Merge remote-tracking branch 'origin/develop' into irini

bsp_linux_board/CMakeLists.txt

@@ -1,6 +1,7 @@
 target_sources(${OBSW_NAME} PUBLIC
 	InitMission.cpp
 	main.cpp
+	gpioInit.cpp
 	ObjectFactory.cpp
 )
 

bsp_linux_board/InitMission.cpp

@@ -192,7 +192,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   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);
+      "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstSpi(spiPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;

bsp_linux_board/ObjectFactory.cpp

@@ -6,10 +6,13 @@
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
+#include "fsfw/power/DummyPowerSwitcher.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 #include "fsfw/tmtcservices/PusServiceBase.h"
+#include "gpioInit.h"
+#include "linux/ObjectFactory.h"
 #include "linux/boardtest/LibgpiodTest.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
@@ -65,37 +68,55 @@ void ObjectFactory::produce(void* args) {
   GpioCookie* gpioCookie = nullptr;
   static_cast<void>(gpioCookie);
 
-  new SpiComIF(objects::SPI_COM_IF, gpioIF);
+  SpiComIF* spiComIF = new SpiComIF(objects::SPI_COM_IF, gpioIF);
+  static_cast<void>(spiComIF);
+  auto pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  static_cast<void>(pwrSwitcher);
 
-  std::string spiDev;
-  SpiCookie* spiCookie = nullptr;
-  static_cast<void>(spiCookie);
+#if OBSW_ADD_ACS_BOARD == 1 && defined(RASPBERRY_PI)
+  createRpiAcsBoard(gpioIF, spiDev);
+#endif
 
-#if OBSW_ADD_ACS_BOARD == 1
-  if (gpioCookie == nullptr) {
-    gpioCookie = new GpioCookie();
-  }
+#if OBSW_ADD_SUN_SENSORS == 1 || defined(OBSW_ADD_RTD_DEVICES)
+#ifdef RASPBERRY_PI
+  rpi::gpio::initSpiCsDecoder(gpioIF);
+#endif
+#endif
+
+#if OBSW_ADD_SUN_SENSORS == 1
+  createSunSensorComponents(gpioIF, spiComIF, pwrSwitcher, spi::DEV);
+#endif
+
+#if OBSW_ADD_RTD_DEVICES == 1
+  createRtdComponents(spi::DEV, gpioIF, pwrSwitcher);
+#endif
+
+#if OBSW_ADD_TEST_CODE == 1
+  createTestTasks();
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+}
+
+void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
+  GpioCookie* 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::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
-                            "MGM_1_RM3100", gpio::Direction::OUT, 1);
+                            "MGM_1_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
-                            "MGM_3_RM3100", gpio::Direction::OUT, 1);
+                            "MGM_3_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
-                            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
+                            "GYRO_0_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
-                            "GYRO_2_ADIS", gpio::Direction::OUT, 1);
+                            "GYRO_2_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpioIF->addGpios(gpioCookie);
-
-  spiDev = "/dev/spidev0.1";
-  spiCookie =
+  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 =
@@ -137,9 +158,9 @@ void ObjectFactory::produce(void* args) {
 
   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);
+                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
+                                              spiCookie, ADIS1650X::Type::ADIS16505);
   adisHandler->setStartUpImmediately();
   spiCookie =
       new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
@@ -153,9 +174,9 @@ void ObjectFactory::produce(void* args) {
 
   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);
+                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+                                         spiCookie, ADIS1650X::Type::ADIS16505);
   adisHandler->setStartUpImmediately();
 
   spiCookie =
@@ -167,12 +188,6 @@ void ObjectFactory::produce(void* args) {
 #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() {

bsp_linux_board/ObjectFactory.h

@@ -1,10 +1,15 @@
 #ifndef BSP_LINUX_OBJECTFACTORY_H_
 #define BSP_LINUX_OBJECTFACTORY_H_
 
+#include <string>
+
+class GpioIF;
+
 namespace ObjectFactory {
 void setStatics();
 void produce(void* args);
 
+void createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev);
 void createTestTasks();
 };  // namespace ObjectFactory
 

bsp_linux_board/boardconfig/rpiConfig.h.in

@@ -17,16 +17,4 @@
 
 #define RPI_ADD_UART_TEST               0
 
-/* Adapt these values accordingly */
-namespace gpio {
-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 = 13;
-static constexpr uint8_t GYRO_3_BCM_PIN = 19;
-}
-
 #endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */

bsp_linux_board/definitions.h

@@ -0,0 +1,37 @@
+#ifndef BSP_LINUX_BOARD_DEFINITIONS_H_
+#define BSP_LINUX_BOARD_DEFINITIONS_H_
+
+#include <cstdint>
+
+#include "OBSWConfig.h"
+
+#ifdef RASPBERRY_PI
+
+namespace spi {
+
+static constexpr char DEV[] = "/dev/spidev0.1";
+
+}
+
+/* Adapt these values accordingly */
+namespace gpio {
+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 = 13;
+static constexpr uint8_t GYRO_3_BCM_PIN = 19;
+
+static constexpr uint8_t SPI_MUX_0_BCM = 17;
+static constexpr uint8_t SPI_MUX_1_BCM = 27;
+static constexpr uint8_t SPI_MUX_2_BCM = 22;
+static constexpr uint8_t SPI_MUX_3_BCM = 23;
+static constexpr uint8_t SPI_MUX_4_BCM = 5;
+static constexpr uint8_t SPI_MUX_5_BCM = 6;
+}  // namespace gpio
+
+#endif
+
+#endif /* BSP_LINUX_BOARD_DEFINITIONS_H_ */

bsp_linux_board/gpioInit.cpp

@@ -0,0 +1,56 @@
+#include "gpioInit.h"
+
+#include <devices/gpioIds.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+
+#include "definitions.h"
+#include "fsfw_hal/linux/rpi/GpioRPi.h"
+
+#ifdef RASPBERRY_PI
+
+struct MuxInfo {
+  MuxInfo(gpioId_t gpioId, int bcmNum, std::string consumer)
+      : gpioId(gpioId), bcmNum(bcmNum), consumer(consumer) {}
+  gpioId_t gpioId;
+  int bcmNum;
+  std::string consumer;
+};
+
+void rpi::gpio::initSpiCsDecoder(GpioIF* gpioComIF) {
+  using namespace ::gpio;
+  ReturnValue_t result;
+
+  if (gpioComIF == nullptr) {
+    sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
+    return;
+  }
+
+  std::array<::MuxInfo, 6> muxInfo{
+      MuxInfo(gpioIds::SPI_MUX_BIT_0, SPI_MUX_0_BCM, "SPI_MUX_0"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_1, SPI_MUX_1_BCM, "SPI_MUX_1"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_2, SPI_MUX_2_BCM, "SPI_MUX_2"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_3, SPI_MUX_3_BCM, "SPI_MUX_3"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_4, SPI_MUX_4_BCM, "SPI_MUX_4"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_5, SPI_MUX_5_BCM, "SPI_MUX_5"),
+  };
+  GpioCookie* spiMuxGpios = new GpioCookie;
+
+  for (const auto& info : muxInfo) {
+    result = createRpiGpioConfig(spiMuxGpios, info.gpioId, info.bcmNum, info.consumer,
+                                 Direction::OUT, Levels::LOW);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::error << "Creating Raspberry Pi SPI Mux GPIO failed with code " << result << std::endl;
+      return;
+    }
+  }
+
+  result = gpioComIF->addGpios(spiMuxGpios);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
+    return;
+  }
+}
+
+#endif

bsp_linux_board/gpioInit.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "OBSWConfig.h"
+
+class GpioIF;
+
+#ifdef RASPBERRY_PI
+namespace rpi {
+namespace gpio {
+
+/**
+ * @brief   This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
+ *          the TCS Board and the interface board.
+ */
+void initSpiCsDecoder(GpioIF* gpioComIF);
+
+}  // namespace gpio
+}  // namespace rpi
+
+#endif

bsp_linux_board/main.cpp

@@ -3,8 +3,8 @@
 #include "InitMission.h"
 #include "OBSWConfig.h"
 #include "OBSWVersion.h"
-#include "fsfw/version.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "fsfw/version.h"
 
 #ifdef RASPBERRY_PI
 static const char* const BOARD_NAME = "Raspberry Pi";
@@ -22,8 +22,7 @@ int main(void) {
   std::cout << "-- EIVE OBSW --" << std::endl;
   std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
   std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
-            << SW_REVISION << ", FSFW v" << fsfw::FSFW_VERSION
-            << "--" << std::endl;
+            << SW_REVISION << ", FSFW v" << fsfw::FSFW_VERSION << " --" << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
   initmission::initMission();