eive/eive-obsw
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callback working
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This commit is contained in:
Robin Müller 2022-01-19 18:05:17 +01:00
parent 79fac2adcb
commit 1eb6017a9d
12 changed files with 129 additions and 47 deletions
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1
bsp_q7s/callbacks/CMakeLists.txt
View File

@ -1,4 +1,5 @@
target_sources(${TARGET_NAME} PRIVATE
rwSpiCallback.cpp
gnssCallback.cpp
pcduSwitchCb.cpp
)

32
bsp_q7s/callbacks/pcduSwitchCb.cpp Normal file
View File

@ -0,0 +1,32 @@
#include "pcduSwitchCb.h"
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "devices/gpioIds.h"
void pcdu::switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void* args) {
LinuxLibgpioIF* gpioComIF = reinterpret_cast<LinuxLibgpioIF*>(args);
if (gpioComIF == nullptr) {
return;
}
if (pdu == GOMSPACE::Pdu::PDU1) {
PDU1::SwitchChannels typedChannel = static_cast<PDU1::SwitchChannels>(channel);
if (typedChannel == PDU1::SwitchChannels::ACS_A_SIDE) {
if (state) {
gpioComIF->pullHigh(gpioIds::GNSS_0_NRESET);
} else {
gpioComIF->pullLow(gpioIds::GNSS_0_NRESET);
}
}
} else if (pdu == GOMSPACE::Pdu::PDU2) {
PDU2::SwitchChannels typedChannel = static_cast<PDU2::SwitchChannels>(channel);
if (typedChannel == PDU2::SwitchChannels::ACS_B_SIDE) {
if (state) {
gpioComIF->pullHigh(gpioIds::GNSS_1_NRESET);
} else {
gpioComIF->pullLow(gpioIds::GNSS_1_NRESET);
}
}
}
}

14
bsp_q7s/callbacks/pcduSwitchCb.h Normal file
View File

@ -0,0 +1,14 @@
#ifndef BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
#define BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
#include <cstdint>
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
namespace pcdu {
void switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void* args);
}
#endif /* BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_ */

12
bsp_q7s/core/ObjectFactory.cpp
View File

@ -3,6 +3,7 @@
#include <sstream>
#include "OBSWConfig.h"
#include "bsp_q7s/callbacks/pcduSwitchCb.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
@ -122,13 +123,14 @@ void ObjectFactory::produce(void* args) {
#if BOARD_TE0720 == 0
new CoreController(objects::CORE_CONTROLLER);
createPcduComponents();
createPcduComponents(gpioComIF);
createRadSensorComponent(gpioComIF);
createSunSensorComponents(gpioComIF, spiComIF);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF);
#endif /* OBSW_ADD_ACS_BOARD == 1 */
#endif
createHeaterComponents();
createSolarArrayDeploymentComponents();
#if OBSW_ADD_SYRLINKS == 1
@ -234,7 +236,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
#endif
}
void ObjectFactory::createPcduComponents() {
void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF) {
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);
@ -244,8 +246,10 @@ void ObjectFactory::createPcduComponents() {
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
PDU1Handler* pdu1handler =
new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
pdu1handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
PDU2Handler* pdu2handler =
new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
pdu2handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
new PCDUHandler(objects::PCDU_HANDLER, 50);
@ -472,6 +476,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
gpioComIF->addGpios(gpioCookieAcsBoard);
#if OBSW_ADD_ACS_HANDLERS == 1
std::string spiDev = q7s::SPI_DEFAULT_DEV;
SpiCookie* spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
@ -561,6 +566,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
resetArgsGnss0.waitPeriodMs = 100;
auto gpsHandler0 = new GPSHyperionHandler(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
}
void ObjectFactory::createHeaterComponents() {

2
bsp_q7s/core/ObjectFactory.h
View File

@ -13,7 +13,7 @@ void produce(void* args);
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
SpiComIF** spiComIF);
void createTmpComponents();
void createPcduComponents();
void createPcduComponents(LinuxLibgpioIF* gpioComIF);
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF);

3
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -46,7 +46,8 @@ debugging. */
#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_ACS_BOARD 1
#define OBSW_ADD_ACS_HANDLERS 0
#define OBSW_ADD_RW 0
#define OBSW_ADD_RTD_DEVICES 0
#define OBSW_ADD_TMP_DEVICES 0

4
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -435,7 +435,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_ACS_BOARD == 1
#if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1
bool enableAside = true;
bool enableBside = false;
if (enableAside) {
@ -501,7 +501,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
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 */
#endif /* OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1 */
ReturnValue_t seqCheck = thisSequence->checkSequence();
if (seqCheck != HasReturnvaluesIF::RETURN_OK) {

22
mission/devices/PDU1Handler.cpp
View File

@ -68,48 +68,50 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
#endif
}
void PDU1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook) {
void PDU1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
this->channelSwitchHook = hook;
this->hookArgs = args;
}
ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker) {
using namespace PDU1;
GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU1;
if (channelSwitchHook != nullptr and unpacker.getParameterSize() == 1) {
switch (unpacker.getAddress()) {
case (CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3): {
channelSwitchHook(0, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 0, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_SYRLINKS): {
channelSwitchHook(1, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 1, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_STAR_TRACKER): {
channelSwitchHook(2, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 2, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_MGT): {
channelSwitchHook(3, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 3, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL): {
channelSwitchHook(4, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 4, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP): {
channelSwitchHook(5, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 5, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_PLOC): {
channelSwitchHook(6, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 6, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A): {
channelSwitchHook(7, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 7, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_CHANNEL8): {
channelSwitchHook(8, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 8, unpacker.getParameter()[0], hookArgs);
break;
}
}

3
mission/devices/PDU1Handler.h
View File

@ -27,7 +27,7 @@ class PDU1Handler : public GomspaceDeviceHandler {
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
void assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook);
void assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void* args);
protected:
/**
@ -43,6 +43,7 @@ class PDU1Handler : public GomspaceDeviceHandler {
/** Dataset for the housekeeping table of the PDU1 */
PDU1::PDU1HkTableDataset pdu1HkTableDataset;
GOMSPACE::ChannelSwitchHook channelSwitchHook = nullptr;
void* hookArgs = nullptr;
void printHkTable();
void parseHkTableReply(const uint8_t* packet);

24
mission/devices/PDU2Handler.cpp
View File

@ -49,8 +49,9 @@ void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
#endif
}
void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook) {
this->channelSwitchHook = hook;
void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
this->channelSwitchHook = hook;
this->hookArgs = args;
}
void PDU2Handler::parseHkTableReply(const uint8_t *packet) {
@ -428,42 +429,43 @@ void PDU2Handler::printHkTable() {
ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker) {
using namespace PDU2;
GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
if (channelSwitchHook != nullptr and unpacker.getParameterSize() == 1) {
switch (unpacker.getAddress()) {
case (CONFIG_ADDRESS_OUT_EN_Q7S): {
channelSwitchHook(0, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 0, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1): {
channelSwitchHook(1, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 1, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_RW): {
channelSwitchHook(2, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 2, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN): {
channelSwitchHook(3, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 3, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT): {
channelSwitchHook(4, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 4, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM): {
channelSwitchHook(5, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 5, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6PLOC): {
channelSwitchHook(6, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 6, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B): {
channelSwitchHook(7, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 7, unpacker.getParameter()[0], hookArgs);
break;
}
case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA): {
channelSwitchHook(8, unpacker.getParameter()[0]);
channelSwitchHook(pdu, 8, unpacker.getParameter()[0], hookArgs);
break;
}
}

7
mission/devices/PDU2Handler.h
View File

@ -26,7 +26,8 @@ class PDU2Handler : public GomspaceDeviceHandler {
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
void assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook);
void assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void* args);
protected:
/**
* @brief As soon as the device is in MODE_NORMAL, this function is executed periodically.
@ -34,11 +35,13 @@ class PDU2Handler : public GomspaceDeviceHandler {
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;
ReturnValue_t setParamCallback(SetParamMessageUnpacker &unpacker) override;
ReturnValue_t setParamCallback(SetParamMessageUnpacker& unpacker) override;
private:
/** Dataset for the housekeeping table of the PDU2 */
PDU2::PDU2HkTableDataset pdu2HkTableDataset;
GOMSPACE::ChannelSwitchHook channelSwitchHook = nullptr;
void* hookArgs = nullptr;
void printHkTable();

52
mission/devices/devicedefinitions/GomspaceDefinitions.h
View File

@ -1,11 +1,3 @@
/*
* GomspaceDefinitions.h
*
* @brief This file holds all definitions specific for devices from gomspace.
* @date 20.12.2020
* @author J. Meier
*/
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
@ -17,7 +9,9 @@
namespace GOMSPACE {
using ChannelSwitchHook = void (*)(uint8_t channel, bool on);
enum class Pdu { PDU1, PDU2 };
using ChannelSwitchHook = void (*)(Pdu pdu, uint8_t channel, bool on, void* args);
static const uint16_t IGNORE_CHECKSUM = 0xbb0;
/** The size of the header of a gomspace CSP packet. */
@ -614,19 +608,32 @@ static const uint8_t HK_TABLE_ENTRIES = 73;
namespace PDU1 {
static const uint32_t HK_TABLE_DATA_SET_ID = 0x1; // hk table has table id 4
enum SwitchChannels : uint8_t {
TCS_BOARD_3V3 = 0,
SYRLINKS = 1,
STR = 2,
MGT = 3,
SUS_NOMINAL = 4,
SOL_CELL_EXPERIMENT = 5,
PLOC = 6,
ACS_A_SIDE = 7,
UNUSED = 8
};
/**
* Addresses within configuration table to enable or disable output channels. Refer also to
* gs-man-nanopower-p60-pdu-200.pdf on page 16.
*/
static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3 = 0x48;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SYRLINKS = 0x49;
static const uint16_t CONFIG_ADDRESS_OUT_EN_STAR_TRACKER = 0x50;
static const uint16_t CONFIG_ADDRESS_OUT_EN_MGT = 0x51;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL = 0x52;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP = 0x53;
static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x54;
static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x55;
static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x56;
static const uint16_t CONFIG_ADDRESS_OUT_EN_STAR_TRACKER = 0x4A;
static const uint16_t CONFIG_ADDRESS_OUT_EN_MGT = 0x4B;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL = 0x4C;
static const uint16_t CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP = 0x4D;
static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x4E;
static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x4F;
static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x50;
/**
* @brief This class defines a dataset for the hk table of the PDU1.
@ -802,6 +809,19 @@ class PDU1HkTableDataset : public StaticLocalDataSet<PDU::HK_TABLE_ENTRIES> {
namespace PDU2 {
static const uint32_t HK_TABLE_DATA_SET_ID = 0x2;
enum SwitchChannels : uint8_t {
Q7S = 0,
PAYLOAD_PCDU_CH1 = 1,
RW = 2,
TCS_HEATER_IN = 3,
SUS_REDUNDANT = 4,
DEPY_MECHANISM = 5,
PAYLOAD_PCDU_CH6 = 6,
ACS_B_SIDE = 7,
PAYLOAD_CAMERA = 8
};
/**
* Addresses within configuration table to enable or disable output channels. Refer also to
* gs-man-nanopower-p60-pdu-200.pdf on page 16.