Merge remote-tracking branch 'origin/develop' into mueller/split-acu-hk

bsp_q7s/boardconfig/busConf.h

@@ -4,6 +4,8 @@
 namespace q7s {
 
 static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
+static constexpr uint32_t SPI_MAIN_BUS_LOCK_TIMEOUT = 50;
+
 static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
 
 static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -44,8 +44,8 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   GpioIF* gpioIF = comIf->getGpioInterface();
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 0;
-  cookie->getMutexParams(timeoutType, timeoutMs);
   MutexIF* mutex = comIf->getCsMutex();
+  cookie->getMutexParams(timeoutType, timeoutMs);
   if (mutex == nullptr or gpioIF == nullptr) {
     sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
     return HasReturnvaluesIF::RETURN_FAILED;

bsp_q7s/core/InitMission.cpp

@@ -1,5 +1,7 @@
 #include "bsp_q7s/core/InitMission.h"
 
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+
 #include <iostream>
 #include <vector>
 
@@ -13,6 +15,7 @@
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/utility/InitMission.h"
 #include "pollingsequence/pollingSequenceFactory.h"
 
@@ -123,7 +126,7 @@ void initmission::initTasks() {
 
 #if OBSW_ADD_ACS_HANDLERS == 1
   PeriodicTaskIF* acsTask = factory->createPeriodicTask(
-      "ACS_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+      "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   result = acsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
@@ -145,19 +148,49 @@ void initmission::initTasks() {
     initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
   }
 #endif
-
 #if OBSW_ADD_SUS_BOARD_ASS == 1
   result = sysTask->addComponent(objects::SUS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
 #endif
-#if OBSW_ADD_RTD_DEVICES == 1
-  result = sysTask->addComponent(objects::TCS_BOARD_ASS);
+
+  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
+      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
+  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
+    initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
   }
-#endif /* OBSW_ADD_RTD_DEVICES == 1 */
+  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
+      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
+      objects::RTD_0_IC3_PLOC_HEATSPREADER,
+      objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+      objects::RTD_2_IC5_4K_CAMERA,
+      objects::RTD_3_IC6_DAC_HEATSPREADER,
+      objects::RTD_4_IC7_STARTRACKER,
+      objects::RTD_5_IC8_RW1_MX_MY,
+      objects::RTD_6_IC9_DRO,
+      objects::RTD_7_IC10_SCEX,
+      objects::RTD_8_IC11_X8,
+      objects::RTD_9_IC12_HPA,
+      objects::RTD_10_IC13_PL_TX,
+      objects::RTD_11_IC14_MPA,
+      objects::RTD_12_IC15_ACU,
+      objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+      objects::RTD_14_IC17_TCS_BOARD,
+      objects::RTD_15_IC18_IMTQ,
+  };
+#if OBSW_ADD_RTD_DEVICES == 1
+  tcsTask->addComponent(objects::TCS_BOARD_ASS);
+  for (const auto& rtd : rtdIds) {
+    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
+  }
+#endif /* OBSW_ADD_RTD_DEVICES */
 
   // FS task, task interval does not matter because it runs in permanent loop, priority low
   // because it is a non-essential background task
@@ -254,12 +287,10 @@ void initmission::initTasks() {
   strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
-#if OBSW_ADD_ACS_HANDLERS == 1
   acsTask->startTask();
-#endif
-#if OBSW_ADD_RTD_DEVICES == 1
   sysTask->startTask();
-#endif
+  tcsPollingTask->startTask();
+  tcsTask->startTask();
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   supvHelperTask->startTask();
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */

bsp_q7s/core/InitMission.h

@@ -3,7 +3,7 @@
 
 #include <vector>
 
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class PeriodicTaskIF;
 class TaskFactory;

bsp_q7s/core/ObjectFactory.cpp

@@ -214,6 +214,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
   SpiCookie* spiCookieRadSensor =
       new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
+  spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
   auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
                                               spiCookieRadSensor, gpioComIF);
   static_cast<void>(radSensor);

bsp_q7s/fmObjectFactory.cpp

@@ -38,7 +38,7 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */
-  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
   createPayloadComponents(gpioComIF);
 
 #if OBSW_ADD_MGT == 1