callback working

bsp_q7s/callbacks/CMakeLists.txt

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

bsp_q7s/callbacks/pcduSwitchCb.cpp

@@ -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);
+      }
+    }
+  }
+}

bsp_q7s/callbacks/pcduSwitchCb.h

@@ -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_ */

bsp_q7s/core/ObjectFactory.cpp

@@ -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() {

bsp_q7s/core/ObjectFactory.h

@@ -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);

linux/fsfwconfig/OBSWConfig.h.in

@@ -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

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -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) {

mission/devices/PDU1Handler.cpp

@@ -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;
       }
     }

mission/devices/PDU1Handler.h

@@ -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);

mission/devices/PDU2Handler.cpp

@@ -49,8 +49,9 @@ void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
 #endif
 }
 
-void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook) {
+void PDU2Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
-	this->channelSwitchHook = hook;
+  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;
       }
     }

mission/devices/PDU2Handler.h

@@ -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();
 

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -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_STAR_TRACKER = 0x4A;
-static const uint16_t CONFIG_ADDRESS_OUT_EN_MGT = 0x51;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_MGT = 0x4B;
-static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL = 0x52;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL = 0x4C;
-static const uint16_t CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP = 0x53;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP = 0x4D;
-static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x54;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x4E;
-static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x55;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x4F;
-static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x56;
+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.