eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into irini
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This commit is contained in:
Irini Kosmidou
2022-04-08 15:21:31 +02:00
parent df712c7100 ff5e271f88
commit 188f8863d0
158 changed files with 7250 additions and 4588 deletions
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77
bsp_linux_board/ObjectFactory.cpp
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@ -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() {