continued rpi sus port

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/ObjectFactory.cpp

@@ -2,9 +2,11 @@
 
 #include "OBSWConfig.h"
 #include "devConf.h"
+#include "gpioInit.h"
 #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"
@@ -67,14 +69,19 @@ void ObjectFactory::produce(void* args) {
   std::string spiDev = "/dev/spidev0.1";
   SpiComIF* spiComIF = new SpiComIF(objects::SPI_COM_IF, gpioIF);
   static_cast<void>(spiComIF);
+  auto pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
 
-#if OBSW_ADD_ACS_BOARD == 1
+#if OBSW_ADD_ACS_BOARD == 1 && defined(RASPBERRY_PI)
   createRpiAcsBoard(gpioIF, spiDev);
 #endif
 
 #if OBSW_ADD_SUN_SENSORS == 1
-  createSunSensorComponents(gpioIF, spiComIF, nullptr, spiDev);
+#ifdef RASPBERRY_PI
+  rpi::gpio::initSpiCsDecoder(gpioIF);
 #endif
+  createSunSensorComponents(gpioIF, spiComIF, pwrSwitcher, spiDev);
+#endif
+
 
 #if OBSW_ADD_TEST_CODE == 1
   createTestTasks();

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 +1,30 @@
+#ifndef BSP_LINUX_BOARD_DEFINITIONS_H_
+#define BSP_LINUX_BOARD_DEFINITIONS_H_
+
+#include "OBSWConfig.h"
+#include <cstdint>
+
+#ifdef RASPBERRY_PI
+
+/* 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;
+}
+
+#endif
+
+#endif /* BSP_LINUX_BOARD_DEFINITIONS_H_ */

bsp_linux_board/gpioInit.cpp

@@ -0,0 +1,56 @@
+#include "gpioInit.h"
+#include "definitions.h"
+
+#include <devices/gpioIds.h>
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include "fsfw_hal/linux/rpi/GpioRPi.h"
+#include <fsfw_hal/common/gpio/GpioIF.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 gpioCallbacks
+}  // namespace rpi
+
+#endif

fsfw

@@ -1 +1 @@
-Subproject commit 283a37dccc064b71a0e4ca5c483c9a5a5241d355
+Subproject commit 127fbeb98020e091f9b5a385fd2a2ca47ccbc02f

generators/fsfwgen

@@ -1 +1 @@
-Subproject commit a3ea5dd2e7223c52e4f494e170850609b7b3a572
+Subproject commit 1c8be25e185aada13392a75234fa463240f424a0

linux/boardtest/SpiTestClass.h

@@ -3,9 +3,14 @@
 
 #include "OBSWConfig.h"
 
-#if defined(XIPHOS_Q7S)
+#ifdef XIPHOS_Q7S
 #include "busConf.h"
 #endif
+
+#ifdef RASPBERRY_PI
+#include <bsp_linux_board/definitions.h>
+#endif
+
 #include <fsfw_hal/common/gpio/GpioIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <test/testtasks/TestTask.h>

mission/devices/HeaterHandler.cpp

@@ -134,7 +134,7 @@ ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t
   return result;
 }
 
-void HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const {
+ReturnValue_t HeaterHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
   ReturnValue_t result;
   store_address_t storeAddress;
   uint8_t commandData[2];

mission/devices/HeaterHandler.h

@@ -43,8 +43,8 @@ class HeaterHandler : public ExecutableObjectIF,
 
   virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-  virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const override;
+  virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override;
-  virtual void sendFuseOnCommand(uint8_t fuseNr) const override;
+  virtual ReturnValue_t sendFuseOnCommand(uint8_t fuseNr) override;
   /**
    * @brief	This function will be called from the Heater object to check
    * 			the current switch state.

tmtc

@@ -1 +1 @@
-Subproject commit e37430423e814b9e05f25d63970f2c2b5048cfb1
+Subproject commit 5c43f638acb87e4ae07cea697cf8875c06431427