
GpioCookie* gpioCookieSus = new GpioCookie();
GpioCallback* susgpio = nullptr;
susgpio = new GpioCallback("Chip select SUS 1", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
susgpio = new GpioCallback("Chip select SUS 2", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
susgpio = new GpioCallback("Chip select SUS 3", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
susgpio = new GpioCallback("Chip select SUS 4", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
susgpio = new GpioCallback("Chip select SUS 5", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
susgpio = new GpioCallback("Chip select SUS 6", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
susgpio = new GpioCallback("Chip select SUS 7", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
susgpio = new GpioCallback("Chip select SUS 8", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
susgpio = new GpioCallback("Chip select SUS 9", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
susgpio = new GpioCallback("Chip select SUS 10", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
susgpio = new GpioCallback("Chip select SUS 11", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
susgpio = new GpioCallback("Chip select SUS 12", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio);
susgpio = new GpioCallback("Chip select SUS 13", gpio::OUT, 1,
- &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio);
gpioComIF->addGpios(gpioCookieSus);
@@ -390,85 +392,149 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
- GpiodRegular* gpio = nullptr;
- // TODO: Determine new Gyro GPIO pins
- gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_0_ADIS_CS,
+ GpiodRegularByLabel* gpio = nullptr;
+ gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, q7s::GPIO_GYRO_0_ADIS_CS,
"CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
- gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_1_L3G_CS,
+ gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_1_L3G_CS,
"CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
- gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_2_ADIS_CS,
+ gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, q7s::GPIO_GYRO_2_ADIS_CS,
"CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
- gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_3_L3G_CS,
+ gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_3_L3G_CS,
"CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
- gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_0_LIS3_CS,
+ gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_0_LIS3_CS,
"CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
- gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_1_RM3100_CS,
+ gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_1_RM3100_CS,
"CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
- gpio = new GpiodRegular(q7s::GPIO_MGM2_LIS3_CHIP, q7s::GPIO_MGM_2_LIS3_CS,
+ auto gpioChip = new GpiodRegularByChip(q7s::GPIO_MGM2_LIS3_LABEL, q7s::GPIO_MGM_2_LIS3_CS,
"CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH);
- gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
- gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_3_RM3100_CS,
+ gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpioChip);
+ gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_3_RM3100_CS,
"CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
+ // GNSS reset pins are active low
+ gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_0,
+ "GNSS_0_NRESET", gpio::OUT, gpio::HIGH);
+ gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
+ gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_1,
+ "GNSS_1_NRESET", gpio::OUT, gpio::HIGH);
+ gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
+
+ // Enable pins must be pulled low for regular operations
+ gpio = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
+ "GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
+ gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
+ gpio = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
+ "GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
+ gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
+
+ // TODO: Add enable pins for GPS as soon as new interface board design is finished
gpioComIF->addGpios(gpioCookieAcsBoard);
std::string spiDev = q7s::SPI_DEFAULT_DEV;
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);
+ auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
+ spiCookie, spi::LIS3_TRANSITION_DELAY);
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();
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+ mgmLis3Handler->setToGoToNormalMode(true);
+#endif
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);
+ auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
+ spiCookie, spi::RM3100_TRANSITION_DELAY);
mgmRm3100Handler->setStartUpImmediately();
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+ mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
+
+ 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 MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
+ spiCookie, spi::LIS3_TRANSITION_DELAY);
+ mgmLis3Handler2->setStartUpImmediately();
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+ mgmLis3Handler2->setToGoToNormalMode(true);
+#endif
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
- mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_3_RM3100_HANDLER,
- objects::SPI_COM_IF, spiCookie);
+ mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
+ spiCookie, spi::RM3100_TRANSITION_DELAY);
mgmRm3100Handler->setStartUpImmediately();
-
- //TODO: Adis Gyro (Gyro 0 Side A)
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+ mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
// Commented until ACS board V2 in in clean room again
- /* Gyro 1 Side A */
-// 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();
-//
-// /* Gyro 2 Side B */
-// spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev,
-// L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-// gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
-// spiCookie);
-// gyroL3gHandler->setStartUpImmediately();
+ // Gyro 0 Side A
+ spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
+ ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+ spi::DEFAULT_ADIS16507_SPEED);
+ auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
+ spiCookie);
+ adisHandler->setStartUpImmediately();
+ // Gyro 1 Side A
+ 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, spi::L3G_TRANSITION_DELAY);
+ gyroL3gHandler->setStartUpImmediately();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+ gyroL3gHandler->setToGoToNormalMode(true);
+#endif
+ // Gyro 2 Side B
+ spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
+ ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+ spi::DEFAULT_ADIS16507_SPEED);
+ adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+ spiCookie);
+ adisHandler->setStartUpImmediately();
+ // Gyro 3 Side B
+ spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
+ L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+ gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
+ spiCookie, spi::L3G_TRANSITION_DELAY);
+ gyroL3gHandler->setStartUpImmediately();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+ gyroL3gHandler->setToGoToNormalMode(true);
+#endif
- // TODO: Add GPS device handlers
-// auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, deviceFile, uartMode, baudrate,
-// maxReplyLen);
-// auto uartCookieGps1 = new UartCookie(objects::GPS0_HANDLER, deviceFile, uartMode, baudrate,
-// maxReplyLen);
-// new GPSHyperionHandler(objects::GPS0_HANDLER, uartComIF);
-// new GPSHyperionHandler(objects::GPS1_HANDLER, uartComIF);
+ bool debugGps = false;
+#if OBSW_DEBUG_GPS == 1
+ debugGps = true;
+#endif
+ resetArgsGnss1.gnss1 = true;
+ resetArgsGnss1.gpioComIF = gpioComIF;
+ resetArgsGnss1.waitPeriodMs = 100;
+ resetArgsGnss0.gnss1 = false;
+ resetArgsGnss0.gpioComIF = gpioComIF;
+ resetArgsGnss0.waitPeriodMs = 100;
+ auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV,
+ UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
+ uartCookieGps0->setToFlushInput(true);
+ uartCookieGps0->setReadCycles(6);
+ auto uartCookieGps1 = new UartCookie(objects::GPS1_HANDLER, q7s::UART_GNSS_1_DEV,
+ UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
+ uartCookieGps1->setToFlushInput(true);
+ uartCookieGps1->setReadCycles(6);
+ auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
+ uartCookieGps0, debugGps);
+ gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
+ gpsHandler0->setStartUpImmediately();
+ auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
+ uartCookieGps1, debugGps);
+ gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1);
+ gpsHandler1->setStartUpImmediately();
}
void ObjectFactory::createHeaterComponents() {
@@ -476,38 +542,37 @@ void ObjectFactory::createHeaterComponents() {
GpioCookie* heaterGpiosCookie = new GpioCookie;
/* Pin H2-11 on stack connector */
- GpiodRegular* gpioConfigHeater0 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
- q7s::GPIO_HEATER_0_PIN, "Heater0", gpio::OUT, 0);
+ auto gpioConfigHeater0 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_0_PIN,
+ "Heater0", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
-
/* Pin H2-12 on stack connector */
- GpiodRegular* gpioConfigHeater1 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
- q7s::GPIO_HEATER_1_PIN, "Heater1", gpio::OUT, 0);
+ auto gpioConfigHeater1 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_1_PIN,
+ "Heater1", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
/* Pin H2-13 on stack connector */
- GpiodRegular* gpioConfigHeater2 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
- q7s::GPIO_HEATER_2_PIN, "Heater2", gpio::OUT, 0);
+ auto gpioConfigHeater2 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_2_PIN,
+ "Heater2", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
- GpiodRegular* gpioConfigHeater3 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
- q7s::GPIO_HEATER_3_PIN, "Heater3", gpio::OUT, 0);
+ auto gpioConfigHeater3 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_3_PIN,
+ "Heater3", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
- GpiodRegular* gpioConfigHeater4 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
- q7s::GPIO_HEATER_4_PIN, "Heater4", gpio::OUT, 0);
+ auto gpioConfigHeater4 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_4_PIN,
+ "Heater4", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
- GpiodRegular* gpioConfigHeater5 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
- q7s::GPIO_HEATER_5_PIN, "Heater5", gpio::OUT, 0);
+ auto gpioConfigHeater5 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_5_PIN,
+ "Heater5", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
- GpiodRegular* gpioConfigHeater6 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
- q7s::GPIO_HEATER_6_PIN, "Heater6", gpio::OUT, 0);
+ auto gpioConfigHeater6 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_6_PIN,
+ "Heater6", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
- GpiodRegular* gpioConfigHeater7 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
- q7s::GPIO_HEATER_7_PIN, "Heater7", gpio::OUT, 0);
+ auto gpioConfigHeater7 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_7_PIN,
+ "Heater7", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@@ -517,11 +582,11 @@ void ObjectFactory::createHeaterComponents() {
void ObjectFactory::createSolarArrayDeploymentComponents() {
GpioCookie* solarArrayDeplCookie = new GpioCookie;
- GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
- q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, 0);
+ auto gpioConfigDeplSA0 = new GpiodRegularByLabel(q7s::GPIO_SOLAR_ARR_DEPL_LABEL,
+ q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, gpio::LOW);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
- GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
- q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, 0);
+ auto gpioConfigDeplSA1 = new GpiodRegularByLabel(q7s::GPIO_SOLAR_ARR_DEPL_LABEL,
+ q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, gpio::LOW);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);
//TODO: Find out burn time. For now set to 1000 ms.
@@ -532,7 +597,8 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
void ObjectFactory::createSyrlinksComponents() {
UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER,
- std::string("/dev/ttyUL5"), UartModes::NON_CANONICAL, 38400, SYRLINKS::MAX_REPLY_SIZE);
+ q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL, uart::SYRLINKS_BAUD,
+ SYRLINKS::MAX_REPLY_SIZE);
syrlinksUartCookie->setParityEven();
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
@@ -592,69 +658,62 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
gpioComIF->addGpios(rtdGpioCookie);
- SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
- SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
- SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
- SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
- SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
- SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
- SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3, q7s::SPI_DEFAULT_DEV,
+ Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4, q7s::SPI_DEFAULT_DEV,
+ Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5, q7s::SPI_DEFAULT_DEV,
+ Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6, q7s::SPI_DEFAULT_DEV,
+ Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7, q7s::SPI_DEFAULT_DEV,
+ Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8, q7s::SPI_DEFAULT_DEV,
+ Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9, q7s::SPI_DEFAULT_DEV,
+ Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+ spi::RTD_SPEED);
SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+ spi::RTD_SPEED);
SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+ spi::RTD_SPEED);
SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+ spi::RTD_SPEED);
SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+ spi::RTD_SPEED);
SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+ spi::RTD_SPEED);
SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16,
std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+ spi::RTD_SPEED);
SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18,
- q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
- spi::SpiModes::MODE_1, spi::RTD_SPEED);
+ q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+ spi::RTD_SPEED);
- Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3,
- objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
- Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4,
- objects::SPI_COM_IF, spiRtdIc4, 0);
- Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5,
- objects::SPI_COM_IF, spiRtdIc5, 0);
- Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6,
- objects::SPI_COM_IF, spiRtdIc6, 0);
- Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7,
- objects::SPI_COM_IF, spiRtdIc7, 0);
- Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8,
- objects::SPI_COM_IF, spiRtdIc8, 0);
- Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9,
- objects::SPI_COM_IF, spiRtdIc9, 0);
+ Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF,
+ spiRtdIc3, 0); // 0 is switchId
+ Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF,
+ spiRtdIc4, 0);
+ Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5, objects::SPI_COM_IF,
+ spiRtdIc5, 0);
+ Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6, objects::SPI_COM_IF,
+ spiRtdIc6, 0);
+ Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7, objects::SPI_COM_IF,
+ spiRtdIc7, 0);
+ Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8, objects::SPI_COM_IF,
+ spiRtdIc8, 0);
+ Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9, objects::SPI_COM_IF,
+ spiRtdIc9, 0);
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10,
objects::SPI_COM_IF, spiRtdIc10, 0);
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11,
@@ -694,30 +753,30 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookieRw = new GpioCookie;
- GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT,
- gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT, gpio::HIGH,
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
- GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT,
- gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT, gpio::HIGH,
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
- GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT,
- gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT, gpio::HIGH,
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
- GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT,
- gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+ GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT, gpio::HIGH,
+ &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
- GpiodRegular* enRw1 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_0_CS,
- "Enable reaction wheel 1", gpio::OUT, 0);
+ auto enRw1 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS,
+ "Enable reaction wheel 1", gpio::OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
- GpiodRegular* enRw2 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_1_CS,
- "Enable reaction wheel 2", gpio::OUT, 0);
+ auto enRw2 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS,
+ "Enable reaction wheel 2", gpio::OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
- GpiodRegular* enRw3 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_2_CS,
- "Enable reaction wheel 3", gpio::OUT, 0);
+ auto enRw3 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS,
+ "Enable reaction wheel 3", gpio::OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
- GpiodRegular* enRw4 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_3_CS,
- "Enable reaction wheel 4", gpio::OUT, 0);
+ auto enRw4 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_3_CS,
+ "Enable reaction wheel 4", gpio::OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
/**
@@ -725,8 +784,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
* the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
* Per default the PS SPI is selected (EMIO = 0).
*/
- GpiodRegular* spiMux = new GpiodRegular(q7s::GPIO_RW_SPI_MUX_CHIP, q7s::GPIO_RW_SPI_MUX_CS,
- "EMIO 0 SPI Mux", gpio::OUT, 0);
+ auto spiMux = new GpiodRegularByLabel(q7s::GPIO_RW_SPI_MUX_LABEL,
+ q7s::GPIO_RW_SPI_MUX_CS, "EMIO 0 SPI Mux", gpio::OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
gpioComIF->addGpios(gpioCookieRw);
@@ -746,33 +805,49 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
gpioIds::EN_RW1);
+#if OBSW_DEBUG_RW == 1
+ rwHandler1->setStartUpImmediately();
+#endif
rw1SpiCookie->setCallbackArgs(rwHandler1);
auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
gpioIds::EN_RW2);
+#if OBSW_DEBUG_RW == 1
+ rwHandler2->setStartUpImmediately();
+#endif
rw2SpiCookie->setCallbackArgs(rwHandler2);
auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
gpioIds::EN_RW3);
+#if OBSW_DEBUG_RW == 1
+ rwHandler3->setStartUpImmediately();
+#endif
rw3SpiCookie->setCallbackArgs(rwHandler3);
auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
gpioIds::EN_RW4);
+#if OBSW_DEBUG_RW == 1
+ rwHandler4->setStartUpImmediately();
+#endif
rw4SpiCookie->setCallbackArgs(rwHandler4);
}
-void ObjectFactory::createTestComponents() {
+void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 0
new Q7STestTask(objects::TEST_TASK);
#endif
#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
+#if OBSW_TEST_GPIO_LABEL == 1
/* Configure MIO0 as input */
- GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
- std::string("MIO0"), gpio::IN, 0);
+ GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::OUT, 0, "/amba_pl/gpio@41200000", 0);
+#else
+ /* Configure MIO0 as input */
+ GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
+#endif /* OBSW_TEST_GPIO_LABEL == 1 */
GpioCookie* gpioCookie = new GpioCookie;
- gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
+ gpioCookie->addGpio(gpioIds::TEST_ID_0, testGpio);
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#endif
@@ -849,7 +924,7 @@ void ObjectFactory::createTestComponents() {
plocSupervisor->setStartUpImmediately();
#endif
-#if Q7S_ADD_SPI_TEST == 1
+#if OBSW_ADD_SPI_TEST_CODE == 1
new SpiTestClass(objects::SPI_TEST, gpioComIF);
#endif
diff --git a/bsp_q7s/core/ObjectFactory.h b/bsp_q7s/core/ObjectFactory.h
index 0e7ff9ff..ad9533a5 100644
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@@ -22,7 +22,7 @@ void createSolarArrayDeploymentComponents();
void createSyrlinksComponents();
void createRtdComponents(LinuxLibgpioIF* gpioComIF);
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
-void createTestComponents();
+void createTestComponents(LinuxLibgpioIF* gpioComIF);
};
diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/gpio/gpioCallbacks.cpp
index 34c927ed..da7c58e4 100644
--- a/bsp_q7s/gpio/gpioCallbacks.cpp
+++ b/bsp_q7s/gpio/gpioCallbacks.cpp
@@ -1,4 +1,5 @@
#include "gpioCallbacks.h"
+#include "busConf.h"
#include
#include
@@ -23,30 +24,31 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
GpioCookie* spiMuxGpios = new GpioCookie;
+ GpiodRegularByLabel* spiMuxBit = nullptr;
/** Setting mux bit 1 to low will disable IC21 on the interface board */
- GpiodRegular* spiMuxBit1 = new GpiodRegular(std::string("gpiochip7"), 13,
- std::string("SPI Mux Bit 1"), gpio::OUT, 0);
- spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit1);
+ spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_1,
+ "SPI Mux Bit 1", gpio::OUT, gpio::LOW);
+ spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
/** Setting mux bit 2 to low disables IC1 on the TCS board */
- GpiodRegular* spiMuxBit2 = new GpiodRegular(std::string("gpiochip7"), 14,
- std::string("SPI Mux Bit 2"), gpio::OUT, 0);
- spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit2);
+ spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_2,
+ "SPI Mux Bit 2", gpio::OUT, gpio::LOW);
+ spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
/** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
- GpiodRegular* spiMuxBit3 = new GpiodRegular(std::string("gpiochip7"), 15,
- std::string("SPI Mux Bit 3"), gpio::OUT, 0);
- spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit3);
+ spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_3,
+ "SPI Mux Bit 3", gpio::OUT, gpio::LOW);
+ spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
/** The following gpios can take arbitrary initial values */
- GpiodRegular* spiMuxBit4 = new GpiodRegular(std::string("gpiochip7"), 16,
- std::string("SPI Mux Bit 4"), gpio::OUT, 0);
- spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit4);
- GpiodRegular* spiMuxBit5 = new GpiodRegular(std::string("gpiochip7"), 17,
- std::string("SPI Mux Bit 5"), gpio::OUT, 0);
- spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit5);
- GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("gpiochip7"), 9,
- std::string("SPI Mux Bit 6"), gpio::OUT, 0);
- spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6);
- GpiodRegular* enRwDecoder = new GpiodRegular(std::string("gpiochip5"), 17,
- std::string("EN_RW_CS"), gpio::OUT, 1);
+ spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_4,
+ "SPI Mux Bit 4", gpio::OUT, gpio::LOW);
+ spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
+ spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_5,
+ "SPI Mux Bit 5", gpio::OUT, gpio::LOW);
+ spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
+ spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_6,
+ "SPI Mux Bit 6", gpio::OUT, gpio::LOW);
+ spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
+ GpiodRegularByLabel* enRwDecoder = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B1,
+ q7s::EN_RW_CS, "EN_RW_CS", gpio::OUT, gpio::HIGH);
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
result = gpioComInterface->addGpios(spiMuxGpios);
diff --git a/bsp_q7s/simple/simple.cpp b/bsp_q7s/simple/simple.cpp
index a6bb9fdf..960aa7db 100644
--- a/bsp_q7s/simple/simple.cpp
+++ b/bsp_q7s/simple/simple.cpp
@@ -11,6 +11,10 @@ int simple::simple() {
{
FileSystemTest fileSystemTest;
}
+#endif
+
+#if TE0720_GPIO_TEST
+
#endif
return 0;
}
diff --git a/cmake/HardwareOsPreConfig.cmake b/cmake/HardwareOsPreConfig.cmake
index 535f9b9e..3ff67565 100644
--- a/cmake/HardwareOsPreConfig.cmake
+++ b/cmake/HardwareOsPreConfig.cmake
@@ -53,9 +53,9 @@ endif()
if(TGT_BSP)
- if (${TGT_BSP} MATCHES "arm/raspberrypi" OR ${TGT_BSP} MATCHES "arm/beagleboneblack")
+ if (TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
set(BSP_PATH "bsp_linux_board")
- elseif(${TGT_BSP} MATCHES "arm/q7s")
+ elseif(TGT_BSP MATCHES "arm/q7s")
set(BSP_PATH "bsp_q7s")
else()
message(WARNING "CMake not configured for this target!")
diff --git a/cmake/Q7SCrossCompileConfig.cmake b/cmake/Q7SCrossCompileConfig.cmake
index 1d23b16d..d4d05f4e 100644
--- a/cmake/Q7SCrossCompileConfig.cmake
+++ b/cmake/Q7SCrossCompileConfig.cmake
@@ -1,5 +1,8 @@
+if(DEFINED ENV{Q7S_SYSROOT})
+ set(ENV{Q7S_ROOTFS} $ENV{Q7S_SYSROOT})
+endif()
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
-if(NOT DEFINED ENV{Q7S_SYSROOT})
+if(NOT DEFINED ENV{Q7S_ROOTFS})
# Sysroot has not been cached yet and was not set in environment either
if(NOT DEFINED SYSROOT_PATH)
message(FATAL_ERROR
@@ -7,7 +10,7 @@ if(NOT DEFINED ENV{Q7S_SYSROOT})
)
endif()
else()
- set(SYSROOT_PATH "$ENV{Q7S_SYSROOT}" CACHE PATH "Q7S root filesystem path")
+ set(SYSROOT_PATH "$ENV{Q7S_ROOTFS}" CACHE PATH "Q7S root filesystem path")
endif()
if(NOT DEFINED ENV{CROSS_COMPILE})
diff --git a/common/config/OBSWVersion.h b/common/config/OBSWVersion.h
index 1656eda0..5e9b1b9c 100644
--- a/common/config/OBSWVersion.h
+++ b/common/config/OBSWVersion.h
@@ -4,7 +4,7 @@
const char* const SW_NAME = "eive";
#define SW_VERSION 1
-#define SW_SUBVERSION 6
-#define SW_REVISION 1
+#define SW_SUBVERSION 7
+#define SW_REVISION 0
#endif /* COMMON_CONFIG_OBSWVERSION_H_ */
diff --git a/common/config/devConf.h b/common/config/devConf.h
index ce21c8b3..fbd9763b 100644
--- a/common/config/devConf.h
+++ b/common/config/devConf.h
@@ -10,14 +10,17 @@
*/
namespace spi {
-/* Default values, changing them is not supported for now */
-static constexpr uint32_t DEFAULT_LIS3_SPEED = 3'900'000;
+// Default values, changing them is not supported for now
+static constexpr uint32_t DEFAULT_LIS3_SPEED = 976'000;
+static constexpr uint32_t LIS3_TRANSITION_DELAY = 10000;
static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000;
+static constexpr uint32_t RM3100_TRANSITION_DELAY = 10000;
static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3;
-static constexpr uint32_t DEFAULT_L3G_SPEED = 3'900'000;
+static constexpr uint32_t DEFAULT_L3G_SPEED = 976'000;
+static constexpr uint32_t L3G_TRANSITION_DELAY = 10000;
static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;
@@ -26,15 +29,18 @@ static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_ADIS16507_SPEED = 976'000;
static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
-static constexpr uint32_t RW_SPEED = 300000;
+static constexpr uint32_t RW_SPEED = 300'000;
static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
-static constexpr uint32_t RTD_SPEED = 2000000;
+static constexpr uint32_t RTD_SPEED = 2'000'000;
}
namespace uart {
+static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
+static constexpr uint32_t SYRLINKS_BAUD = 38400;
+static constexpr uint32_t GNSS_BAUD = 9600;
static constexpr uint32_t PLOC_MPSOC_BAUD = 115200;
static constexpr uint32_t PLOC_SUPERVISOR_BAUD = 115200;
static constexpr uint32_t STAR_TRACKER_BAUD = 115200;
diff --git a/fsfw b/fsfw
index 882da68a..e1a85b47 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 882da68a2f0c1301d433d517c449c9c31f3cb35e
+Subproject commit e1a85b47c5018590e58b9b1130b1754b0079450f
diff --git a/generators/.gitignore b/generators/.gitignore
new file mode 100644
index 00000000..181d655f
--- /dev/null
+++ b/generators/.gitignore
@@ -0,0 +1 @@
+.~lock*
diff --git a/linux/archive/gpio/LinuxLibgpioIF.cpp b/linux/archive/gpio/LinuxLibgpioIF.cpp
index 64ee2982..92ffa63c 100644
--- a/linux/archive/gpio/LinuxLibgpioIF.cpp
+++ b/linux/archive/gpio/LinuxLibgpioIF.cpp
@@ -10,6 +10,9 @@
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
+ struct gpiod_chip* chip = gpiod_chip_open_by_label("/amba_pl/gpio@42030000");
+
+ sif::debug << chip->name << std::endl;
}
LinuxLibgpioIF::~LinuxLibgpioIF() {
diff --git a/linux/archive/gpio/LinuxLibgpioIF.h b/linux/archive/gpio/LinuxLibgpioIF.h
index a5015999..9c444e50 100644
--- a/linux/archive/gpio/LinuxLibgpioIF.h
+++ b/linux/archive/gpio/LinuxLibgpioIF.h
@@ -47,9 +47,9 @@ private:
* @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1.
*/
- ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
+ ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, unsigned int logiclevel);
- ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
+ ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio);
/**
* @brief This function checks if GPIOs are already registered and whether
diff --git a/linux/boardtest/LibgpiodTest.cpp b/linux/boardtest/LibgpiodTest.cpp
index 39e863b4..8eb9b536 100644
--- a/linux/boardtest/LibgpiodTest.cpp
+++ b/linux/boardtest/LibgpiodTest.cpp
@@ -15,7 +15,7 @@ LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
}
gpioInterface->addGpios(gpioCookie);
- testCase = TestCases::LOOPBACK;
+ testCase = TestCases::BLINK;
}
LibgpiodTest::~LibgpiodTest() {
@@ -29,7 +29,7 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
case(TestCases::READ): {
result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
if (result != RETURN_OK) {
- sif::debug << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
+ sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
<< std::endl;
return RETURN_FAILED;
}
@@ -42,6 +42,38 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
case(TestCases::LOOPBACK): {
break;
}
+ case(TestCases::BLINK): {
+ result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
+ if (result != HasReturnvaluesIF::RETURN_OK) {
+ sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
+ << std::endl;
+ return RETURN_FAILED;
+ }
+ if (gpioState == 1) {
+ result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
+ if(result != HasReturnvaluesIF::RETURN_OK) {
+ sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO low!"
+ << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ }
+ else if (gpioState == 0) {
+ result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
+ if(result != HasReturnvaluesIF::RETURN_OK) {
+ sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO high!"
+ << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ }
+ else {
+ sif::warning << "LibgpiodTest::performPeriodicAction: Invalid GPIO state" << std::endl;
+ }
+
+ break;
+ }
+ default:
+ sif::debug << "LibgpiodTest::performPeriodicAction: Invalid test case" << std::endl;
+ break;
}
@@ -56,6 +88,9 @@ ReturnValue_t LibgpiodTest::performOneShotAction() {
case(TestCases::READ): {
break;
}
+ case(TestCases::BLINK): {
+ break;
+ }
case(TestCases::LOOPBACK): {
result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
if(result == HasReturnvaluesIF::RETURN_OK) {
diff --git a/linux/boardtest/LibgpiodTest.h b/linux/boardtest/LibgpiodTest.h
index a18c618e..718d0209 100644
--- a/linux/boardtest/LibgpiodTest.h
+++ b/linux/boardtest/LibgpiodTest.h
@@ -14,7 +14,8 @@ class LibgpiodTest: public TestTask {
public:
enum TestCases {
READ = 0,
- LOOPBACK = 1
+ LOOPBACK = 1,
+ BLINK
};
TestCases testCase;
diff --git a/linux/boardtest/SpiTestClass.cpp b/linux/boardtest/SpiTestClass.cpp
index f3ba3279..8a340ecb 100644
--- a/linux/boardtest/SpiTestClass.cpp
+++ b/linux/boardtest/SpiTestClass.cpp
@@ -1,5 +1,4 @@
#include "SpiTestClass.h"
-#include "OBSWConfig.h"
#include "devices/gpioIds.h"
@@ -20,13 +19,12 @@
#include
#include
-
SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId),
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());
}
@@ -37,11 +35,11 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
break;
}
case(TestModes::MGM_LIS3MDL): {
- performLis3MdlTest(mgm2Lis3mdlChipSelect);
+ performLis3MdlTest(mgm0Lis3mdlChipSelect);
break;
}
case(TestModes::MGM_RM3100): {
- performRm3100Test(mgm3Rm3100ChipSelect);
+ performRm3100Test(mgm1Rm3100ChipSelect);
break;
}
case(TestModes::GYRO_L3GD20H): {
@@ -115,7 +113,7 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
sif::info << "Cycle count Y: " << cycleCountY << std::endl;
sif::info << "Cycle count z: " << cycleCountZ << std::endl;
- writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x95);
+ writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x96);
uint8_t tmrcReg = readRm3100Register(fileDescriptor, currentGpioId, 0x0B);
sif::info << "SpiTestClass::performRm3100Test: TMRC register value: " <<
std::hex << "0x" << static_cast(tmrcReg) << std::dec << std::endl;
@@ -150,10 +148,10 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
float fieldStrengthY = rawY * scaleFactor;
float fieldStrengthZ = rawZ * scaleFactor;
- sif::info << "RM3100 measured field strenghts in microtesla:" << std::endl;
- sif::info << "Field Strength X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
- sif::info << "Field Strength Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
- sif::info << "Field Strength Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
+ sif::info << "RM3100 measured field strengths in microtesla:" << std::endl;
+ sif::info << "Field Strength X: " << fieldStrengthX << " uT" << std::endl;
+ sif::info << "Field Strength Y: " << fieldStrengthY << " uT" << std::endl;
+ sif::info << "Field Strength Z: " << fieldStrengthZ << " uT" << std::endl;
}
void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
@@ -174,8 +172,8 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
else {
currentGpioId = gpioIds::MGM_2_LIS3_CS;
}
- uint32_t spiSpeed = 3'900'000;
- spi::SpiModes spiMode = spi::SpiModes::MODE_3;
+ uint32_t spiSpeed = 10'000'000;
+ spi::SpiModes spiMode = spi::SpiModes::MODE_0;
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
@@ -208,10 +206,10 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
/* Configure all SPI chip selects and pull them high */
acsInit();
- l3gId = gyro2L3gd20ChipSelect;
+ l3gId = gyro1L3gd20ChipSelect;
/* Adapt accordingly */
- if(l3gId != gyro1L3gd20ChipSelect and l3gId != gyro2L3gd20ChipSelect) {
+ if(l3gId != gyro1L3gd20ChipSelect and l3gId != gyro3L3gd20ChipSelect) {
sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
}
gpioId_t currentGpioId = 0;
@@ -300,69 +298,74 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
void SpiTestClass::acsInit() {
GpioCookie* gpioCookie = new GpioCookie();
- GpiodRegular* gpio = nullptr;
+
#ifdef RASPBERRY_PI
+ GpiodRegularByChip* gpio = nullptr;
std::string rpiGpioName = "gpiochip0";
- gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
+ gpio = new GpiodRegularByChip(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 = new GpiodRegularByChip(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 = new GpiodRegularByChip(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 = new GpiodRegularByChip(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 = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G",
gpio::Direction::OUT, 1);
- gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
+ gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
- gpio = new GpiodRegular(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
+ gpio = new GpiodRegularByChip(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 = new GpiodRegularByChip(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);
+ GpiodRegularByLabel* gpio = nullptr;
+ gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, 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);
+ gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm1Rm3100ChipSelect,
+ "MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
+ gpio = new GpiodRegularByLabel(q7s::GPIO_MGM2_LIS3_LABEL, mgm2Lis3mdlChipSelect,
+ "MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH);
+ gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
+ gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm3Rm3100ChipSelect,
+ "MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH);
+ gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
- gpio = new GpiodRegular(q7sGpioName5, gyro0AdisChipSelect, "GYRO_0_ADIS",
- gpio::Direction::OUT, gpio::HIGH);
+ gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, 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);
+ gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, 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 = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, gyro2AdisChipSelect, "GYRO_2_ADIS",
gpio::Direction::OUT, gpio::HIGH);
+ gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
+ gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro3L3gd20ChipSelect,
+ "GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_3_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);
+ // Enable pins must be pulled low for regular operations
+ gpio = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
+ "GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
+ gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
+ gpio = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
+ "GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
+ gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
#endif
- if(gpioIF != nullptr) {
+ if (gpioIF != nullptr) {
gpioIF->addGpios(gpioCookie);
}
}
diff --git a/linux/boardtest/SpiTestClass.h b/linux/boardtest/SpiTestClass.h
index dd112a0e..45a7cdd8 100644
--- a/linux/boardtest/SpiTestClass.h
+++ b/linux/boardtest/SpiTestClass.h
@@ -1,6 +1,12 @@
#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
#define LINUX_BOARDTEST_SPITESTCLASS_H_
+#include "OBSWConfig.h"
+
+#if defined(XIPHOS_Q7S)
+#include "busConf.h"
+#endif
+
#include
#include
#include
@@ -39,22 +45,24 @@ private:
/* ACS board specific variables */
#ifdef RASPBERRY_PI
- uint8_t mgm0Lis3mdlChipSelect = 0;
- uint8_t mgm1Rm3100ChipSelect = 1;
- uint8_t gyro0AdisChipSelect = 5;
- uint8_t gyro1L3gd20ChipSelect = 6;
- uint8_t gyro2L3gd20ChipSelect = 4;
- uint8_t mgm2Lis3mdlChipSelect = 17;
- uint8_t mgm3Rm3100ChipSelect = 27;
+ uint8_t mgm0Lis3mdlChipSelect = gpio::MGM_0_BCM_PIN;
+ uint8_t mgm1Rm3100ChipSelect = gpio::MGM_1_BCM_PIN;
+ uint8_t mgm2Lis3mdlChipSelect = gpio::MGM_2_BCM_PIN;
+ uint8_t mgm3Rm3100ChipSelect = gpio::MGM_3_BCM_PIN;
+
+ uint8_t gyro0AdisChipSelect = gpio::GYRO_0_BCM_PIN;
+ uint8_t gyro1L3gd20ChipSelect = gpio::GYRO_1_BCM_PIN;
+ uint8_t gyro2AdisChipSelect = gpio::GYRO_2_BCM_PIN;
+ uint8_t gyro3L3gd20ChipSelect = gpio::GYRO_3_BCM_PIN;
#elif defined(XIPHOS_Q7S)
- uint8_t mgm0Lis3mdlChipSelect = 5;
- uint8_t mgm1Rm3100ChipSelect = 17;
- uint8_t gyro0AdisResetLine = 20;
- uint8_t gyro0AdisChipSelect = 21;
- uint8_t gyro1L3gd20ChipSelect = 10;
- uint8_t gyro2L3gd20ChipSelect = 3;
- uint8_t mgm2Lis3mdlChipSelect = 0;
- uint8_t mgm3Rm3100ChipSelect = 23;
+ uint8_t mgm0Lis3mdlChipSelect = q7s::GPIO_MGM_0_LIS3_CS;
+ uint8_t mgm1Rm3100ChipSelect = q7s::GPIO_MGM_1_RM3100_CS;
+ uint8_t gyro0AdisChipSelect = q7s::GPIO_GYRO_0_ADIS_CS;
+ uint8_t gyro2AdisChipSelect = q7s::GPIO_GYRO_2_ADIS_CS;
+ uint8_t gyro1L3gd20ChipSelect = q7s::GPIO_GYRO_1_L3G_CS;
+ uint8_t gyro3L3gd20ChipSelect = q7s::GPIO_GYRO_3_L3G_CS;
+ uint8_t mgm2Lis3mdlChipSelect = q7s::GPIO_MGM_2_LIS3_CS;
+ uint8_t mgm3Rm3100ChipSelect = q7s::GPIO_MGM_3_RM3100_CS;
#else
uint8_t mgm0Lis3mdlChipSelect = 0;
uint8_t mgm1Rm3100ChipSelect = 0;
diff --git a/linux/fsfwconfig/FSFWConfig.h.in b/linux/fsfwconfig/FSFWConfig.h.in
index a8519cff..1b8251da 100644
--- a/linux/fsfwconfig/FSFWConfig.h.in
+++ b/linux/fsfwconfig/FSFWConfig.h.in
@@ -72,6 +72,12 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
}
-#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
+#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
+#define FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV 0
+
+#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
+#define FSFW_HAL_RM3100_MGM_DEBUG 0
+#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0
+#define FSFW_HAL_ADIS16507_GYRO_DEBUG 0
#endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in
index 560f72b1..bf5c1405 100644
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/linux/fsfwconfig/OBSWConfig.h.in
@@ -6,9 +6,9 @@
#ifndef FSFWCONFIG_OBSWCONFIG_H_
#define FSFWCONFIG_OBSWCONFIG_H_
-/* #undef RASPBERRY_PI */
-#define XIPHOS_Q7S
-/* #undef BEAGLEBONEBLACK */
+#cmakedefine RASPBERRY_PI
+#cmakedefine XIPHOS_Q7S
+#cmakedefine BEAGLEBONEBLACK
#ifdef RASPBERRY_PI
#include "rpiConfig.h"
@@ -31,11 +31,39 @@ debugging. */
//! Timers can mess up the code when debugging
//! All of this should be enabled for mission code!
+#if defined XIPHOS_Q7S
+
#define OBSW_ENABLE_TIMERS 1
-#define OBSW_ADD_GPS 0
#define OBSW_ADD_STAR_TRACKER 0
#define OBSW_ADD_PLOC_SUPERVISOR 0
#define OBSW_ADD_PLOC_MPSOC 0
+#define OBSW_ADD_SUN_SENSORS 0
+#define OBSW_ADD_ACS_BOARD 0
+#define OBSW_ADD_GPS_0 0
+#define OBSW_ADD_GPS_1 0
+#define OBSW_ADD_RW 0
+#define OBSW_ADD_RTD_DEVICES 0
+#define OBSW_ADD_TMP_DEVICES 0
+#define OBSW_ADD_RAD_SENSORS 0
+#define OBSW_ADD_SYRLINKS 0
+
+#elif defined RASPBERRY_PI
+
+#define OBSW_ENABLE_TIMERS 1
+#define OBSW_ADD_STAR_TRACKER 0
+#define OBSW_ADD_PLOC_SUPERVISOR 0
+#define OBSW_ADD_PLOC_MPSOC 0
+#define OBSW_ADD_SUN_SENSORS 0
+#define OBSW_ADD_ACS_BOARD 0
+#define OBSW_ADD_GPS_0 0
+#define OBSW_ADD_GPS_1 0
+#define OBSW_ADD_RW 0
+#define OBSW_ADD_RTD_DEVICES 0
+#define OBSW_ADD_TMP_DEVICES 0
+#define OBSW_ADD_RAD_SENSORS 0
+#define OBSW_ADD_SYRLINKS 0
+
+#endif
/*******************************************************************/
/** All of the following flags should be disabled for mission code */
@@ -44,7 +72,9 @@ debugging. */
//! /* Can be used to switch device to NORMAL mode immediately */
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
#define OBSW_PRINT_MISSED_DEADLINES 1
+// If this is enabled, all other SPI code should be disabled
#define OBSW_ADD_TEST_CODE 0
+#define OBSW_ADD_SPI_TEST_CODE 0
#define OBSW_ADD_TEST_PST 0
#define OBSW_ADD_TEST_TASK 0
#define OBSW_TEST_LIBGPIOD 0
@@ -54,15 +84,16 @@ debugging. */
#define OBSW_TEST_CCSDS_BRIDGE 0
#define OBSW_TEST_CCSDS_PTME 0
#define OBSW_TEST_TE7020_HEATER 0
+#define OBSW_TEST_GPIO_LABEL 0
#define OBSW_DEBUG_P60DOCK 0
#define OBSW_DEBUG_PDU1 0
#define OBSW_DEBUG_PDU2 0
+#define OBSW_DEBUG_GPS 0
#define OBSW_DEBUG_ACU 0
#define OBSW_DEBUG_SYRLINKS 0
#define OBSW_DEBUG_IMQT 0
#define OBSW_DEBUG_ADIS16507 0
-#define OBSW_DEBUG_L3GD20_GYRO 0
#define OBSW_DEBUG_RAD_SENSOR 0
#define OBSW_DEBUG_SUS 0
#define OBSW_DEBUG_RTD 0
diff --git a/linux/fsfwconfig/devices/gpioIds.h b/linux/fsfwconfig/devices/gpioIds.h
index ae91e905..b450bf8b 100644
--- a/linux/fsfwconfig/devices/gpioIds.h
+++ b/linux/fsfwconfig/devices/gpioIds.h
@@ -25,6 +25,12 @@ enum gpioId_t {
MGM_2_LIS3_CS,
MGM_3_RM3100_CS,
+ GNSS_0_NRESET,
+ GNSS_1_NRESET,
+
+ GYRO_0_ENABLE,
+ GYRO_2_ENABLE,
+
TEST_ID_0,
TEST_ID_1,
diff --git a/linux/fsfwconfig/devices/powerSwitcherList.h b/linux/fsfwconfig/devices/powerSwitcherList.h
index 9facfd80..bc5731fd 100644
--- a/linux/fsfwconfig/devices/powerSwitcherList.h
+++ b/linux/fsfwconfig/devices/powerSwitcherList.h
@@ -5,7 +5,7 @@
namespace pcduSwitches {
/* Switches are uint8_t datatype and go from 0 to 255 */
- enum switcherList {
+ enum SwitcherList: uint8_t {
Q7S,
PAYLOAD_PCDU_CH1,
RW,
@@ -22,7 +22,7 @@ namespace pcduSwitches {
SUS_NOMINAL,
SOLAR_CELL_EXP,
PLOC,
- ACS_BORAD_SIDE_A,
+ ACS_BOARD_SIDE_A,
NUMBER_OF_SWITCHES
};
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 6315d245..3b826119 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -28,12 +28,14 @@ ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence)
ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
-
+ static_cast(length);
+#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_IC4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_IC5, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -50,11 +52,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RTD_IC16, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_IC17, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_IC18, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
+#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC5, length * 0.2, DeviceHandlerIF::SEND_WRITE);
@@ -71,11 +75,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RTD_IC16, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC17, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC18, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
+#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_IC4, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_IC5, length * 0.4, DeviceHandlerIF::GET_WRITE);
@@ -92,11 +98,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RTD_IC16, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_IC17, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_IC18, length * 0.4, DeviceHandlerIF::GET_WRITE);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
+#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_IC4, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_IC5, length * 0.6, DeviceHandlerIF::SEND_READ);
@@ -113,11 +121,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RTD_IC16, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_IC17, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_IC18, length * 0.6, DeviceHandlerIF::SEND_READ);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
+#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_IC4, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_IC5, length * 0.8, DeviceHandlerIF::GET_READ);
@@ -134,15 +144,18 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RTD_IC16, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_IC17, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_IC18, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
+#if OBSW_ADD_RAD_SENSORS == 1
/* Radiation sensor */
thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
+#endif
+#if OBSW_ADD_SUN_SENSORS == 1
/**
* The sun sensor will be shutdown as soon as the chip select is pulled high. Thus all
* requests to a sun sensor must be performed consecutively. Another reason for calling multiple
@@ -151,254 +164,255 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
* One sun sensor communication sequence also blocks the SPI bus. So other devices can not be
* inserted between the device handler cycles of one SUS.
*/
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ);
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ);
/* Write setup */
- // thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ);
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ);
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ);
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ);
/* Write setup */
- // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ);
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ);
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ);
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ);
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ);
/* Write setup */
- // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ);
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ);
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ);
- //
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ);
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ);
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ);
- //
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ);
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ);
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ);
- //
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ);
- // /* Start ADC conversions */
- // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ);
- // /* Read ADC conversions from inernal FIFO */
- // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ);
- //
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ);
- // /* Start ADC conversions */
- // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ);
- // /* Read ADC conversions from inernal FIFO */
- // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ);
- //
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ);
- // /* Start ADC conversions */
- // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ);
- // /* Read ADC conversions from inernal FIFO */
- // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ);
- //
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ);
- // /* Start ADC conversions */
- // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ);
- // /* Read ADC conversions */
- // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ);
- //
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ);
- // /* Start ADC conversions */
- // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ);
- // /* Read ADC conversions */
- // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ);
- //
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ);
- // /* Start ADC conversions */
- // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ);
- // /* Read ADC conversions */
- // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ);
- //
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ);
- // /* Start ADC conversions */
- // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ);
- // /* Read ADC conversions */
- // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ);
- //
- // /* Write setup */
- // thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE);
- // thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ);
- // /* Start ADC conversions */
- // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ);
- // /* Read ADC conversions */
- // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION);
- // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE);
- // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE);
- // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ);
- // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ);
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ);
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ);
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ);
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ);
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ);
+
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ);
+ /* Start ADC conversions */
+ thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ);
+ /* Read ADC conversions from inernal FIFO */
+ thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ);
+
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ);
+ /* Start ADC conversions */
+ thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ);
+ /* Read ADC conversions from inernal FIFO */
+ thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ);
+
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ);
+ /* Start ADC conversions */
+ thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ);
+ /* Read ADC conversions from inernal FIFO */
+ thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ);
+
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ);
+ /* Start ADC conversions */
+ thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ);
+ /* Read ADC conversions */
+ thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ);
+
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ);
+ /* Start ADC conversions */
+ thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ);
+ /* Read ADC conversions */
+ thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ);
+
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ);
+ /* Start ADC conversions */
+ thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ);
+ /* Read ADC conversions */
+ thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ);
+
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ);
+ /* Start ADC conversions */
+ thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ);
+ /* Read ADC conversions */
+ thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ);
+
+ /* Write setup */
+ thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE);
+ thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ);
+ /* Start ADC conversions */
+ thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ);
+ /* Read ADC conversions */
+ thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
+#endif
+
+#if OBSW_ADD_RW == 1
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.4, DeviceHandlerIF::GET_WRITE);
@@ -407,92 +421,120 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::RW2, length * 0.4, DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::RW2, length * 0.7, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::RW2, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::RW3, length * 0.4, DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::RW3, length * 0.7, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::RW3, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::RW4, length * 0.4, DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::RW4, length * 0.7, DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::RW4, length * 0.85, DeviceHandlerIF::GET_READ);
+#endif
#if OBSW_ADD_ACS_BOARD == 1
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
+ bool enableAside = true;
+ bool enableBside = false;
+ if(enableAside) {
+ // A side
+ thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7,
+ DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85,
+ DeviceHandlerIF::GET_READ);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.75,
+ DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85,
+ DeviceHandlerIF::GET_READ);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
+// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
+// DeviceHandlerIF::PERFORM_OPERATION);
+// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3,
+// DeviceHandlerIF::SEND_WRITE);
+// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
+// DeviceHandlerIF::GET_WRITE);
+// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75,
+// DeviceHandlerIF::SEND_READ);
+// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85,
+// DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.35,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.75,
+ DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85,
+ DeviceHandlerIF::GET_READ);
+ }
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
+ if(enableBside) {
+ // B side
+ thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7,
+ DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85,
+ DeviceHandlerIF::GET_READ);
+ thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.75,
+ DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85,
+ DeviceHandlerIF::GET_READ);
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
+// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
+// DeviceHandlerIF::PERFORM_OPERATION);
+// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.3,
+// DeviceHandlerIF::SEND_WRITE);
+// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
+// DeviceHandlerIF::GET_WRITE);
+// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.75,
+// DeviceHandlerIF::SEND_READ);
+// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85,
+// DeviceHandlerIF::GET_READ);
-
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
-#endif
+ thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.35,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75,
+ DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85,
+ DeviceHandlerIF::GET_READ);
+ }
+#endif /* OBSW_ADD_ACS_BOARD == 1 */
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "SPI PST initialization failed" << std::endl;
@@ -519,18 +561,21 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs();
+ static_cast(length);
+ bool uartPstEmpty = true;
#if OBSW_ADD_PLOC_MPSOC == 1
+ uartPstEmpty = false;
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
+ DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
+ DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
+ DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
+ DeviceHandlerIF::GET_READ);
#endif
thisSequence->addSlot(objects::PLOC_UPDATER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -540,70 +585,63 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
+ DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
+ DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
+ DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
+ DeviceHandlerIF::GET_READ);
#endif
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
+#if OBSW_ADD_SYRLINKS == 1
+ uartPstEmpty = false;
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
- thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
-#endif
-
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
-
-#if OBSW_ADD_ACS_BOARD == 1
- thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
-#endif
-
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
- thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
-#endif
-
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
- thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
-#endif
-
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#endif
+
#if OBSW_ADD_ACS_BOARD == 1
+
+#if OBSW_ADD_GPS_0 == 1
+ uartPstEmpty = false;
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
+ DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
+#endif /* OBSW_ADD_GPS_0 == 1 */
+
+#if OBSW_ADD_GPS_1 == 1
+ uartPstEmpty = false;
+ thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
+ DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
-#endif
+#endif /* OBSW_ADD_GPS_1 == 1 */
+
+#endif /* OBSW_ADD_ACS_BOARD == 1 */
#if OBSW_ADD_STAR_TRACKER == 1
+ uartPstEmpty = false;
thisSequence->addSlot(objects::START_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::START_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::START_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
@@ -611,6 +649,9 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::START_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
+ if(uartPstEmpty) {
+ return HasReturnvaluesIF::RETURN_OK;
+ }
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "UART PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
@@ -681,77 +722,6 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
bool notEmpty = false;
-#if OBSW_ADD_ACS_BOARD == 1
- notEmpty = true;
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
-
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
-
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
-
-
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
-
-
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
-
-
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
-#endif
#if RPI_TEST_ADIS16507 == 1
notEmpty = true;
diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp
index cc1b88e5..4ee1ff70 100644
--- a/mission/core/GenericFactory.cpp
+++ b/mission/core/GenericFactory.cpp
@@ -36,22 +36,22 @@ void ObjectFactory::produceGenericObjects() {
{
PoolManager::LocalPoolConfig poolCfg = {
- {100, 16}, {50, 32}, {25, 64}, {15, 128}, {10, 1024}, {5, 2048}
+ {300, 16}, {300, 32}, {200, 64}, {200, 128}, {100, 1024}, {10, 2048}
};
new PoolManager(objects::TC_STORE, poolCfg);
}
{
PoolManager::LocalPoolConfig poolCfg = {
- {100, 16}, {50, 32}, {25, 64}, {15, 128}, {10, 1024}, {5, 2048}
+ {300, 16}, {300, 32}, {100, 64}, {100, 128}, {100, 1024}, {10, 2048}
};
new PoolManager(objects::TM_STORE, poolCfg);
}
{
PoolManager::LocalPoolConfig poolCfg = {
- { 100, 16 }, { 100, 32 }, { 100, 64 },
- { 100, 128 }, { 50, 256 }, { 50, 512 }, { 50, 1024 }, { 10, 2048 }
+ { 300, 16 }, { 200, 32 }, { 150, 64 },
+ { 150, 128 }, { 100, 256 }, { 50, 512 }, { 50, 1024 }, { 10, 2048 }
};
new PoolManager(objects::IPC_STORE, poolCfg);
}
diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt
index 4ed60dfd..dd17728c 100644
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@@ -1,7 +1,5 @@
target_sources(${TARGET_NAME} PUBLIC
GPSHyperionHandler.cpp
- MGMHandlerLIS3MDL.cpp
- MGMHandlerRM3100.cpp
GomspaceDeviceHandler.cpp
Tmp1075Handler.cpp
PCDUHandler.cpp
diff --git a/mission/devices/GPSHyperionHandler.cpp b/mission/devices/GPSHyperionHandler.cpp
index 34fdd47d..8944d17a 100644
--- a/mission/devices/GPSHyperionHandler.cpp
+++ b/mission/devices/GPSHyperionHandler.cpp
@@ -6,6 +6,11 @@
#include "lwgps/lwgps.h"
+#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
+#include
+#include
+#endif
+
GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, bool debugHyperionGps):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this),
@@ -37,16 +42,30 @@ void GPSHyperionHandler::doShutDown() {
}
ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
- return HasReturnvaluesIF::RETURN_OK;
+ return NOTHING_TO_SEND;
}
ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
- return HasReturnvaluesIF::RETURN_OK;
+ return NOTHING_TO_SEND;
}
ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
+ // By default, send nothing
+ rawPacketLen = 0;
+ switch(deviceCommand) {
+ case(GpsHyperion::TRIGGER_RESET_PIN): {
+ if(resetCallback != nullptr) {
+ PoolReadGuard pg(&gpsSet);
+ // Set HK entries invalid
+ gpsSet.setValidity(false, true);
+ resetCallback(resetCallbackArgs);
+ return HasActionsIF::EXECUTION_FINISHED;
+ }
+ return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+ }
+ }
return HasReturnvaluesIF::RETURN_OK;
}
@@ -54,9 +73,9 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// Pass data to GPS library
if(len > 0) {
- sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
+ // sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
- // TODO: Check whether data is valid by chcking whether NMEA start string is valid
+ // TODO: Check whether data is valid by checking whether NMEA start string is valid?
commandExecuted = true;
}
int result = lwgps_process(&gpsData, start, len);
@@ -82,7 +101,14 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
// Negative latitude -> South direction
gpsSet.latitude.value = gpsData.latitude;
// Negative longitude -> West direction
- gpsSet.longitude.value = gpsData.latitude;
+ gpsSet.longitude.value = gpsData.longitude;
+ if(gpsData.altitude > 600000.0 or gpsData.altitude < 400000.0) {
+ gpsSet.altitude.setValid(false);
+ }
+ else {
+ gpsSet.altitude.setValid(true);
+ gpsSet.altitude.value = gpsData.altitude;
+ }
gpsSet.fixMode.value = gpsData.fix_mode;
gpsSet.satInUse.value = gpsData.sats_in_use;
Clock::TimeOfDay_t timeStruct = {};
@@ -101,6 +127,7 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
gpsSet.hours = gpsData.hours;
gpsSet.minutes = gpsData.minutes;
gpsSet.seconds = gpsData.seconds;
+ gpsSet.unixSeconds = timeval.tv_sec;
if(debugHyperionGps) {
sif::info << "GPS Data" << std::endl;
printf("Valid status: %d\n", gpsData.is_valid);
@@ -108,8 +135,19 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
printf("Longitude: %f degrees\n", gpsData.longitude);
printf("Altitude: %f meters\n", gpsData.altitude);
}
+#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
+ std::string filename = "/mnt/sd0/gps_log.txt";
+ std::ofstream gpsFile;
+ if(not std::filesystem::exists(filename)) {
+ gpsFile.open(filename, std::ofstream::out);
+ }
+ gpsFile.open(filename, std::ofstream::out | std::ofstream::app);
+ gpsFile.write("\n", 1);
+ gpsFile.write(reinterpret_cast(start), len);
+#endif
}
*foundLen = len;
+ *foundId = GpsHyperion::GPS_REPLY;
}
return HasReturnvaluesIF::RETURN_OK;
@@ -145,8 +183,32 @@ ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
void GPSHyperionHandler::fillCommandAndReplyMap() {
// Reply length does not matter, packets should always arrive periodically
insertInReplyMap(GpsHyperion::GPS_REPLY, 4, &gpsSet, 0, true);
+ insertInCommandMap(GpsHyperion::TRIGGER_RESET_PIN);
}
void GPSHyperionHandler::modeChanged() {
internalState = InternalStates::NONE;
}
+
+void GPSHyperionHandler::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
+ void *args) {
+ this->resetCallback = resetCallback;
+ resetCallbackArgs = args;
+}
+
+void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
+ uint32_t parameter) {
+}
+
+ReturnValue_t GPSHyperionHandler::initialize() {
+ ReturnValue_t result = DeviceHandlerBase::initialize();
+ if(result != HasReturnvaluesIF::RETURN_OK) {
+ return result;
+ }
+ // Enable reply immediately for now
+ return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
+}
+
+ReturnValue_t GPSHyperionHandler::acceptExternalDeviceCommands() {
+ return DeviceHandlerBase::acceptExternalDeviceCommands();
+}
diff --git a/mission/devices/GPSHyperionHandler.h b/mission/devices/GPSHyperionHandler.h
index 49d8f416..e7c925be 100644
--- a/mission/devices/GPSHyperionHandler.h
+++ b/mission/devices/GPSHyperionHandler.h
@@ -6,7 +6,6 @@
#include "devicedefinitions/GPSDefinitions.h"
#include "lwgps/lwgps.h"
-
/**
* @brief Device handler for the Hyperion HT-GPS200 device
* @details
@@ -15,12 +14,22 @@
*/
class GPSHyperionHandler: public DeviceHandlerBase {
public:
+
GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, bool debugHyperionGps = false);
virtual ~GPSHyperionHandler();
+ using gpioResetFunction_t = ReturnValue_t (*) (void* args);
+
+ void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void*args);
+ ReturnValue_t acceptExternalDeviceCommands() override;
+
+ ReturnValue_t initialize() override;
protected:
+ gpioResetFunction_t resetCallback = nullptr;
+ void* resetCallbackArgs = nullptr;
+
enum class InternalStates {
NONE,
WAIT_FIRST_MESSAGE,
@@ -49,7 +58,8 @@ protected:
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
-
+ virtual void debugInterface(uint8_t positionTracker = 0,
+ object_id_t objectId = 0, uint32_t parameter = 0) override;
private:
lwgps_t gpsData = {};
GpsPrimaryDataset gpsSet;
diff --git a/mission/devices/GomspaceDeviceHandler.cpp b/mission/devices/GomspaceDeviceHandler.cpp
index d83de9fe..e5912969 100644
--- a/mission/devices/GomspaceDeviceHandler.cpp
+++ b/mission/devices/GomspaceDeviceHandler.cpp
@@ -7,11 +7,11 @@ GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t c
DeviceHandlerBase(objectId, comIF, comCookie), maxConfigTableAddress(maxConfigTableAddress),
maxHkTableAddress(maxHkTableAddress), hkTableReplySize(hkTableReplySize),
hkTableDataset(hkTableDataset) {
- if (comCookie == NULL) {
+ if (comCookie == nullptr) {
sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid com cookie"
<< std::endl;
}
- if (hkTableDataset == NULL) {
+ if (hkTableDataset == nullptr) {
sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid hk table data set"
<< std::endl;
}
@@ -75,6 +75,10 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
}
break;
}
+ case(GOMSPACE::PRINT_SWITCH_V_I): {
+ result = printStatus(deviceCommand);
+ break;
+ }
case(GOMSPACE::REQUEST_HK_TABLE): {
result = generateRequestFullHkTableCmd(hkTableReplySize);
if(result != HasReturnvaluesIF::RETURN_OK){
@@ -95,6 +99,7 @@ void GomspaceDeviceHandler::fillCommandAndReplyMap(){
this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3);
this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3);
this->insertInCommandMap(GOMSPACE::GNDWDT_RESET);
+ this->insertInCommandMap(GOMSPACE::PRINT_SWITCH_V_I);
}
ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t *start,
@@ -396,3 +401,8 @@ LocalPoolDataSetBase* GomspaceDeviceHandler::getDataSetHandle(sid_t sid) {
void GomspaceDeviceHandler::setModeNormal() {
mode = MODE_NORMAL;
}
+
+ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) {
+ sif::info << "No printHkTable implementation given.." << std::endl;
+ return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/mission/devices/GomspaceDeviceHandler.h b/mission/devices/GomspaceDeviceHandler.h
index b73f3bb7..78257b83 100644
--- a/mission/devices/GomspaceDeviceHandler.h
+++ b/mission/devices/GomspaceDeviceHandler.h
@@ -88,6 +88,13 @@ protected:
*/
virtual ReturnValue_t generateRequestFullHkTableCmd(uint16_t hkTableSize);
+ /**
+ * This command handles printing the HK table to the console. This is useful for debugging
+ * purposes
+ * @return
+ */
+ virtual ReturnValue_t printStatus(DeviceCommandId_t cmd);
+
/**
* @brief Because housekeeping tables are device specific the handling of the reply is
* given to the child class.
diff --git a/mission/devices/GyroADIS16507Handler.cpp b/mission/devices/GyroADIS16507Handler.cpp
index 2034d6a2..02e69eaf 100644
--- a/mission/devices/GyroADIS16507Handler.cpp
+++ b/mission/devices/GyroADIS16507Handler.cpp
@@ -1,8 +1,7 @@
+#include "GyroADIS16507Handler.h"
#include
#include
-#include "GyroADIS16507Handler.h"
-
#if OBSW_ADIS16507_LINUX_COM_IF == 1
#include "fsfw_hal/linux/utility.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
@@ -16,7 +15,7 @@ GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
object_id_t deviceCommunication, CookieIF * comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
configDataset(this), breakCountdown() {
-#if OBSW_DEBUG_ADIS16507 == 1
+#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(5);
#endif
@@ -73,6 +72,7 @@ ReturnValue_t GyroADIS16507Handler::buildTransitionDeviceCommand(DeviceCommandId
break;
}
case(InternalState::STARTUP): {
+ return NOTHING_TO_SEND;
break;
}
default: {
@@ -200,7 +200,7 @@ ReturnValue_t GyroADIS16507Handler::interpretDeviceReply(DeviceCommandId_t id,
uint16_t readProdId = packet[10] << 8 | packet[11];
if (readProdId != ADIS16507::PROD_ID) {
#if OBSW_VERBOSE_LEVEL >= 1
- sif::debug << "GyroADIS16507Handler::interpretDeviceReply: Invalid product ID!"
+ sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Invalid product ID!"
<< std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
@@ -284,7 +284,7 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
primaryDataset.setValidity(true, true);
}
-#if OBSW_DEBUG_ADIS16507 == 1
+#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
if(debugDivider->checkAndIncrement()) {
sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
@@ -402,7 +402,7 @@ ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *
cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
cookie->assignWriteBuffer(sendData);
- cookie->assignTransferSize(2);
+ cookie->setTransferSize(2);
gpioId_t gpioId = cookie->getChipSelectPin();
GpioIF* gpioIF = comIf->getGpioInterface();
diff --git a/mission/devices/GyroADIS16507Handler.h b/mission/devices/GyroADIS16507Handler.h
index 41be5734..467e0906 100644
--- a/mission/devices/GyroADIS16507Handler.h
+++ b/mission/devices/GyroADIS16507Handler.h
@@ -1,11 +1,13 @@
#ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
#define MISSION_DEVICES_GYROADIS16507HANDLER_H_
-#include
#include "OBSWConfig.h"
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "FSFWConfig.h"
#include "devicedefinitions/GyroADIS16507Definitions.h"
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+
#if OBSW_ADIS16507_LINUX_COM_IF == 1
class SpiComIF;
class SpiCookie;
@@ -69,7 +71,7 @@ private:
const uint8_t *sendData, size_t sendLen, void* args);
#endif
-#if OBSW_DEBUG_ADIS16507 == 1
+#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
PeriodicOperationDivider* debugDivider;
#endif
Countdown breakCountdown;
diff --git a/mission/devices/MGMHandlerLIS3MDL.cpp b/mission/devices/MGMHandlerLIS3MDL.cpp
deleted file mode 100644
index 85cb3407..00000000
--- a/mission/devices/MGMHandlerLIS3MDL.cpp
+++ /dev/null
@@ -1,486 +0,0 @@
-#include "MGMHandlerLIS3MDL.h"
-
-#include "fsfw/datapool/PoolReadGuard.h"
-#if OBSW_VERBOSE_LEVEL >= 1
-#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
-
-MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
- object_id_t deviceCommunication, CookieIF* comCookie):
- DeviceHandlerBase(objectId, deviceCommunication, comCookie),
- dataset(this) {
-#if OBSW_VERBOSE_LEVEL >= 1
- debugDivider = new PeriodicOperationDivider(5);
-#endif
- /* Set to default values right away. */
- registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
- registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
- registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
- registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
- registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-
-}
-
-MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
-}
-
-
-void MGMHandlerLIS3MDL::doStartUp() {
- switch (internalState) {
- case(InternalState::STATE_NONE): {
- internalState = InternalState::STATE_FIRST_CONTACT;
- break;
- }
- case(InternalState::STATE_FIRST_CONTACT): {
- /* Will be set by checking device ID (WHO AM I register) */
- if(commandExecuted) {
- commandExecuted = false;
- internalState = InternalState::STATE_SETUP;
- }
- break;
- }
- case(InternalState::STATE_SETUP): {
- internalState = InternalState::STATE_CHECK_REGISTERS;
- break;
- }
- case(InternalState::STATE_CHECK_REGISTERS): {
- /* Set up cached registers which will be used to configure the MGM. */
- if(commandExecuted) {
- commandExecuted = false;
-#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
- setMode(MODE_NORMAL);
-#else
- setMode(_MODE_TO_ON);
-#endif
- }
- break;
- }
- default:
- break;
- }
-
-}
-
-void MGMHandlerLIS3MDL::doShutDown() {
- setMode(_MODE_POWER_DOWN);
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
- DeviceCommandId_t *id) {
- switch (internalState) {
- case(InternalState::STATE_NONE):
- case(InternalState::STATE_NORMAL): {
- return HasReturnvaluesIF::RETURN_OK;
- }
- case(InternalState::STATE_FIRST_CONTACT): {
- *id = MGMLIS3MDL::IDENTIFY_DEVICE;
- break;
- }
- case(InternalState::STATE_SETUP): {
- *id = MGMLIS3MDL::SETUP_MGM;
- break;
- }
- case(InternalState::STATE_CHECK_REGISTERS): {
- *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
- break;
- }
- default: {
- /* might be a configuration error. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
- sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
- std::endl;
-#else
- sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
- return HasReturnvaluesIF::RETURN_OK;
- }
-
- }
- return buildCommandFromCommand(*id, NULL, 0);
-}
-
-uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) {
- command |= (1 << MGMLIS3MDL::RW_BIT);
- if (continuousCom == true) {
- command |= (1 << MGMLIS3MDL::MS_BIT);
- }
- return command;
-}
-
-uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
- command &= ~(1 << MGMLIS3MDL::RW_BIT);
- if (continuousCom == true) {
- command |= (1 << MGMLIS3MDL::MS_BIT);
- }
- return command;
-}
-
-void MGMHandlerLIS3MDL::setupMgm() {
-
- registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
- registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
- registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
- registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
- registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-
- prepareCtrlRegisterWrite();
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
- DeviceCommandId_t *id) {
- // Data/config register will be read in an alternating manner.
- if(communicationStep == CommunicationStep::DATA) {
- *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
- communicationStep = CommunicationStep::TEMPERATURE;
- return buildCommandFromCommand(*id, NULL, 0);
- }
- else {
- *id = MGMLIS3MDL::READ_TEMPERATURE;
- communicationStep = CommunicationStep::DATA;
- return buildCommandFromCommand(*id, NULL, 0);
- }
-
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
- DeviceCommandId_t deviceCommand, const uint8_t *commandData,
- size_t commandDataLen) {
- switch(deviceCommand) {
- case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
- std::memset(commandBuffer, 0, sizeof(commandBuffer));
- commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
-
- rawPacket = commandBuffer;
- rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
- return RETURN_OK;
- }
- case(MGMLIS3MDL::READ_TEMPERATURE): {
- std::memset(commandBuffer, 0, 3);
- commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
-
- rawPacket = commandBuffer;
- rawPacketLen = 3;
- return RETURN_OK;
- }
- case(MGMLIS3MDL::IDENTIFY_DEVICE): {
- return identifyDevice();
- }
- case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
- return enableTemperatureSensor(commandData, commandDataLen);
- }
- case(MGMLIS3MDL::SETUP_MGM): {
- setupMgm();
- return HasReturnvaluesIF::RETURN_OK;
- }
- case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
- return setOperatingMode(commandData, commandDataLen);
- }
- default:
- return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
- }
- return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
- uint32_t size = 2;
- commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
- commandBuffer[1] = 0x00;
-
- rawPacket = commandBuffer;
- rawPacketLen = size;
-
- return RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
- size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
- *foundLen = len;
- if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
- *foundLen = len;
- *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
- // Check validity by checking config registers
- if (start[1] != registers[0] or start[2] != registers[1] or
- start[3] != registers[2] or start[4] != registers[3] or
- start[5] != registers[4]) {
-#if OBSW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
- sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
-#else
- sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
-#endif
-#endif
- return DeviceHandlerIF::INVALID_DATA;
- }
- if(mode == _MODE_START_UP) {
- commandExecuted = true;
- }
-
- }
- else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
- *foundLen = len;
- *foundId = MGMLIS3MDL::READ_TEMPERATURE;
- }
- else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
- *foundLen = len;
- *foundId = MGMLIS3MDL::SETUP_MGM;
- }
- else if (len == SINGLE_COMMAND_ANSWER_LEN) {
- *foundLen = len;
- *foundId = getPendingCommand();
- if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
- if(start[1] != MGMLIS3MDL::DEVICE_ID) {
-#if OBSW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
- sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
-#else
- sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
-#endif
-#endif
- return DeviceHandlerIF::INVALID_DATA;
- }
-
- if(mode == _MODE_START_UP) {
- commandExecuted = true;
- }
- }
- }
- else {
- return DeviceHandlerIF::INVALID_DATA;
- }
-
- /* Data with SPI Interface always has this answer */
- if (start[0] == 0b11111111) {
- return RETURN_OK;
- }
- else {
- return DeviceHandlerIF::INVALID_DATA;
- }
-
-}
-ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
- const uint8_t *packet) {
-
- switch (id) {
- case MGMLIS3MDL::IDENTIFY_DEVICE: {
- break;
- }
- case MGMLIS3MDL::SETUP_MGM: {
- break;
- }
- case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
- // TODO: Store configuration in new local datasets.
-
- uint8_t scale = getFullScale(registers[2]);
- float sensitivityFactor = getSensitivityFactor(scale);
-
- int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
- | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
- int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
- | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
- int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
- | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
-
- /* Target value in microtesla */
- float mgmX = static_cast(mgmMeasurementRawX) * sensitivityFactor
- * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
- float mgmY = static_cast(mgmMeasurementRawY) * sensitivityFactor
- * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
- float mgmZ = static_cast(mgmMeasurementRawZ) * sensitivityFactor
- * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-
-#if OBSW_VERBOSE_LEVEL >= 1
- if(debugDivider->checkAndIncrement()) {
- /* Set terminal to utf-8 if there is an issue with micro printout. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
- sif::info << "MGMHandlerLIS3: Magnetic field strength in"
- " microtesla:" << std::endl;
- sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl;
- sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl;
- sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl;
-#else
- sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
- sif::printInfo("X: %f " "\xC2\xB5" "T\n", mgmX);
- sif::printInfo("Y: %f " "\xC2\xB5" "T\n", mgmY);
- sif::printInfo("Z: %f " "\xC2\xB5" "T\n", mgmZ);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
- }
-#endif /* OBSW_VERBOSE_LEVEL >= 1 */
- PoolReadGuard readHelper(&dataset);
- if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
- dataset.fieldStrengthX = mgmX;
- dataset.fieldStrengthY = mgmY;
- dataset.fieldStrengthZ = mgmZ;
- dataset.setValidity(true, true);
- }
- break;
- }
-
- case MGMLIS3MDL::READ_TEMPERATURE: {
- int16_t tempValueRaw = packet[2] << 8 | packet[1];
- float tempValue = 25.0 + ((static_cast(tempValueRaw)) / 8.0);
-#if OBSW_VERBOSE_LEVEL >= 1
- if(debugDivider->check()) {
- /* Set terminal to utf-8 if there is an issue with micro printout. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
- sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " \xC2\xB0" << "C" <<
- std::endl;
-#else
- sif::printInfo("MGMHandlerLIS3: Temperature: %f" "\xC2\xB0" "C\n");
-#endif
- }
-#endif
- ReturnValue_t result = dataset.read();
- if(result == HasReturnvaluesIF::RETURN_OK) {
- dataset.temperature = tempValue;
- dataset.commit();
- }
- break;
- }
-
- default: {
- return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
- }
-
- }
- return RETURN_OK;
-}
-
-uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) {
- bool FS0 = false;
- bool FS1 = false;
- if ((ctrlRegister2 >> 5) == 1)
- FS0 = true;
- if ((ctrlRegister2 >> 6) == 1)
- FS1 = true;
- if ((FS0 == true) && (FS1 == true))
- return 16;
- else if ((FS0 == false) && (FS1 == true))
- return 12;
- else if ((FS0 == true) && (FS1 == false))
- return 8;
- else
- return 4;
-}
-
-float MGMHandlerLIS3MDL::getSensitivityFactor(uint8_t scale) {
- return (float) scale / (INT16_MAX);
-}
-
-
-ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
- const uint8_t *commandData, size_t commandDataLen) {
- triggerEvent(CHANGE_OF_SETUP_PARAMETER);
- uint32_t size = 2;
- commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
- if (commandDataLen > 1) {
- return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
- }
- switch (*commandData) {
- case (MGMLIS3MDL::ON): {
- commandBuffer[1] = registers[0] | (1 << 7);
- break;
- }
- case (MGMLIS3MDL::OFF): {
- commandBuffer[1] = registers[0] & ~(1 << 7);
- break;
- }
- default:
- return INVALID_COMMAND_PARAMETER;
- }
- registers[0] = commandBuffer[1];
-
- rawPacket = commandBuffer;
- rawPacketLen = size;
-
- return RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
- size_t commandDataLen) {
- triggerEvent(CHANGE_OF_SETUP_PARAMETER);
- if (commandDataLen != 1) {
- return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
- }
-
- switch (commandData[0]) {
- case MGMLIS3MDL::LOW:
- registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
- registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
- break;
- case MGMLIS3MDL::MEDIUM:
- registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
- registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
- break;
-
- case MGMLIS3MDL::HIGH:
- registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
- registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
- break;
-
- case MGMLIS3MDL::ULTRA:
- registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
- registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
- break;
- default:
- break;
- }
-
- return prepareCtrlRegisterWrite();
-}
-
-void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
- /*
- * Regarding ArduinoBoard:
- * Actually SPI answers directly, but as commanding ArduinoBoard the
- * communication could be delayed
- * SPI always has to be triggered, so there could be no periodic answer of
- * the device, the device has to asked with a command, so periodic is zero.
- *
- * We dont read single registers, we just expect special
- * reply from he Readall_MGM
- */
- insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
- insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
- insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
- insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
- insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
- insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
- commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
-
- for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
- commandBuffer[i + 1] = registers[i];
- }
- rawPacket = commandBuffer;
- rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
-
- /* We dont have to check if this is working because we just did it */
- return RETURN_OK;
-}
-
-void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
-
-}
-
-uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
- return 20000;
-}
-
-void MGMHandlerLIS3MDL::modeChanged(void) {
- internalState = InternalState::STATE_NONE;
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
- localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
- localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
- new PoolEntry({0.0}));
- localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
- new PoolEntry({0.0}));
- localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
- new PoolEntry({0.0}));
- localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
- new PoolEntry({0.0}));
- return HasReturnvaluesIF::RETURN_OK;
-}
diff --git a/mission/devices/MGMHandlerLIS3MDL.h b/mission/devices/MGMHandlerLIS3MDL.h
deleted file mode 100644
index 5d8364ee..00000000
--- a/mission/devices/MGMHandlerLIS3MDL.h
+++ /dev/null
@@ -1,167 +0,0 @@
-#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
-#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
-
-#include "OBSWConfig.h"
-#include "devicedefinitions/MGMHandlerLIS3Definitions.h"
-#include "events/subsystemIdRanges.h"
-
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
-
-class PeriodicOperationDivider;
-
-/**
- * @brief Device handler object for the LIS3MDL 3-axis magnetometer
- * by STMicroeletronics
- * @details
- * Datasheet can be found online by googling LIS3MDL.
- * Flight manual:
- * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
- * @author L. Loidold, R. Mueller
- */
-class MGMHandlerLIS3MDL: public DeviceHandlerBase {
-public:
- enum class CommunicationStep {
- DATA,
- TEMPERATURE
- };
-
- static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
- static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
- //Notifies a command to change the setup parameters
- static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
-
- MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication,
- CookieIF* comCookie);
- virtual ~MGMHandlerLIS3MDL();
-
-protected:
-
- /** DeviceHandlerBase overrides */
- void doShutDown() override;
- void doStartUp() override;
- void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
- uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
- ReturnValue_t buildCommandFromCommand(
- DeviceCommandId_t deviceCommand, const uint8_t *commandData,
- size_t commandDataLen) override;
- ReturnValue_t buildTransitionDeviceCommand(
- DeviceCommandId_t *id) override;
- ReturnValue_t buildNormalDeviceCommand(
- DeviceCommandId_t *id) override;
- ReturnValue_t scanForReply(const uint8_t *start, size_t len,
- DeviceCommandId_t *foundId, size_t *foundLen) override;
- ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
- const uint8_t *packet) override;
- void fillCommandAndReplyMap() override;
- void modeChanged(void) override;
- ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
- LocalDataPoolManager &poolManager) override;
-
-private:
- MGMLIS3MDL::MgmPrimaryDataset dataset;
-
- /*------------------------------------------------------------------------*/
- /* Device specific commands and variables */
- /*------------------------------------------------------------------------*/
- /**
- * Sets the read bit for the command
- * @param single command to set the read-bit at
- * @param boolean to select a continuous read bit, default = false
- */
- uint8_t readCommand(uint8_t command, bool continuousCom = false);
-
- /**
- * Sets the write bit for the command
- * @param single command to set the write-bit at
- * @param boolean to select a continuous write bit, default = false
- */
- uint8_t writeCommand(uint8_t command, bool continuousCom = false);
-
- /**
- * This Method gets the full scale for the measurement range
- * e.g.: +- 4 gauss. See p.25 datasheet.
- * @return The ReturnValue does not contain the sign of the value
- */
- uint8_t getFullScale(uint8_t ctrlReg2);
-
- /**
- * The 16 bit value needs to be divided by the full range of a 16bit value
- * and then multiplied with the current scale of the MGM.
- * This factor returns the factor required to achieve this with
- * one multiplication.
- *
- * @param scale is the return value of the getFulscale Method
- * @return Multiplication factor to get the sensor value from raw data.
- */
- float getSensitivityFactor(uint8_t scale);
-
- /**
- * This Command detects the device ID
- */
- ReturnValue_t identifyDevice();
-
- virtual void setupMgm();
-
- /*------------------------------------------------------------------------*/
- /* Non normal commands */
- /*------------------------------------------------------------------------*/
- /**
- * Enables/Disables the integrated Temperaturesensor
- * @param commandData On or Off
- * @param length of the commandData: has to be 1
- */
- virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
- size_t commandDataLen);
-
- /**
- * Sets the accuracy of the measurement of the axis. The noise is changing.
- * @param commandData LOW, MEDIUM, HIGH, ULTRA
- * @param length of the command, has to be 1
- */
- virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
- size_t commandDataLen);
-
-
- //Length a sindgle command SPI answer
- static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
-
- //Single SPIcommand has 2 bytes, first for adress, second for content
- size_t singleComandSize = 2;
- //has the size for all adresses of the lis3mdl + the continous write bit
- uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
-
- /**
- * We want to save the registers we set, so we dont have to read the
- * registers when we want to change something.
- * --> everytime we change set a register we have to save it
- */
- uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
-
- uint8_t statusRegister = 0;
-
- /**
- * We always update all registers together, so this method updates
- * the rawpacket and rawpacketLen, so we just manipulate the local
- * saved register
- *
- */
- ReturnValue_t prepareCtrlRegisterWrite();
-
- enum class InternalState {
- STATE_NONE,
- STATE_FIRST_CONTACT,
- STATE_SETUP,
- STATE_CHECK_REGISTERS,
- STATE_NORMAL
- };
-
- InternalState internalState = InternalState::STATE_NONE;
- CommunicationStep communicationStep = CommunicationStep::DATA;
- bool commandExecuted = false;
-
-#if OBSW_VERBOSE_LEVEL >= 1
- PeriodicOperationDivider* debugDivider;
-#endif
-};
-
-#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */
diff --git a/mission/devices/MGMHandlerRM3100.cpp b/mission/devices/MGMHandlerRM3100.cpp
deleted file mode 100644
index 0f7fc729..00000000
--- a/mission/devices/MGMHandlerRM3100.cpp
+++ /dev/null
@@ -1,363 +0,0 @@
-#include "MGMHandlerRM3100.h"
-
-#include "fsfw/datapool/PoolReadGuard.h"
-#include "fsfw/globalfunctions/bitutility.h"
-#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
-#include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-
-
-MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
- object_id_t deviceCommunication, CookieIF* comCookie):
- DeviceHandlerBase(objectId, deviceCommunication, comCookie),
- primaryDataset(this) {
-#if OBSW_VERBOSE_LEVEL >= 1
- debugDivider = new PeriodicOperationDivider(5);
-#endif
-}
-
-MGMHandlerRM3100::~MGMHandlerRM3100() {}
-
-void MGMHandlerRM3100::doStartUp() {
- switch(internalState) {
- case(InternalState::NONE): {
- internalState = InternalState::CONFIGURE_CMM;
- break;
- }
- case(InternalState::CONFIGURE_CMM): {
- internalState = InternalState::READ_CMM;
- break;
- }
- case(InternalState::READ_CMM): {
- if(commandExecuted) {
- internalState = InternalState::STATE_CONFIGURE_TMRC;
- }
- break;
- }
- case(InternalState::STATE_CONFIGURE_TMRC): {
- if(commandExecuted) {
- internalState = InternalState::STATE_READ_TMRC;
- }
- break;
- }
- case(InternalState::STATE_READ_TMRC): {
- if(commandExecuted) {
- internalState = InternalState::NORMAL;
-#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
- setMode(MODE_NORMAL);
-#else
- setMode(_MODE_TO_ON);
-#endif
- }
- break;
- }
- default: {
- break;
- }
- }
-}
-
-void MGMHandlerRM3100::doShutDown() {
- setMode(_MODE_POWER_DOWN);
-}
-
-ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
- DeviceCommandId_t *id) {
- switch(internalState) {
- case(InternalState::NONE):
- case(InternalState::NORMAL): {
- return HasReturnvaluesIF::RETURN_OK;
- }
- case(InternalState::CONFIGURE_CMM): {
- *id = RM3100::CONFIGURE_CMM;
- break;
- }
- case(InternalState::READ_CMM): {
- *id = RM3100::READ_CMM;
- break;
- }
- case(InternalState::STATE_CONFIGURE_TMRC): {
- *id = RM3100::CONFIGURE_TMRC;
- break;
- }
- case(InternalState::STATE_READ_TMRC): {
- *id = RM3100::READ_TMRC;
- break;
- }
- default:
- /* Might be a configuration error. */
- sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
- std::endl;
- return HasReturnvaluesIF::RETURN_OK;
- }
-
- return buildCommandFromCommand(*id, nullptr, 0);
-}
-
-ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand(
- DeviceCommandId_t deviceCommand, const uint8_t *commandData,
- size_t commandDataLen) {
- switch(deviceCommand) {
- case(RM3100::CONFIGURE_CMM): {
- commandBuffer[0] = RM3100::CMM_REGISTER;
- commandBuffer[1] = RM3100::CMM_VALUE;
- rawPacket = commandBuffer;
- rawPacketLen = 2;
- break;
- }
- case(RM3100::READ_CMM): {
- commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
- commandBuffer[1] = 0;
- rawPacket = commandBuffer;
- rawPacketLen = 2;
- break;
- }
- case(RM3100::CONFIGURE_TMRC): {
- return handleTmrcConfigCommand(deviceCommand, commandData,
- commandDataLen);
- }
- case(RM3100::READ_TMRC): {
- commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
- commandBuffer[1] = 0;
- rawPacket = commandBuffer;
- rawPacketLen = 2;
- break;
- }
- case(RM3100::CONFIGURE_CYCLE_COUNT): {
- return handleCycleCountConfigCommand(deviceCommand, commandData,
- commandDataLen);
- }
- case(RM3100::READ_CYCLE_COUNT): {
- commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
- std::memset(commandBuffer + 1, 0, 6);
- rawPacket = commandBuffer;
- rawPacketLen = 7;
- break;
- }
- case(RM3100::READ_DATA): {
- commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
- std::memset(commandBuffer + 1, 0, 9);
- rawPacketLen = 10;
- break;
- }
- default:
- return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
- }
- return RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
- DeviceCommandId_t *id) {
- *id = RM3100::READ_DATA;
- return buildCommandFromCommand(*id, nullptr, 0);
-}
-
-ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
- size_t len, DeviceCommandId_t *foundId,
- size_t *foundLen) {
-
- /* For SPI, ID will always be the one of the last sent command. */
- *foundId = this->getPendingCommand();
- *foundLen = len;
- return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
- DeviceCommandId_t id, const uint8_t *packet) {
- ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
- switch(id) {
- case(RM3100::CONFIGURE_CMM):
- case(RM3100::CONFIGURE_CYCLE_COUNT):
- case(RM3100::CONFIGURE_TMRC): {
- /* We can only check whether write was successful with read operation. */
- if(mode == _MODE_START_UP) {
- commandExecuted = true;
- }
- break;
- }
- case(RM3100::READ_CMM): {
- uint8_t cmmValue = packet[1];
- /* We clear the seventh bit in any case
- * because this one is zero sometimes for some reason */
- bitutil::bitClear(&cmmValue, 6);
- if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
- commandExecuted = true;
- }
- else {
- /* Attempt reconfiguration. */
- internalState = InternalState::CONFIGURE_CMM;
- return DeviceHandlerIF::DEVICE_REPLY_INVALID;
- }
- break;
- }
- case(RM3100::READ_TMRC): {
- if(packet[1] == tmrcRegValue) {
- commandExecuted = true;
- /* Reading TMRC was commanded. Trigger event to inform ground. */
- if(mode != _MODE_START_UP) {
- triggerEvent(tmrcSet, tmrcRegValue, 0);
- }
- }
- else {
- /* Attempt reconfiguration. */
- internalState = InternalState::STATE_CONFIGURE_TMRC;
- return DeviceHandlerIF::DEVICE_REPLY_INVALID;
- }
- break;
- }
- case(RM3100::READ_CYCLE_COUNT): {
- uint16_t cycleCountX = packet[1] << 8 | packet[2];
- uint16_t cycleCountY = packet[3] << 8 | packet[4];
- uint16_t cycleCountZ = packet[5] << 8 | packet[6];
- if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
- cycleCountZ != cycleCountRegValueZ) {
- return DeviceHandlerIF::DEVICE_REPLY_INVALID;
- }
- /* Reading TMRC was commanded. Trigger event to inform ground. */
- if(mode != _MODE_START_UP) {
- uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
- triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
- }
- break;
- }
- case(RM3100::READ_DATA): {
- result = handleDataReadout(packet);
- break;
- }
- default:
- return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
- }
-
- return result;
-}
-
-ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
- const uint8_t *commandData, size_t commandDataLen) {
- if(commandData == nullptr) {
- return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
- }
-
- // Set cycle count
- if(commandDataLen == 2) {
- handleCycleCommand(true, commandData, commandDataLen);
- }
- else if(commandDataLen == 6) {
- handleCycleCommand(false, commandData, commandDataLen);
- }
- else {
- return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
- }
-
- commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
- std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
- std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
- std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
- rawPacketLen = 7;
- rawPacket = commandBuffer;
- return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue,
- const uint8_t *commandData, size_t commandDataLen) {
- RM3100::CycleCountCommand command(oneCycleValue);
- ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
- SerializeIF::Endianness::BIG);
- if(result != HasReturnvaluesIF::RETURN_OK) {
- return result;
- }
-
- /* Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts." */
- if(command.cycleCountX > 450 ) {
- return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
- }
-
- if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
- return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
- }
-
- cycleCountRegValueX = command.cycleCountX;
- cycleCountRegValueY = command.cycleCountY;
- cycleCountRegValueZ = command.cycleCountZ;
- return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(
- DeviceCommandId_t deviceCommand, const uint8_t *commandData,
- size_t commandDataLen) {
- if(commandData == nullptr) {
- return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
- }
-
- if(commandDataLen != 1) {
- return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
- }
-
- commandBuffer[0] = RM3100::TMRC_REGISTER;
- commandBuffer[1] = commandData[1];
- rawPacketLen = 2;
- rawPacket = commandBuffer;
- return HasReturnvaluesIF::RETURN_OK;
-}
-
-void MGMHandlerRM3100::fillCommandAndReplyMap() {
- insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
- insertInCommandAndReplyMap(RM3100::READ_CMM, 1);
-
- insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1);
- insertInCommandAndReplyMap(RM3100::READ_TMRC, 1);
-
- insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1);
- insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1);
-
- insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset);
-}
-
-void MGMHandlerRM3100::modeChanged(void) {
- internalState = InternalState::NONE;
-}
-
-ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
- localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
- localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry({0.0}));
- localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry({0.0}));
- localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry({0.0}));
- return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) {
- return 10000;
-}
-
-ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
- /* Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
- * trickery here to calculate the raw values first */
- int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
- int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
- int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
-
- /* Now scale to physical value in microtesla */
- float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
- float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
- float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
-
-#if OBSW_VERBOSE_LEVEL >= 1
- if(debugDivider->checkAndIncrement()) {
- sif::info << "MGMHandlerRM3100: Magnetic field strength in"
- " microtesla:" << std::endl;
- /* Set terminal to utf-8 if there is an issue with micro printout. */
- sif::info << "X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
- sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
- sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
- }
-#endif
-
- /* TODO: Sanity check on values */
- PoolReadGuard readGuard(&primaryDataset);
- if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
- primaryDataset.fieldStrengthX = fieldStrengthX;
- primaryDataset.fieldStrengthY = fieldStrengthY;
- primaryDataset.fieldStrengthZ = fieldStrengthZ;
- primaryDataset.setValidity(true, true);
- }
- return RETURN_OK;
-}
diff --git a/mission/devices/MGMHandlerRM3100.h b/mission/devices/MGMHandlerRM3100.h
deleted file mode 100644
index 48173e65..00000000
--- a/mission/devices/MGMHandlerRM3100.h
+++ /dev/null
@@ -1,104 +0,0 @@
-#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
-#define MISSION_DEVICES_MGMRM3100HANDLER_H_
-
-#include "OBSWConfig.h"
-#include "devicedefinitions/MGMHandlerRM3100Definitions.h"
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
-
-#if OBSW_VERBOSE_LEVEL >= 1
-#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
-
-/**
- * @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
- * (https://www.pnicorp.com/rm3100/)
- * @details
- * Flight manual:
- * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
- */
-class MGMHandlerRM3100: public DeviceHandlerBase {
-public:
- static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
-
- //! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
- static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
- 0x00, severity::INFO);
-
- //! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
- //! P1: Second two bytes new Cycle Count Y
- //! P2: New cycle count Z
- static constexpr Event cycleCountersSet = event::makeEvent(
- SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
-
- MGMHandlerRM3100(object_id_t objectId, object_id_t deviceCommunication,
- CookieIF* comCookie);
- virtual ~MGMHandlerRM3100();
-
-protected:
-
- /* DeviceHandlerBase overrides */
- ReturnValue_t buildTransitionDeviceCommand(
- DeviceCommandId_t *id) override;
- void doStartUp() override;
- void doShutDown() override;
- ReturnValue_t buildNormalDeviceCommand(
- DeviceCommandId_t *id) override;
- ReturnValue_t buildCommandFromCommand(
- DeviceCommandId_t deviceCommand, const uint8_t *commandData,
- size_t commandDataLen) override;
- ReturnValue_t scanForReply(const uint8_t *start, size_t len,
- DeviceCommandId_t *foundId, size_t *foundLen) override;
- ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
- const uint8_t *packet) override;
-
- void fillCommandAndReplyMap() override;
- void modeChanged(void) override;
- uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
- ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
- LocalDataPoolManager &poolManager) override;
-
-private:
-
- enum class InternalState {
- NONE,
- CONFIGURE_CMM,
- READ_CMM,
- // The cycle count states are propably not going to be used because
- // the default cycle count will be used.
- STATE_CONFIGURE_CYCLE_COUNT,
- STATE_READ_CYCLE_COUNT,
- STATE_CONFIGURE_TMRC,
- STATE_READ_TMRC,
- NORMAL
- };
- InternalState internalState = InternalState::NONE;
- bool commandExecuted = false;
- RM3100::Rm3100PrimaryDataset primaryDataset;
-
- uint8_t commandBuffer[10];
- uint8_t commandBufferLen = 0;
-
- uint8_t cmmRegValue = RM3100::CMM_VALUE;
- uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
- uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
- uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
- uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
- float scaleFactorX = 1 / RM3100::DEFAULT_GAIN;
- float scaleFactorY = 1 / RM3100::DEFAULT_GAIN;
- float scaleFactorZ = 1 / RM3100::DEFAULT_GAIN;
-
- ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
- const uint8_t *commandData,size_t commandDataLen);
- ReturnValue_t handleCycleCommand(bool oneCycleValue,
- const uint8_t *commandData, size_t commandDataLen);
-
- ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
- const uint8_t *commandData,size_t commandDataLen);
-
- ReturnValue_t handleDataReadout(const uint8_t* packet);
-#if OBSW_VERBOSE_LEVEL >= 1
- PeriodicOperationDivider* debugDivider;
-#endif
-};
-
-#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */
diff --git a/mission/devices/P60DockHandler.cpp b/mission/devices/P60DockHandler.cpp
index 357bee30..4ade2a0b 100644
--- a/mission/devices/P60DockHandler.cpp
+++ b/mission/devices/P60DockHandler.cpp
@@ -1,3 +1,4 @@
+#include
#include "P60DockHandler.h"
#include "OBSWConfig.h"
@@ -27,15 +28,24 @@ void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_P60DOCK == 1
p60dockHkTableDataset.read();
- sif::info << "P60 Dock: ACU VCC switch: " << static_cast(p60dockHkTableDataset.outputEnableStateAcuVcc.value) << std::endl;
- sif::info << "P60 Dock: PDU1 VCC switch: " << static_cast(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value) << std::endl;
- sif::info << "P60 Dock: PDU2 VCC switch: " << static_cast(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value) << std::endl;
- sif::info << "P60 Dock: ACU VBAT switch: " << static_cast(p60dockHkTableDataset.outputEnableStateAcuVbat.value) << std::endl;
- sif::info << "P60 Dock: PDU1 VBAT switch: " << static_cast(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value) << std::endl;
- sif::info << "P60 Dock: PDU2 VBAT switch: " << static_cast(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value) << std::endl;
- sif::info << "P60 Dock: Stack VBAT switch: " << static_cast(p60dockHkTableDataset.outputEnableStateStackVbat.value) << std::endl;
- sif::info << "P60 Dock: Stack 3V3 switch: " << static_cast(p60dockHkTableDataset.outputEnableStateStack3V3.value) << std::endl;
- sif::info << "P60 Dock: Stack 5V switch: " << static_cast(p60dockHkTableDataset.outputEnableStateStack5V.value) << std::endl;
+ sif::info << "P60 Dock: ACU VCC switch: " <<
+ static_cast(p60dockHkTableDataset.outputEnableStateAcuVcc.value) << std::endl;
+ sif::info << "P60 Dock: PDU1 VCC switch: " <<
+ static_cast(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value) << std::endl;
+ sif::info << "P60 Dock: PDU2 VCC switch: " <<
+ static_cast(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value) << std::endl;
+ sif::info << "P60 Dock: ACU VBAT switch: " <<
+ static_cast(p60dockHkTableDataset.outputEnableStateAcuVbat.value) << std::endl;
+ sif::info << "P60 Dock: PDU1 VBAT switch: " <<
+ static_cast(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value) << std::endl;
+ sif::info << "P60 Dock: PDU2 VBAT switch: " <<
+ static_cast(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value) << std::endl;
+ sif::info << "P60 Dock: Stack VBAT switch: " <<
+ static_cast(p60dockHkTableDataset.outputEnableStateStackVbat.value) << std::endl;
+ sif::info << "P60 Dock: Stack 3V3 switch: " <<
+ static_cast(p60dockHkTableDataset.outputEnableStateStack3V3.value) << std::endl;
+ sif::info << "P60 Dock: Stack 5V switch: " <<
+ static_cast(p60dockHkTableDataset.outputEnableStateStack5V.value) << std::endl;
float temperatureC = p60dockHkTableDataset.temperature1.value * 0.1;
sif::info << "P60 Dock: Temperature 1: " << temperatureC << " °C" << std::endl;
@@ -395,3 +405,76 @@ ReturnValue_t P60DockHandler::initializeLocalDataPool(
return HasReturnvaluesIF::RETURN_OK;
}
+
+
+ReturnValue_t P60DockHandler::printStatus(DeviceCommandId_t cmd) {
+ switch(cmd) {
+ case(GOMSPACE::PRINT_SWITCH_V_I): {
+ PoolReadGuard pg(&p60dockHkTableDataset);
+ ReturnValue_t readResult = pg.getReadResult();
+ if(readResult != HasReturnvaluesIF::RETURN_OK) {
+ sif::warning << "Reading PDU1 HK table failed!" << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ printHkTable();
+ return HasReturnvaluesIF::RETURN_OK;
+ }
+ default: {
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ }
+}
+
+void P60DockHandler::printHkTable() {
+ sif::info << "P60 Dock Info: SwitchState, Currents [mA], Voltages [mV]" << std::endl;
+
+ sif::info << std::setw(30) << std::left << "ACU VCC" << std::dec << "| " <<
+ unsigned(p60dockHkTableDataset.outputEnableStateAcuVcc.value) << ", " <<
+ std::setw(4) << std::right <<
+ p60dockHkTableDataset.currentAcuVcc.value << ", " << std::setw(5) <<
+ p60dockHkTableDataset.voltageAcuVcc.value << std::endl;
+ sif::info << std::setw(30) << std::left << "ACU VBAT" << std::dec << "| " <<
+ unsigned(p60dockHkTableDataset.outputEnableStateAcuVbat.value) << ", " <<
+ std::setw(4) << std::right <<
+ p60dockHkTableDataset.currentAcuVbat.value << ", " << std::setw(5) <<
+ p60dockHkTableDataset.voltageAcuVbat.value << std::endl;
+
+ sif::info << std::setw(30) << std::left << "PDU1 VCC" << std::dec << "| " <<
+ unsigned(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value) << ", " <<
+ std::setw(4) << std::right <<
+ p60dockHkTableDataset.currentPdu1Vcc.value << ", " << std::setw(5) <<
+ p60dockHkTableDataset.voltagePdu1Vcc.value << std::endl;
+ sif::info << std::setw(30) << std::left << "PDU1 VBAT" << std::dec << "| " <<
+ unsigned(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value) << ", " <<
+ std::setw(4) << std::right <<
+ p60dockHkTableDataset.currentPdu1Vbat.value << ", " << std::setw(5) <<
+ p60dockHkTableDataset.voltagePdu1Vbat.value << std::endl;
+
+ sif::info << std::setw(30) << std::left << "PDU2 VCC" << std::dec << "| " <<
+ unsigned(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value) << ", " <<
+ std::setw(4) << std::right <<
+ p60dockHkTableDataset.currentPdu2Vcc.value << ", " << std::setw(5) <<
+ p60dockHkTableDataset.voltagePdu2Vcc.value << std::endl;
+ sif::info << std::setw(30) << std::left << "PDU2 VBAT" << std::dec << "| " <<
+ unsigned(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value) << ", " <<
+ std::setw(4) << std::right <<
+ p60dockHkTableDataset.currentPdu2Vbat.value << ", " << std::setw(5) <<
+ p60dockHkTableDataset.voltagePdu2Vbat.value << std::endl;
+
+ sif::info << std::setw(30) << std::left << "Stack VBAT" << std::dec << "| " <<
+ unsigned(p60dockHkTableDataset.outputEnableStateStackVbat.value) << ", " <<
+ std::setw(4) << std::right <<
+ p60dockHkTableDataset.currentStackVbat.value << ", " << std::setw(5) <<
+ p60dockHkTableDataset.voltageStackVbat.value << std::endl;
+ sif::info << std::setw(30) << std::left << "Stack 3V3" << std::dec << "| " <<
+ unsigned(p60dockHkTableDataset.outputEnableStateStack3V3.value) << ", " <<
+ std::setw(4) << std::right <<
+ p60dockHkTableDataset.currentStack3V3.value << ", " << std::setw(5) <<
+ p60dockHkTableDataset.voltageStack3V3.value << std::endl;
+ sif::info << std::setw(30) << std::left << "Stack 5V" << std::dec << "| " <<
+ unsigned(p60dockHkTableDataset.outputEnableStateStack5V.value) << ", " <<
+ std::setw(4) << std::right <<
+ p60dockHkTableDataset.currentStack5V.value << ", " << std::setw(5) <<
+ p60dockHkTableDataset.voltageStack5V.value << std::endl;
+}
+
diff --git a/mission/devices/P60DockHandler.h b/mission/devices/P60DockHandler.h
index 6326e407..cee0ecec 100644
--- a/mission/devices/P60DockHandler.h
+++ b/mission/devices/P60DockHandler.h
@@ -26,6 +26,14 @@ protected:
virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
+ /**
+ * This command handles printing the HK table to the console. This is useful for debugging
+ * purposes
+ * @return
+ */
+ ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
+
+ void printHkTable();
private:
P60Dock::HkTableDataset p60dockHkTableDataset;
diff --git a/mission/devices/PCDUHandler.cpp b/mission/devices/PCDUHandler.cpp
index ba0e8667..fe7294ea 100644
--- a/mission/devices/PCDUHandler.cpp
+++ b/mission/devices/PCDUHandler.cpp
@@ -93,7 +93,7 @@ void PCDUHandler::initializeSwitchStates() {
switchStates[pcduSwitches::SUS_NOMINAL] = pcduSwitches::INIT_STATE_SUS_NOMINAL;
switchStates[pcduSwitches::SOLAR_CELL_EXP] = pcduSwitches::INIT_STATE_SOLAR_CELL_EXP;
switchStates[pcduSwitches::PLOC] = pcduSwitches::INIT_STATE_PLOC;
- switchStates[pcduSwitches::ACS_BORAD_SIDE_A] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_A;
+ switchStates[pcduSwitches::ACS_BOARD_SIDE_A] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_A;
}
void PCDUHandler::readCommandQueue() {
@@ -186,7 +186,7 @@ void PCDUHandler::updatePdu1SwitchStates() {
switchStates[pcduSwitches::SUS_NOMINAL] = pdu1HkTableDataset.voltageOutSUSNominal.value;
switchStates[pcduSwitches::SOLAR_CELL_EXP] = pdu1HkTableDataset.voltageOutSolarCellExp.value;
switchStates[pcduSwitches::PLOC] = pdu1HkTableDataset.voltageOutPLOC.value;
- switchStates[pcduSwitches::ACS_BORAD_SIDE_A] = pdu1HkTableDataset.voltageOutACSBoardSideA.value;
+ switchStates[pcduSwitches::ACS_BOARD_SIDE_A] = pdu1HkTableDataset.voltageOutACSBoardSideA.value;
}
else {
sif::debug << "PCDUHandler::updatePdu1SwitchStates: Failed to read dataset" << std::endl;
diff --git a/mission/devices/PDU1Handler.cpp b/mission/devices/PDU1Handler.cpp
index f6bd938a..1676e488 100644
--- a/mission/devices/PDU1Handler.cpp
+++ b/mission/devices/PDU1Handler.cpp
@@ -1,11 +1,12 @@
+#include "OBSWConfig.h"
#include "PDU1Handler.h"
-#include
-#include
+
+#include
PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
- PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu1HkTableDataset), pdu1HkTableDataset(
- this) {
+ PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu1HkTableDataset),
+ pdu1HkTableDataset(this) {
}
PDU1Handler::~PDU1Handler() {
@@ -55,25 +56,9 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
<< std::endl;
sif::info << "PDU1 channel 8 current: " << pdu1HkTableDataset.currentOutChannel8
<< std::endl;
- sif::info << "PDU1 TCS Board switch: "
- << static_cast(pdu1HkTableDataset.outEnabledTCSBoard3V3.value) << std::endl;
- sif::info << "PDU1 Syrlinks switch: "
- << static_cast(pdu1HkTableDataset.outEnabledSyrlinks.value) << std::endl;
- sif::info << "PDU1 star tracker switch: "
- << static_cast(pdu1HkTableDataset.outEnabledStarTracker.value) << std::endl;
- sif::info << "PDU1 MGT switch: "
- << static_cast(pdu1HkTableDataset.outEnabledMGT.value) << std::endl;
- sif::info << "PDU1 SUS nominal switch: "
- << static_cast(pdu1HkTableDataset.outEnabledSUSNominal.value) << std::endl;
- sif::info << "PDU1 solar cell experiment switch: "
- << static_cast(pdu1HkTableDataset.outEnabledSolarCellExp.value) << std::endl;
- sif::info << "PDU1 PLOC switch: "
- << static_cast(pdu1HkTableDataset.outEnabledPLOC.value) << std::endl;
- sif::info << "PDU1 ACS Side A switch: "
- << static_cast(pdu1HkTableDataset.outEnabledAcsBoardSideA.value) << std::endl;
- sif::info << "PDU1 channel 8 switch: "
- << static_cast(pdu1HkTableDataset.outEnabledChannel8.value) << std::endl;
- sif::info << "PDU1 battery mode: " << static_cast(pdu1HkTableDataset.battMode.value) << std::endl;
+ printOutputSwitchStates();
+ sif::info << "PDU1 battery mode: " <<
+ static_cast(pdu1HkTableDataset.battMode.value) << std::endl;
sif::info << "PDU1 VCC: " << pdu1HkTableDataset.vcc << " mV" << std::endl;
float vbat = pdu1HkTableDataset.vbat.value * 0.001;
sif::info << "PDU1 VBAT: " << vbat << "V" << std::endl;
@@ -89,7 +74,12 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
uint16_t dataOffset = 0;
- pdu1HkTableDataset.read();
+ PoolReadGuard pg(&pdu1HkTableDataset);
+ ReturnValue_t readResult = pg.getReadResult();
+ if(readResult != HasReturnvaluesIF::RETURN_OK) {
+ sif::warning << "Reading PDU1 HK table failed!" << std::endl;
+ return;
+ }
/* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
* address. */
dataOffset += 12;
@@ -249,8 +239,10 @@ void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
dataOffset += 3;
pdu1HkTableDataset.csp2WatchdogPingsLeft = *(packet + dataOffset);
- pdu1HkTableDataset.commit();
pdu1HkTableDataset.setChanged(true);
+ if(not pdu1HkTableDataset.isValid()) {
+ pdu1HkTableDataset.setValidity(true, true);
+ }
}
ReturnValue_t PDU1Handler::initializeLocalDataPool(
@@ -341,3 +333,70 @@ ReturnValue_t PDU1Handler::initializeLocalDataPool(
return HasReturnvaluesIF::RETURN_OK;
}
+ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
+ switch(cmd) {
+ case(GOMSPACE::PRINT_SWITCH_V_I): {
+ PoolReadGuard pg(&pdu1HkTableDataset);
+ ReturnValue_t readResult = pg.getReadResult();
+ if(readResult != HasReturnvaluesIF::RETURN_OK) {
+ sif::warning << "Reading PDU1 HK table failed!" << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ printHkTable();
+ return HasReturnvaluesIF::RETURN_OK;
+ }
+ default: {
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ }
+}
+
+void PDU1Handler::printHkTable() {
+ sif::info << "PDU1 Info: SwitchState, Currents [mA], Voltages [mV]" << std::endl;
+ sif::info << std::setw(30) << std::left << "TCS Board" << std::dec << "| " <<
+ unsigned(pdu1HkTableDataset.outEnabledTCSBoard3V3.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu1HkTableDataset.currentOutTCSBoard3V3.value << ", " << std::setw(4) <<
+ pdu1HkTableDataset.voltageOutTCSBoard3V3.value << std::endl;
+ sif::info << std::setw(30) << std::left << "Syrlinks" << std::dec << "| " <<
+ unsigned(pdu1HkTableDataset.outEnabledSyrlinks.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu1HkTableDataset.currentOutSyrlinks.value << ", " << std::setw(4) <<
+ pdu1HkTableDataset.voltageOutSyrlinks.value << std::endl;
+ sif::info << std::setw(30) << std::left << "Star Tracker" << std::dec << "| " <<
+ static_cast(pdu1HkTableDataset.outEnabledStarTracker.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu1HkTableDataset.currentOutStarTracker.value << ", " << std::setw(4) <<
+ pdu1HkTableDataset.voltageOutStarTracker.value << std::endl;
+ sif::info << std::setw(30) << std::left << "MGT" << std::dec << "| " <<
+ static_cast(pdu1HkTableDataset.outEnabledMGT.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu1HkTableDataset.currentOutMGT.value << ", " << std::setw(4) <<
+ pdu1HkTableDataset.voltageOutMGT.value << std::endl;
+ sif::info << std::setw(30) << std::left << "SuS nominal" << std::dec << "| " <<
+ static_cast(pdu1HkTableDataset.outEnabledSUSNominal.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu1HkTableDataset.currentOutSUSNominal.value << ", " << std::setw(4) <<
+ pdu1HkTableDataset.voltageOutSUSNominal.value << std::endl;
+ sif::info << std::setw(30) << std::left << "Solar Cell Experiment" << std::dec << "| " <<
+ static_cast(pdu1HkTableDataset.outEnabledSolarCellExp.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu1HkTableDataset.currentOutSolarCellExp.value << ", " << std::setw(4) <<
+ pdu1HkTableDataset.voltageOutSolarCellExp.value << std::endl;
+ sif::info << std::setw(30) << std::left << "PLOC" << std::dec << "| " <<
+ static_cast(pdu1HkTableDataset.outEnabledPLOC.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu1HkTableDataset.currentOutPLOC.value << ", " << std::setw(4) <<
+ pdu1HkTableDataset.voltageOutPLOC.value << std::endl;
+ sif::info << std::setw(30) << std::left << "ACS Side A" << std::dec << "| " <<
+ static_cast(pdu1HkTableDataset.outEnabledAcsBoardSideA.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu1HkTableDataset.currentOutACSBoardSideA.value << ", " << std::setw(4) <<
+ pdu1HkTableDataset.voltageOutACSBoardSideA.value << std::endl;
+ sif::info << std::setw(30) << std::left << "Channel 8" << std::dec << "| " <<
+ static_cast(pdu1HkTableDataset.outEnabledChannel8.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu1HkTableDataset.currentOutChannel8.value << ", " << std::setw(4) <<
+ pdu1HkTableDataset.voltageOutChannel8.value << std::right << std::endl;
+}
+
diff --git a/mission/devices/PDU1Handler.h b/mission/devices/PDU1Handler.h
index ed22a6ef..3df99776 100644
--- a/mission/devices/PDU1Handler.h
+++ b/mission/devices/PDU1Handler.h
@@ -2,7 +2,7 @@
#define MISSION_DEVICES_PDU1Handler_H_
#include "GomspaceDeviceHandler.h"
-#include
+#include "devicedefinitions/GomspaceDefinitions.h"
/**
* @brief This is the device handler for the PDU1.
@@ -32,11 +32,13 @@ protected:
*/
virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
+ ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
private:
/** Dataset for the housekeeping table of the PDU1 */
PDU1::PDU1HkTableDataset pdu1HkTableDataset;
+ void printHkTable();
void parseHkTableReply(const uint8_t *packet);
};
diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/PDU2Handler.cpp
index 47fab6b6..287fdaf3 100644
--- a/mission/devices/PDU2Handler.cpp
+++ b/mission/devices/PDU2Handler.cpp
@@ -1,20 +1,22 @@
+#include "OBSWConfig.h"
#include "PDU2Handler.h"
+
#include
-#include
+#include
PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
- GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
- PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu2HkTableDataset), pdu2HkTableDataset(
- this) {
+ GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
+ PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu2HkTableDataset),
+ pdu2HkTableDataset(this) {
}
PDU2Handler::~PDU2Handler() {
}
ReturnValue_t PDU2Handler::buildNormalDeviceCommand(
- DeviceCommandId_t * id) {
- *id = GOMSPACE::REQUEST_HK_TABLE;
- return buildCommandFromCommand(*id, NULL, 0);
+ DeviceCommandId_t * id) {
+ *id = GOMSPACE::REQUEST_HK_TABLE;
+ return buildCommandFromCommand(*id, NULL, 0);
}
void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
@@ -34,23 +36,7 @@ void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
sif::info << "PDU2 VBAT: " << vbat << std::endl;
float temperatureC = pdu2HkTableDataset.temperature.value * 0.1;
sif::info << "PDU2 Temperature: " << temperatureC << " °C" << std::endl;
- sif::info << "PDU2 Q7S enable state: " << unsigned(pdu2HkTableDataset.outEnabledQ7S.value) << std::endl;
- sif::info << "PDU2 Payload PCDU channel 1 enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << std::endl;
- sif::info << "PDU2 reaction wheels enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << std::endl;
- sif::info << "PDU2 TCS Board 8V heater input enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << std::endl;
- sif::info << "PDU2 redundant SUS group enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << std::endl;
- sif::info << "PDU2 deployment mechanism enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << std::endl;
- sif::info << "PDU2 PCDU channel 6 enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << std::endl;
- sif::info << "PDU2 ACS board side B enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << std::endl;
- sif::info << "PDU2 payload camera enable state: "
- << unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << std::endl;
+ printOutputSwitchStates();
sif::info << "PDU2 uptime: " << pdu2HkTableDataset.uptime << " seconds" << std::endl;
sif::info << "PDU2 battery mode: " << unsigned(pdu2HkTableDataset.battMode.value) << std::endl;
sif::info << "PDU2 ground watchdog reboots: " << pdu2HkTableDataset.gndWdtReboots << std::endl;
@@ -323,3 +309,70 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(
return HasReturnvaluesIF::RETURN_OK;
}
+
+ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
+ switch(cmd) {
+ case(GOMSPACE::PRINT_SWITCH_V_I): {
+ PoolReadGuard pg(&pdu2HkTableDataset);
+ ReturnValue_t readResult = pg.getReadResult();
+ if(readResult != HasReturnvaluesIF::RETURN_OK) {
+ sif::warning << "Reading PDU1 HK table failed!" << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ printHkTable();
+ return HasReturnvaluesIF::RETURN_OK;
+ }
+ default: {
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ }
+}
+
+void PDU2Handler::printHkTable() {
+ sif::info << "PDU2 Info: SwitchState, Currents [mA], Voltages [mV]" << std::endl;
+ sif::info << std::setw(30) << std::left << "Q7S" << std::dec << "| " <<
+ unsigned(pdu2HkTableDataset.outEnabledQ7S.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu2HkTableDataset.currentOutQ7S.value << ", " << std::setw(4) <<
+ pdu2HkTableDataset.voltageOutQ7S.value << std::endl;
+ sif::info << std::setw(30) << std::left << "Payload PCDU Channel 1" << std::dec << "| " <<
+ unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu2HkTableDataset.currentOutPayloadPCDUCh1.value << ", " << std::setw(4) <<
+ pdu2HkTableDataset.voltageOutPayloadPCDUCh1.value << std::endl;
+ sif::info << std::setw(30) << std::left << "Reaction Wheels" << std::dec << "| " <<
+ unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu2HkTableDataset.currentOutReactionWheels.value << ", " << std::setw(4) <<
+ pdu2HkTableDataset.voltageOutReactionWheels.value << std::endl;
+ sif::info << std::setw(30) << std::left << "TCS Board 8V heater input" << std::dec << "| " <<
+ unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu2HkTableDataset.currentOutTCSBoardHeaterIn.value << ", " << std::setw(4) <<
+ pdu2HkTableDataset.voltageOutTCSBoardHeaterIn.value << std::endl;
+ sif::info << std::setw(30) << std::left << "Redundant SUS group" << std::dec << "| " <<
+ unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu2HkTableDataset.currentOutSUSRedundant.value << ", " << std::setw(4) <<
+ pdu2HkTableDataset.voltageOutSUSRedundant.value << std::endl;
+ sif::info << std::setw(30) << std::left << "Deployment mechanism" << std::dec << "| " <<
+ unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu2HkTableDataset.currentOutDeplMechanism.value << ", " << std::setw(4) <<
+ pdu2HkTableDataset.voltageOutDeplMechanism.value << std::endl;
+ sif::info << std::setw(30) << std::left << "Payload PCDU Channel 6" << std::dec << "| " <<
+ unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu2HkTableDataset.currentOutPayloadPCDUCh6.value << ", " << std::setw(4) <<
+ pdu2HkTableDataset.voltageOutPayloadPCDUCh6.value<< std::endl;
+ sif::info << std::setw(30) << std::left << "ACS Board Side B" << std::dec << "| " <<
+ unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu2HkTableDataset.currentOutACSBoardSideB.value << ", " << std::setw(4) <<
+ pdu2HkTableDataset.voltageOutACSBoardSideB.value << std::endl;
+ sif::info << std::setw(30) << std::left << "Payload Camera enable state" << std::dec << "| " <<
+ unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << ", " <<
+ std::setw(4) << std::right <<
+ pdu2HkTableDataset.currentOutPayloadCamera.value << ", " << std::setw(4) <<
+ pdu2HkTableDataset.voltageOutPayloadCamera.value << std::right << std::endl;
+}
diff --git a/mission/devices/PDU2Handler.h b/mission/devices/PDU2Handler.h
index ee30a12f..c44d1267 100644
--- a/mission/devices/PDU2Handler.h
+++ b/mission/devices/PDU2Handler.h
@@ -20,25 +20,28 @@
*/
class PDU2Handler: public GomspaceDeviceHandler {
public:
- PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
- virtual ~PDU2Handler();
+ PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
+ virtual ~PDU2Handler();
- virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
- LocalDataPoolManager& poolManager) override;
+ virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+ LocalDataPoolManager& poolManager) override;
protected:
- /**
- * @brief As soon as the device is in MODE_NORMAL, this function is executed periodically.
- */
- virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
- virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
+ /**
+ * @brief As soon as the device is in MODE_NORMAL, this function is executed periodically.
+ */
+ virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
+ virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
+ ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
private:
- /** Dataset for the housekeeping table of the PDU2 */
- PDU2::PDU2HkTableDataset pdu2HkTableDataset;
+ /** Dataset for the housekeeping table of the PDU2 */
+ PDU2::PDU2HkTableDataset pdu2HkTableDataset;
- void parseHkTableReply(const uint8_t *packet);
+ void printHkTable();
+
+ void parseHkTableReply(const uint8_t *packet);
};
#endif /* MISSION_DEVICES_PDU2HANDLER_H_ */
diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index 571f7eca..91188d87 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -144,47 +144,48 @@ void RwHandler::fillCommandAndReplyMap() {
ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
-
- switch (*(start)) {
- case (static_cast(RwDefinitions::GET_LAST_RESET_STATUS)): {
+ uint8_t replyByte = *start;
+ switch (replyByte) {
+ case (RwDefinitions::GET_LAST_RESET_STATUS): {
*foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
*foundId = RwDefinitions::GET_LAST_RESET_STATUS;
break;
}
- case (static_cast(RwDefinitions::CLEAR_LAST_RESET_STATUS)): {
+ case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
*foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
*foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
break;
}
- case (static_cast(RwDefinitions::GET_RW_STATUS)): {
+ case (RwDefinitions::GET_RW_STATUS): {
*foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
*foundId = RwDefinitions::GET_RW_STATUS;
break;
}
- case (static_cast(RwDefinitions::INIT_RW_CONTROLLER)): {
+ case (RwDefinitions::INIT_RW_CONTROLLER): {
*foundLen = RwDefinitions::SIZE_INIT_RW;
*foundId = RwDefinitions::INIT_RW_CONTROLLER;
break;
}
- case (static_cast(RwDefinitions::SET_SPEED)): {
+ case (RwDefinitions::SET_SPEED): {
*foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
*foundId = RwDefinitions::SET_SPEED;
break;
}
- case (static_cast(RwDefinitions::GET_TEMPERATURE)): {
+ case (RwDefinitions::GET_TEMPERATURE): {
*foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
*foundId = RwDefinitions::GET_TEMPERATURE;
break;
}
- case (static_cast(RwDefinitions::GET_TM)): {
+ case (RwDefinitions::GET_TM): {
*foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
*foundId = RwDefinitions::GET_TM;
break;
}
default: {
- sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
+ sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" <<
+ std::endl;
+ *foundLen = remainingSize;
return RETURN_FAILED;
- break;
}
}
diff --git a/mission/devices/devicedefinitions/GPSDefinitions.h b/mission/devices/devicedefinitions/GPSDefinitions.h
index 8f147651..90fdb123 100644
--- a/mission/devices/devicedefinitions/GPSDefinitions.h
+++ b/mission/devices/devicedefinitions/GPSDefinitions.h
@@ -7,6 +7,7 @@
namespace GpsHyperion {
static constexpr DeviceCommandId_t GPS_REPLY = 0;
+static constexpr DeviceCommandId_t TRIGGER_RESET_PIN = 5;
static constexpr uint32_t DATASET_ID = 0;
diff --git a/mission/devices/devicedefinitions/GomspaceDefinitions.h b/mission/devices/devicedefinitions/GomspaceDefinitions.h
index 4600ecc7..bd509239 100644
--- a/mission/devices/devicedefinitions/GomspaceDefinitions.h
+++ b/mission/devices/devicedefinitions/GomspaceDefinitions.h
@@ -9,600 +9,607 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
-#include
+#include
#include
#include
#include
namespace GOMSPACE{
- static const uint16_t IGNORE_CHECKSUM = 0xbb0;
- /** The size of the header of a gomspace CSP packet. */
- static const uint8_t GS_HDR_LENGTH = 12;
- /** CSP port to ping gomspace devices. */
- static const uint8_t PING_PORT = 1;
- static const uint8_t REBOOT_PORT = 4;
- /** CSP port of gomspace devices to request or set parameters */
- static const uint8_t PARAM_PORT = 7;
- static const uint8_t P60_PORT_GNDWDT_RESET = 9;
+static const uint16_t IGNORE_CHECKSUM = 0xbb0;
+/** The size of the header of a gomspace CSP packet. */
+static const uint8_t GS_HDR_LENGTH = 12;
+/** CSP port to ping gomspace devices. */
+static const uint8_t PING_PORT = 1;
+static const uint8_t REBOOT_PORT = 4;
+/** CSP port of gomspace devices to request or set parameters */
+static const uint8_t PARAM_PORT = 7;
+static const uint8_t P60_PORT_GNDWDT_RESET = 9;
+
+/* Device commands are derived from the rparam.h of the gomspace lib */
+static const DeviceCommandId_t PING = 1; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t NONE = 2; // Set when no command is pending
+static const DeviceCommandId_t REBOOT = 4; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t GNDWDT_RESET = 9; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t PARAM_GET = 0; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t PARAM_SET = 255; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t REQUEST_HK_TABLE = 16; //!< [EXPORT] : [COMMAND]
+//!< [EXPORT] : [COMMAND] Print switch states, voltages and currents to the console
+static const DeviceCommandId_t PRINT_SWITCH_V_I = 32;
+
- /* Device commands are derived from the rparam.h of the gomspace lib */
- static const DeviceCommandId_t PING = 0x1; //!< [EXPORT] : [COMMAND]
- static const DeviceCommandId_t NONE = 0x2; // Set when no command is pending
- static const DeviceCommandId_t REBOOT = 0x4; //!< [EXPORT] : [COMMAND]
- static const DeviceCommandId_t GNDWDT_RESET = 0x9; //!< [EXPORT] : [COMMAND]
- static const DeviceCommandId_t PARAM_GET = 0x00; //!< [EXPORT] : [COMMAND]
- static const DeviceCommandId_t PARAM_SET = 0xFF; //!< [EXPORT] : [COMMAND]
- static const DeviceCommandId_t REQUEST_HK_TABLE = 0x10; //!< [EXPORT] : [COMMAND]
}
namespace P60System {
- enum P60SytemPoolIds: lp_id_t {
- P60DOCK_CURRENT_ACU_VCC,
- P60DOCK_CURRENT_PDU1_VCC,
- P60DOCK_CURRENT_X3_IDLE_VCC,
- P60DOCK_CURRENT_PDU2_VCC,
- P60DOCK_CURRENT_ACU_VBAT,
- P60DOCK_CURRENT_PDU1_VBAT,
- P60DOCK_CURRENT_X3_IDLE_VBAT,
- P60DOCK_CURRENT_PDU2_VBAT,
- P60DOCK_CURRENT_STACK_VBAT,
- P60DOCK_CURRENT_STACK_3V3,
- P60DOCK_CURRENT_STACK_5V,
- P60DOCK_CURRENT_GS3V3,
- P60DOCK_CURRENT_GS5V,
- P60DOCK_VOLTAGE_ACU_VCC,
- P60DOCK_VOLTAGE_PDU1_VCC,
- P60DOCK_VOLTAGE_X3_IDLE_VCC,
- P60DOCK_VOLTAGE_PDU2_VCC,
- P60DOCK_VOLTAGE_ACU_VBAT,
- P60DOCK_VOLTAGE_PDU1_VBAT,
- P60DOCK_VOLTAGE_X3_IDLE_VBAT,
- P60DOCK_VOLTAGE_PDU2_VBAT,
- P60DOCK_VOLTAGE_STACK_VBAT,
- P60DOCK_VOLTAGE_STACK_3V3,
- P60DOCK_VOLTAGE_STACK_5V,
- P60DOCK_VOLTAGE_GS3V3,
- P60DOCK_VOLTAGE_GS5V,
- P60DOCK_OUTPUTENABLE_ACU_VCC,
- P60DOCK_OUTPUTENABLE_PDU1_VCC,
- P60DOCK_OUTPUTENABLE_X3_IDLE_VCC,
- P60DOCK_OUTPUTENABLE_PDU2_VCC,
- P60DOCK_OUTPUTENABLE_ACU_VBAT,
- P60DOCK_OUTPUTENABLE_PDU1_VBAT,
- P60DOCK_OUTPUTENABLE_X3_IDLE_VBAT,
- P60DOCK_OUTPUTENABLE_PDU2_VBAT,
- P60DOCK_OUTPUTENABLE_STACK_VBAT,
- P60DOCK_OUTPUTENABLE_STACK_3V3,
- P60DOCK_OUTPUTENABLE_STACK_5V,
- P60DOCK_OUTPUTENABLE_GS3V3,
- P60DOCK_OUTPUTENABLE_GS5V,
- P60DOCK_TEMPERATURE_1,
- P60DOCK_TEMPERATURE_2,
- P60DOCK_BOOT_CAUSE,
- P60DOCK_BOOT_CNT,
- P60DOCK_UPTIME,
- P60DOCK_RESETCAUSE,
- P60DOCK_BATT_MODE,
- P60DOCK_HEATER_ON,
- P60DOCK_CONV_5V_ENABLE_STATUS,
- P60DOCK_LATCHUP_ACU_VCC,
- P60DOCK_LATCHUP_PDU1_VCC,
- P60DOCK_LATCHUP_X3_IDLE_VCC,
- P60DOCK_LATCHUP_PDU2_VCC,
- P60DOCK_LATCHUP_ACU_VBAT,
- P60DOCK_LATCHUP_PDU1_VBAT,
- P60DOCK_LATCHUP_X3_IDLE_VBAT,
- P60DOCK_LATCHUP_PDU2_VBAT,
- P60DOCK_LATCHUP_STACK_VBAT,
- P60DOCK_LATCHUP_STACK_3V3,
- P60DOCK_LATCHUP_STACK_5V,
- P60DOCK_LATCHUP_GS3V3,
- P60DOCK_LATCHUP_GS5V,
- P60DOCK_VBAT_VALUE,
- P60DOCK_VCC_CURRENT_VALUE,
- P60DOCK_BATTERY_CURRENT,
- P60DOCK_BATTERY_VOLTAGE,
- P60DOCK_BATTERY_TEMPERATURE_1,
- P60DOCK_BATTERY_TEMPERATURE_2,
- P60DOCK_DEVICE_0,
- P60DOCK_DEVICE_1,
- P60DOCK_DEVICE_2,
- P60DOCK_DEVICE_3,
- P60DOCK_DEVICE_4,
- P60DOCK_DEVICE_5,
- P60DOCK_DEVICE_6,
- P60DOCK_DEVICE_7,
- P60DOCK_DEVICE_0_STATUS,
- P60DOCK_DEVICE_1_STATUS,
- P60DOCK_DEVICE_2_STATUS,
- P60DOCK_DEVICE_3_STATUS,
- P60DOCK_DEVICE_4_STATUS,
- P60DOCK_DEVICE_5_STATUS,
- P60DOCK_DEVICE_6_STATUS,
- P60DOCK_DEVICE_7_STATUS,
- P60DOCK_DEVICE_TYPE_GROUP,
- P60DOCK_DEVICE_STATUS_GROUP,
- P60DOCK_DEARM_STATUS,
- P60DOCK_WDT_CNT_GND,
- P60DOCK_WDT_CNT_I2C,
- P60DOCK_WDT_CNT_CAN,
- P60DOCK_WDT_CNT_CSP_1,
- P60DOCK_WDT_CNT_CSP_2,
- P60DOCK_WDT_GND_LEFT,
- P60DOCK_WDT_I2C_LEFT,
- P60DOCK_WDT_CAN_LEFT,
- P60DOCK_WDT_CSP_LEFT_1,
- P60DOCK_WDT_CSP_LEFT_2,
- P60DOCK_BATT_CHARGE_CURRENT,
- P60DOCK_BATT_DISCHARGE_CURRENT,
- P60DOCK_ANT6_DEPL,
- P60DOCK_AR6_DEPL,
+enum P60SytemPoolIds: lp_id_t {
+ P60DOCK_CURRENT_ACU_VCC,
+ P60DOCK_CURRENT_PDU1_VCC,
+ P60DOCK_CURRENT_X3_IDLE_VCC,
+ P60DOCK_CURRENT_PDU2_VCC,
+ P60DOCK_CURRENT_ACU_VBAT,
+ P60DOCK_CURRENT_PDU1_VBAT,
+ P60DOCK_CURRENT_X3_IDLE_VBAT,
+ P60DOCK_CURRENT_PDU2_VBAT,
+ P60DOCK_CURRENT_STACK_VBAT,
+ P60DOCK_CURRENT_STACK_3V3,
+ P60DOCK_CURRENT_STACK_5V,
+ P60DOCK_CURRENT_GS3V3,
+ P60DOCK_CURRENT_GS5V,
+ P60DOCK_VOLTAGE_ACU_VCC,
+ P60DOCK_VOLTAGE_PDU1_VCC,
+ P60DOCK_VOLTAGE_X3_IDLE_VCC,
+ P60DOCK_VOLTAGE_PDU2_VCC,
+ P60DOCK_VOLTAGE_ACU_VBAT,
+ P60DOCK_VOLTAGE_PDU1_VBAT,
+ P60DOCK_VOLTAGE_X3_IDLE_VBAT,
+ P60DOCK_VOLTAGE_PDU2_VBAT,
+ P60DOCK_VOLTAGE_STACK_VBAT,
+ P60DOCK_VOLTAGE_STACK_3V3,
+ P60DOCK_VOLTAGE_STACK_5V,
+ P60DOCK_VOLTAGE_GS3V3,
+ P60DOCK_VOLTAGE_GS5V,
+ P60DOCK_OUTPUTENABLE_ACU_VCC,
+ P60DOCK_OUTPUTENABLE_PDU1_VCC,
+ P60DOCK_OUTPUTENABLE_X3_IDLE_VCC,
+ P60DOCK_OUTPUTENABLE_PDU2_VCC,
+ P60DOCK_OUTPUTENABLE_ACU_VBAT,
+ P60DOCK_OUTPUTENABLE_PDU1_VBAT,
+ P60DOCK_OUTPUTENABLE_X3_IDLE_VBAT,
+ P60DOCK_OUTPUTENABLE_PDU2_VBAT,
+ P60DOCK_OUTPUTENABLE_STACK_VBAT,
+ P60DOCK_OUTPUTENABLE_STACK_3V3,
+ P60DOCK_OUTPUTENABLE_STACK_5V,
+ P60DOCK_OUTPUTENABLE_GS3V3,
+ P60DOCK_OUTPUTENABLE_GS5V,
+ P60DOCK_TEMPERATURE_1,
+ P60DOCK_TEMPERATURE_2,
+ P60DOCK_BOOT_CAUSE,
+ P60DOCK_BOOT_CNT,
+ P60DOCK_UPTIME,
+ P60DOCK_RESETCAUSE,
+ P60DOCK_BATT_MODE,
+ P60DOCK_HEATER_ON,
+ P60DOCK_CONV_5V_ENABLE_STATUS,
+ P60DOCK_LATCHUP_ACU_VCC,
+ P60DOCK_LATCHUP_PDU1_VCC,
+ P60DOCK_LATCHUP_X3_IDLE_VCC,
+ P60DOCK_LATCHUP_PDU2_VCC,
+ P60DOCK_LATCHUP_ACU_VBAT,
+ P60DOCK_LATCHUP_PDU1_VBAT,
+ P60DOCK_LATCHUP_X3_IDLE_VBAT,
+ P60DOCK_LATCHUP_PDU2_VBAT,
+ P60DOCK_LATCHUP_STACK_VBAT,
+ P60DOCK_LATCHUP_STACK_3V3,
+ P60DOCK_LATCHUP_STACK_5V,
+ P60DOCK_LATCHUP_GS3V3,
+ P60DOCK_LATCHUP_GS5V,
+ P60DOCK_VBAT_VALUE,
+ P60DOCK_VCC_CURRENT_VALUE,
+ P60DOCK_BATTERY_CURRENT,
+ P60DOCK_BATTERY_VOLTAGE,
+ P60DOCK_BATTERY_TEMPERATURE_1,
+ P60DOCK_BATTERY_TEMPERATURE_2,
+ P60DOCK_DEVICE_0,
+ P60DOCK_DEVICE_1,
+ P60DOCK_DEVICE_2,
+ P60DOCK_DEVICE_3,
+ P60DOCK_DEVICE_4,
+ P60DOCK_DEVICE_5,
+ P60DOCK_DEVICE_6,
+ P60DOCK_DEVICE_7,
+ P60DOCK_DEVICE_0_STATUS,
+ P60DOCK_DEVICE_1_STATUS,
+ P60DOCK_DEVICE_2_STATUS,
+ P60DOCK_DEVICE_3_STATUS,
+ P60DOCK_DEVICE_4_STATUS,
+ P60DOCK_DEVICE_5_STATUS,
+ P60DOCK_DEVICE_6_STATUS,
+ P60DOCK_DEVICE_7_STATUS,
+ P60DOCK_DEVICE_TYPE_GROUP,
+ P60DOCK_DEVICE_STATUS_GROUP,
+ P60DOCK_DEARM_STATUS,
+ P60DOCK_WDT_CNT_GND,
+ P60DOCK_WDT_CNT_I2C,
+ P60DOCK_WDT_CNT_CAN,
+ P60DOCK_WDT_CNT_CSP_1,
+ P60DOCK_WDT_CNT_CSP_2,
+ P60DOCK_WDT_GND_LEFT,
+ P60DOCK_WDT_I2C_LEFT,
+ P60DOCK_WDT_CAN_LEFT,
+ P60DOCK_WDT_CSP_LEFT_1,
+ P60DOCK_WDT_CSP_LEFT_2,
+ P60DOCK_BATT_CHARGE_CURRENT,
+ P60DOCK_BATT_DISCHARGE_CURRENT,
+ P60DOCK_ANT6_DEPL,
+ P60DOCK_AR6_DEPL,
- PDU1_CURRENT_OUT_TCS_BOARD_3V3,
- PDU1_CURRENT_OUT_SYRLINKS,
- PDU1_CURRENT_OUT_STAR_TRACKER,
- PDU1_CURRENT_OUT_MGT,
- PDU1_CURRENT_OUT_SUS_NOMINAL,
- PDU1_CURRENT_OUT_SOLAR_CELL_EXP,
- PDU1_CURRENT_OUT_PLOC,
- PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A,
- PDU1_CURRENT_OUT_CHANNEL8,
- PDU1_VOLTAGE_OUT_TCS_BOARD_3V3,
- PDU1_VOLTAGE_OUT_SYRLINKS,
- PDU1_VOLTAGE_OUT_STAR_TRACKER,
- PDU1_VOLTAGE_OUT_MGT,
- PDU1_VOLTAGE_OUT_SUS_NOMINAL,
- PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP,
- PDU1_VOLTAGE_OUT_PLOC,
- PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A,
- PDU1_VOLTAGE_OUT_CHANNEL8,
- PDU1_VCC,
- PDU1_VBAT,
- PDU1_TEMPERATURE,
- PDU1_CONV_EN_1,
- PDU1_CONV_EN_2,
- PDU1_CONV_EN_3,
- PDU1_OUT_EN_TCS_BOARD_3V3,
- PDU1_OUT_EN_SYRLINKS,
- PDU1_OUT_EN_STAR_TRACKER,
- PDU1_OUT_EN_MGT,
- PDU1_OUT_EN_SUS_NOMINAL,
- PDU1_OUT_EN_SOLAR_CELL_EXP,
- PDU1_OUT_EN_PLOC,
- PDU1_OUT_EN_ACS_BOARD_SIDE_A,
- PDU1_OUT_EN_CHANNEL8,
- PDU1_BOOTCAUSE,
- PDU1_BOOTCNT,
- PDU1_UPTIME,
- PDU1_RESETCAUSE,
- PDU1_BATT_MODE,
- PDU1_LATCHUP_TCS_BOARD_3V3,
- PDU1_LATCHUP_SYRLINKS,
- PDU1_LATCHUP_STAR_TRACKER,
- PDU1_LATCHUP_MGT,
- PDU1_LATCHUP_SUS_NOMINAL,
- PDU1_LATCHUP_SOLAR_CELL_EXP,
- PDU1_LATCHUP_PLOC,
- PDU1_LATCHUP_ACS_BOARD_SIDE_A,
- PDU1_LATCHUP_CHANNEL8,
- PDU1_DEVICE_0,
- PDU1_DEVICE_1,
- PDU1_DEVICE_2,
- PDU1_DEVICE_3,
- PDU1_DEVICE_4,
- PDU1_DEVICE_5,
- PDU1_DEVICE_6,
- PDU1_DEVICE_7,
- PDU1_DEVICE_0_STATUS,
- PDU1_DEVICE_1_STATUS,
- PDU1_DEVICE_2_STATUS,
- PDU1_DEVICE_3_STATUS,
- PDU1_DEVICE_4_STATUS,
- PDU1_DEVICE_5_STATUS,
- PDU1_DEVICE_6_STATUS,
- PDU1_DEVICE_7_STATUS,
- PDU1_WDT_CNT_GND,
- PDU1_WDT_CNT_I2C,
- PDU1_WDT_CNT_CAN,
- PDU1_WDT_CNT_CSP1,
- PDU1_WDT_CNT_CSP2,
- PDU1_WDT_GND_LEFT,
- PDU1_WDT_I2C_LEFT,
- PDU1_WDT_CAN_LEFT,
- PDU1_WDT_CSP_LEFT1,
- PDU1_WDT_CSP_LEFT2,
+ PDU1_CURRENT_OUT_TCS_BOARD_3V3,
+ PDU1_CURRENT_OUT_SYRLINKS,
+ PDU1_CURRENT_OUT_STAR_TRACKER,
+ PDU1_CURRENT_OUT_MGT,
+ PDU1_CURRENT_OUT_SUS_NOMINAL,
+ PDU1_CURRENT_OUT_SOLAR_CELL_EXP,
+ PDU1_CURRENT_OUT_PLOC,
+ PDU1_CURRENT_OUT_ACS_BOARD_SIDE_A,
+ PDU1_CURRENT_OUT_CHANNEL8,
+ PDU1_VOLTAGE_OUT_TCS_BOARD_3V3,
+ PDU1_VOLTAGE_OUT_SYRLINKS,
+ PDU1_VOLTAGE_OUT_STAR_TRACKER,
+ PDU1_VOLTAGE_OUT_MGT,
+ PDU1_VOLTAGE_OUT_SUS_NOMINAL,
+ PDU1_VOLTAGE_OUT_SOLAR_CELL_EXP,
+ PDU1_VOLTAGE_OUT_PLOC,
+ PDU1_VOLTAGE_OUT_ACS_BOARD_SIDE_A,
+ PDU1_VOLTAGE_OUT_CHANNEL8,
+ PDU1_VCC,
+ PDU1_VBAT,
+ PDU1_TEMPERATURE,
+ PDU1_CONV_EN_1,
+ PDU1_CONV_EN_2,
+ PDU1_CONV_EN_3,
+ PDU1_OUT_EN_TCS_BOARD_3V3,
+ PDU1_OUT_EN_SYRLINKS,
+ PDU1_OUT_EN_STAR_TRACKER,
+ PDU1_OUT_EN_MGT,
+ PDU1_OUT_EN_SUS_NOMINAL,
+ PDU1_OUT_EN_SOLAR_CELL_EXP,
+ PDU1_OUT_EN_PLOC,
+ PDU1_OUT_EN_ACS_BOARD_SIDE_A,
+ PDU1_OUT_EN_CHANNEL8,
+ PDU1_BOOTCAUSE,
+ PDU1_BOOTCNT,
+ PDU1_UPTIME,
+ PDU1_RESETCAUSE,
+ PDU1_BATT_MODE,
+ PDU1_LATCHUP_TCS_BOARD_3V3,
+ PDU1_LATCHUP_SYRLINKS,
+ PDU1_LATCHUP_STAR_TRACKER,
+ PDU1_LATCHUP_MGT,
+ PDU1_LATCHUP_SUS_NOMINAL,
+ PDU1_LATCHUP_SOLAR_CELL_EXP,
+ PDU1_LATCHUP_PLOC,
+ PDU1_LATCHUP_ACS_BOARD_SIDE_A,
+ PDU1_LATCHUP_CHANNEL8,
+ PDU1_DEVICE_0,
+ PDU1_DEVICE_1,
+ PDU1_DEVICE_2,
+ PDU1_DEVICE_3,
+ PDU1_DEVICE_4,
+ PDU1_DEVICE_5,
+ PDU1_DEVICE_6,
+ PDU1_DEVICE_7,
+ PDU1_DEVICE_0_STATUS,
+ PDU1_DEVICE_1_STATUS,
+ PDU1_DEVICE_2_STATUS,
+ PDU1_DEVICE_3_STATUS,
+ PDU1_DEVICE_4_STATUS,
+ PDU1_DEVICE_5_STATUS,
+ PDU1_DEVICE_6_STATUS,
+ PDU1_DEVICE_7_STATUS,
+ PDU1_WDT_CNT_GND,
+ PDU1_WDT_CNT_I2C,
+ PDU1_WDT_CNT_CAN,
+ PDU1_WDT_CNT_CSP1,
+ PDU1_WDT_CNT_CSP2,
+ PDU1_WDT_GND_LEFT,
+ PDU1_WDT_I2C_LEFT,
+ PDU1_WDT_CAN_LEFT,
+ PDU1_WDT_CSP_LEFT1,
+ PDU1_WDT_CSP_LEFT2,
- /** PDU2 Ids */
- PDU2_CURRENT_OUT_Q7S,
- PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1,
- PDU2_CURRENT_OUT_RW,
- PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN,
- PDU2_CURRENT_OUT_SUS_REDUNDANT,
- PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM,
- PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6,
- PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B,
- PDU2_CURRENT_OUT_PAYLOAD_CAMERA,
- PDU2_VOLTAGE_OUT_Q7S,
- PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1,
- PDU2_VOLTAGE_OUT_RW,
- PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN,
- PDU2_VOLTAGE_OUT_SUS_REDUNDANT,
- PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM,
- PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6,
- PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B,
- PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA,
- PDU2_VCC,
- PDU2_VBAT,
- PDU2_TEMPERATURE,
- PDU2_CONV_EN_1,
- PDU2_CONV_EN_2,
- PDU2_CONV_EN_3,
- PDU2_OUT_EN_Q7S,
- PDU2_OUT_EN_PAYLOAD_PCDU_CH1,
- PDU2_OUT_EN_RW,
- PDU2_OUT_EN_TCS_BOARD_HEATER_IN,
- PDU2_OUT_EN_SUS_REDUNDANT,
- PDU2_OUT_EN_DEPLOYMENT_MECHANISM,
- PDU2_OUT_EN_PAYLOAD_PCDU_CH6,
- PDU2_OUT_EN_ACS_BOARD_SIDE_B,
- PDU2_OUT_EN_PAYLOAD_CAMERA,
- PDU2_BOOTCAUSE,
- PDU2_BOOTCNT,
- PDU2_UPTIME,
- PDU2_RESETCAUSE,
- PDU2_BATT_MODE,
- PDU2_LATCHUP_Q7S,
- PDU2_LATCHUP_PAYLOAD_PCDU_CH1,
- PDU2_LATCHUP_RW,
- PDU2_LATCHUP_TCS_BOARD_HEATER_IN,
- PDU2_LATCHUP_SUS_REDUNDANT,
- PDU2_LATCHUP_DEPLOYMENT_MECHANISM,
- PDU2_LATCHUP_PAYLOAD_PCDU_CH6,
- PDU2_LATCHUP_ACS_BOARD_SIDE_B,
- PDU2_LATCHUP_PAYLOAD_CAMERA,
- PDU2_DEVICE_0,
- PDU2_DEVICE_1,
- PDU2_DEVICE_2,
- PDU2_DEVICE_3,
- PDU2_DEVICE_4,
- PDU2_DEVICE_5,
- PDU2_DEVICE_6,
- PDU2_DEVICE_7,
- PDU2_DEVICE_0_STATUS,
- PDU2_DEVICE_1_STATUS,
- PDU2_DEVICE_2_STATUS,
- PDU2_DEVICE_3_STATUS,
- PDU2_DEVICE_4_STATUS,
- PDU2_DEVICE_5_STATUS,
- PDU2_DEVICE_6_STATUS,
- PDU2_DEVICE_7_STATUS,
- PDU2_WDT_CNT_GND,
- PDU2_WDT_CNT_I2C,
- PDU2_WDT_CNT_CAN,
- PDU2_WDT_CNT_CSP1,
- PDU2_WDT_CNT_CSP2,
- PDU2_WDT_GND_LEFT,
- PDU2_WDT_I2C_LEFT,
- PDU2_WDT_CAN_LEFT,
- PDU2_WDT_CSP_LEFT1,
- PDU2_WDT_CSP_LEFT2,
+ /** PDU2 Ids */
+ PDU2_CURRENT_OUT_Q7S,
+ PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1,
+ PDU2_CURRENT_OUT_RW,
+ PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN,
+ PDU2_CURRENT_OUT_SUS_REDUNDANT,
+ PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM,
+ PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6,
+ PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B,
+ PDU2_CURRENT_OUT_PAYLOAD_CAMERA,
+ PDU2_VOLTAGE_OUT_Q7S,
+ PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1,
+ PDU2_VOLTAGE_OUT_RW,
+ PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN,
+ PDU2_VOLTAGE_OUT_SUS_REDUNDANT,
+ PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM,
+ PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6,
+ PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B,
+ PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA,
+ PDU2_VCC,
+ PDU2_VBAT,
+ PDU2_TEMPERATURE,
+ PDU2_CONV_EN_1,
+ PDU2_CONV_EN_2,
+ PDU2_CONV_EN_3,
+ PDU2_OUT_EN_Q7S,
+ PDU2_OUT_EN_PAYLOAD_PCDU_CH1,
+ PDU2_OUT_EN_RW,
+ PDU2_OUT_EN_TCS_BOARD_HEATER_IN,
+ PDU2_OUT_EN_SUS_REDUNDANT,
+ PDU2_OUT_EN_DEPLOYMENT_MECHANISM,
+ PDU2_OUT_EN_PAYLOAD_PCDU_CH6,
+ PDU2_OUT_EN_ACS_BOARD_SIDE_B,
+ PDU2_OUT_EN_PAYLOAD_CAMERA,
+ PDU2_BOOTCAUSE,
+ PDU2_BOOTCNT,
+ PDU2_UPTIME,
+ PDU2_RESETCAUSE,
+ PDU2_BATT_MODE,
+ PDU2_LATCHUP_Q7S,
+ PDU2_LATCHUP_PAYLOAD_PCDU_CH1,
+ PDU2_LATCHUP_RW,
+ PDU2_LATCHUP_TCS_BOARD_HEATER_IN,
+ PDU2_LATCHUP_SUS_REDUNDANT,
+ PDU2_LATCHUP_DEPLOYMENT_MECHANISM,
+ PDU2_LATCHUP_PAYLOAD_PCDU_CH6,
+ PDU2_LATCHUP_ACS_BOARD_SIDE_B,
+ PDU2_LATCHUP_PAYLOAD_CAMERA,
+ PDU2_DEVICE_0,
+ PDU2_DEVICE_1,
+ PDU2_DEVICE_2,
+ PDU2_DEVICE_3,
+ PDU2_DEVICE_4,
+ PDU2_DEVICE_5,
+ PDU2_DEVICE_6,
+ PDU2_DEVICE_7,
+ PDU2_DEVICE_0_STATUS,
+ PDU2_DEVICE_1_STATUS,
+ PDU2_DEVICE_2_STATUS,
+ PDU2_DEVICE_3_STATUS,
+ PDU2_DEVICE_4_STATUS,
+ PDU2_DEVICE_5_STATUS,
+ PDU2_DEVICE_6_STATUS,
+ PDU2_DEVICE_7_STATUS,
+ PDU2_WDT_CNT_GND,
+ PDU2_WDT_CNT_I2C,
+ PDU2_WDT_CNT_CAN,
+ PDU2_WDT_CNT_CSP1,
+ PDU2_WDT_CNT_CSP2,
+ PDU2_WDT_GND_LEFT,
+ PDU2_WDT_I2C_LEFT,
+ PDU2_WDT_CAN_LEFT,
+ PDU2_WDT_CSP_LEFT1,
+ PDU2_WDT_CSP_LEFT2,
- /** ACU Ids */
- ACU_CURRENT_IN_CHANNEL0,
- ACU_CURRENT_IN_CHANNEL1,
- ACU_CURRENT_IN_CHANNEL2,
- ACU_CURRENT_IN_CHANNEL3,
- ACU_CURRENT_IN_CHANNEL4,
- ACU_CURRENT_IN_CHANNEL5,
- ACU_VOLTAGE_IN_CHANNEL0,
- ACU_VOLTAGE_IN_CHANNEL1,
- ACU_VOLTAGE_IN_CHANNEL2,
- ACU_VOLTAGE_IN_CHANNEL3,
- ACU_VOLTAGE_IN_CHANNEL4,
- ACU_VOLTAGE_IN_CHANNEL5,
- ACU_VCC,
- ACU_VBAT,
- ACU_TEMPERATURE_1,
- ACU_TEMPERATURE_2,
- ACU_TEMPERATURE_3,
- ACU_MPPT_MODE,
- ACU_VBOOST_CHANNEL0,
- ACU_VBOOST_CHANNEL1,
- ACU_VBOOST_CHANNEL2,
- ACU_VBOOST_CHANNEL3,
- ACU_VBOOST_CHANNEL4,
- ACU_VBOOST_CHANNEL5,
- ACU_POWER_CHANNEL0,
- ACU_POWER_CHANNEL1,
- ACU_POWER_CHANNEL2,
- ACU_POWER_CHANNEL3,
- ACU_POWER_CHANNEL4,
- ACU_POWER_CHANNEL5,
- ACU_DAC_EN_0,
- ACU_DAC_EN_1,
- ACU_DAC_EN_2,
- ACU_DAC_RAW_0,
- ACU_DAC_RAW_1,
- ACU_DAC_RAW_2,
- ACU_DAC_RAW_3,
- ACU_DAC_RAW_4,
- ACU_DAC_RAW_5,
- ACU_BOOTCAUSE,
- ACU_BOOTCNT,
- ACU_UPTIME,
- ACU_RESET_CAUSE,
- ACU_MPPT_TIME,
- ACU_MPPT_PERIOD,
- ACU_DEVICE_0,
- ACU_DEVICE_1,
- ACU_DEVICE_2,
- ACU_DEVICE_3,
- ACU_DEVICE_4,
- ACU_DEVICE_5,
- ACU_DEVICE_6,
- ACU_DEVICE_7,
- ACU_DEVICE_0_STATUS,
- ACU_DEVICE_1_STATUS,
- ACU_DEVICE_2_STATUS,
- ACU_DEVICE_3_STATUS,
- ACU_DEVICE_4_STATUS,
- ACU_DEVICE_5_STATUS,
- ACU_DEVICE_6_STATUS,
- ACU_DEVICE_7_STATUS,
- ACU_WDT_CNT_GND,
- ACU_WDT_GND_LEFT
- };
+ /** ACU Ids */
+ ACU_CURRENT_IN_CHANNEL0,
+ ACU_CURRENT_IN_CHANNEL1,
+ ACU_CURRENT_IN_CHANNEL2,
+ ACU_CURRENT_IN_CHANNEL3,
+ ACU_CURRENT_IN_CHANNEL4,
+ ACU_CURRENT_IN_CHANNEL5,
+ ACU_VOLTAGE_IN_CHANNEL0,
+ ACU_VOLTAGE_IN_CHANNEL1,
+ ACU_VOLTAGE_IN_CHANNEL2,
+ ACU_VOLTAGE_IN_CHANNEL3,
+ ACU_VOLTAGE_IN_CHANNEL4,
+ ACU_VOLTAGE_IN_CHANNEL5,
+ ACU_VCC,
+ ACU_VBAT,
+ ACU_TEMPERATURE_1,
+ ACU_TEMPERATURE_2,
+ ACU_TEMPERATURE_3,
+ ACU_MPPT_MODE,
+ ACU_VBOOST_CHANNEL0,
+ ACU_VBOOST_CHANNEL1,
+ ACU_VBOOST_CHANNEL2,
+ ACU_VBOOST_CHANNEL3,
+ ACU_VBOOST_CHANNEL4,
+ ACU_VBOOST_CHANNEL5,
+ ACU_POWER_CHANNEL0,
+ ACU_POWER_CHANNEL1,
+ ACU_POWER_CHANNEL2,
+ ACU_POWER_CHANNEL3,
+ ACU_POWER_CHANNEL4,
+ ACU_POWER_CHANNEL5,
+ ACU_DAC_EN_0,
+ ACU_DAC_EN_1,
+ ACU_DAC_EN_2,
+ ACU_DAC_RAW_0,
+ ACU_DAC_RAW_1,
+ ACU_DAC_RAW_2,
+ ACU_DAC_RAW_3,
+ ACU_DAC_RAW_4,
+ ACU_DAC_RAW_5,
+ ACU_BOOTCAUSE,
+ ACU_BOOTCNT,
+ ACU_UPTIME,
+ ACU_RESET_CAUSE,
+ ACU_MPPT_TIME,
+ ACU_MPPT_PERIOD,
+ ACU_DEVICE_0,
+ ACU_DEVICE_1,
+ ACU_DEVICE_2,
+ ACU_DEVICE_3,
+ ACU_DEVICE_4,
+ ACU_DEVICE_5,
+ ACU_DEVICE_6,
+ ACU_DEVICE_7,
+ ACU_DEVICE_0_STATUS,
+ ACU_DEVICE_1_STATUS,
+ ACU_DEVICE_2_STATUS,
+ ACU_DEVICE_3_STATUS,
+ ACU_DEVICE_4_STATUS,
+ ACU_DEVICE_5_STATUS,
+ ACU_DEVICE_6_STATUS,
+ ACU_DEVICE_7_STATUS,
+ ACU_WDT_CNT_GND,
+ ACU_WDT_GND_LEFT
+};
}
namespace P60Dock {
- /** Max reply size reached when requesting full hk table */
- static const uint16_t MAX_REPLY_LENGTH = 407;
+/** Max reply size reached when requesting full hk table */
+static const uint16_t MAX_REPLY_LENGTH = 407;
- static const uint16_t MAX_CONFIGTABLE_ADDRESS = 408;
- static const uint16_t MAX_HKTABLE_ADDRESS = 187;
- static const uint16_t HK_TABLE_SIZE = 188;
+static const uint16_t MAX_CONFIGTABLE_ADDRESS = 408;
+static const uint16_t MAX_HKTABLE_ADDRESS = 187;
+static const uint16_t HK_TABLE_SIZE = 188;
- static const uint8_t HK_TABLE_DATA_SET_ID = 0x3;
- static const uint8_t HK_TABLE_ENTRIES = 100;
+static const uint8_t HK_TABLE_DATA_SET_ID = 0x3;
+static const uint8_t HK_TABLE_ENTRIES = 100;
- /**
- * Requesting the full housekeeping table from the P60 dock will generate a reply comprising
- * 402 bytes of data.
- */
- static const uint16_t HK_TABLE_REPLY_SIZE = 407;
+/**
+ * Requesting the full housekeeping table from the P60 dock will generate a reply comprising
+ * 402 bytes of data.
+ */
+static const uint16_t HK_TABLE_REPLY_SIZE = 407;
- /**
- * @brief This class defines a dataset for the hk table of the P60 Dock.
- */
- class HkTableDataset:
- public StaticLocalDataSet {
- public:
+/**
+ * @brief This class defines a dataset for the hk table of the P60 Dock.
+ * @details
+ * The GS port and X3 are not required for EIVE. X3 is another slot on the P60 dock and
+ * GS is required for a module from Gomspace which is not used.
+ */
+class HkTableDataset:
+ public StaticLocalDataSet {
+ public:
- HkTableDataset(HasLocalDataPoolIF* owner):
- StaticLocalDataSet(owner, HK_TABLE_DATA_SET_ID) {
- }
+ HkTableDataset(HasLocalDataPoolIF* owner):
+ StaticLocalDataSet(owner, HK_TABLE_DATA_SET_ID) {
+ }
- HkTableDataset(object_id_t objectId):
- StaticLocalDataSet(sid_t(objectId, HK_TABLE_DATA_SET_ID)) {
- }
+ HkTableDataset(object_id_t objectId):
+ StaticLocalDataSet(sid_t(objectId, HK_TABLE_DATA_SET_ID)) {
+ }
- /** Measured output currents */
- lp_var_t currentAcuVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_ACU_VCC, this);
- lp_var_t currentPdu1Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_PDU1_VCC, this);
- lp_var_t currentX3IdleVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_X3_IDLE_VCC, this);
- lp_var_t currentPdu2Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_PDU2_VCC, this);
- lp_var_t currentAcuVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_ACU_VBAT, this);
- lp_var_t currentPdu1Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_PDU1_VBAT, this);
- lp_var_t currentX3IdleVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_X3_IDLE_VBAT, this);
- lp_var_t currentPdu2Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_PDU2_VBAT, this);
- lp_var_t currentStackVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_STACK_VBAT, this);
- lp_var_t currentStack3V3 = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_STACK_3V3, this);
- lp_var_t currentStack5V = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_STACK_5V, this);
- lp_var_t currentGS3V3 = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_GS3V3, this);
- lp_var_t currentGS5V = lp_var_t(sid.objectId,
- P60System::P60DOCK_CURRENT_GS5V, this);
+ /** Measured output currents */
+ lp_var_t currentAcuVcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_ACU_VCC, this);
+ lp_var_t currentPdu1Vcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_PDU1_VCC, this);
+ lp_var_t currentX3IdleVcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_X3_IDLE_VCC, this);
+ lp_var_t currentPdu2Vcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_PDU2_VCC, this);
+ lp_var_t currentAcuVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_ACU_VBAT, this);
+ lp_var_t currentPdu1Vbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_PDU1_VBAT, this);
+ lp_var_t currentX3IdleVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_X3_IDLE_VBAT, this);
+ lp_var_t currentPdu2Vbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_PDU2_VBAT, this);
+ lp_var_t currentStackVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_STACK_VBAT, this);
+ lp_var_t currentStack3V3 = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_STACK_3V3, this);
+ lp_var_t currentStack5V = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_STACK_5V, this);
+ lp_var_t currentGS3V3 = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_GS3V3, this);
+ lp_var_t currentGS5V = lp_var_t(sid.objectId,
+ P60System::P60DOCK_CURRENT_GS5V, this);
- /** Measured output voltages */
- lp_var_t voltageAcuVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_ACU_VCC, this);
- lp_var_t voltagePdu1Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_PDU1_VCC, this);
- lp_var_t voltageX3IdleVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_X3_IDLE_VCC, this);
- lp_var_t voltagePdu2Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_PDU2_VCC, this);
- lp_var_t voltageAcuVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_ACU_VBAT, this);
- lp_var_t voltagePdu1Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_PDU1_VBAT, this);
- lp_var_t voltageX3IdleVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_X3_IDLE_VBAT, this);
- lp_var_t voltagePdu2Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_PDU2_VBAT, this);
- lp_var_t voltageStackVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_STACK_VBAT, this);
- lp_var_t voltageStack3V3 = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_STACK_3V3, this);
- lp_var_t voltageStack5V = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_STACK_5V, this);
- lp_var_t voltageGS3V3 = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_GS3V3, this);
- lp_var_t voltageGS5V = lp_var_t(sid.objectId,
- P60System::P60DOCK_VOLTAGE_GS5V, this);
+ /** Measured output voltages */
+ lp_var_t voltageAcuVcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_ACU_VCC, this);
+ lp_var_t voltagePdu1Vcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_PDU1_VCC, this);
+ lp_var_t voltageX3IdleVcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_X3_IDLE_VCC, this);
+ lp_var_t voltagePdu2Vcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_PDU2_VCC, this);
+ lp_var_t voltageAcuVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_ACU_VBAT, this);
+ lp_var_t voltagePdu1Vbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_PDU1_VBAT, this);
+ lp_var_t voltageX3IdleVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_X3_IDLE_VBAT, this);
+ lp_var_t voltagePdu2Vbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_PDU2_VBAT, this);
+ lp_var_t voltageStackVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_STACK_VBAT, this);
+ lp_var_t voltageStack3V3 = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_STACK_3V3, this);
+ lp_var_t voltageStack5V = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_STACK_5V, this);
+ lp_var_t voltageGS3V3 = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_GS3V3, this);
+ lp_var_t voltageGS5V = lp_var_t(sid.objectId,
+ P60System::P60DOCK_VOLTAGE_GS5V, this);
- /** Output enable states */
- lp_var_t outputEnableStateAcuVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_ACU_VCC, this);
- lp_var_t outputEnableStatePdu1Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_PDU1_VCC, this);
- lp_var_t outputEnableStateX3IdleVcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VCC, this);
- lp_var_t outputEnableStatePdu2Vcc = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_PDU2_VCC, this);
- lp_var_t outputEnableStateAcuVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_ACU_VBAT, this);
- lp_var_t outputEnableStatePdu1Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_PDU1_VBAT, this);
- lp_var_t outputEnableStateX3IdleVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VBAT, this);
- lp_var_t outputEnableStatePdu2Vbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_PDU2_VBAT, this);
- lp_var_t outputEnableStateStackVbat = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_STACK_VBAT, this);
- lp_var_t outputEnableStateStack3V3 = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_STACK_3V3, this);
- lp_var_t outputEnableStateStack5V = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_STACK_5V, this);
- lp_var_t outputEnableStateGS3V3 = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_GS3V3, this);
- lp_var_t outputEnableStateGS5V = lp_var_t(sid.objectId,
- P60System::P60DOCK_OUTPUTENABLE_GS5V, this);
+ /** Output enable states */
+ lp_var_t outputEnableStateAcuVcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_ACU_VCC, this);
+ lp_var_t outputEnableStatePdu1Vcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_PDU1_VCC, this);
+ lp_var_t outputEnableStateX3IdleVcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_X3_IDLE_VCC, this);
+ lp_var_t outputEnableStatePdu2Vcc = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_PDU2_VCC, this);
+ lp_var_t outputEnableStateAcuVbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_ACU_VBAT, this);
+ lp_var_t outputEnableStatePdu1Vbat = lp_var_t(sid.objectId,
+ P60System::P60DOCK_OUTPUTENABLE_PDU1_VBAT, this);
+ lp_var_t