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ACS board and init payload

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This commit is contained in:
Robin Müller 2023-05-11 15:05:44 +02:00
parent f3a651602b
commit 2e6a93c479
8 changed files with 57 additions and 29 deletions
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11
CHANGELOG.md
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@ -40,6 +40,8 @@ will consitute of a breaking change warranting a new major release:
# [v2.0.5] to be released
## Fixed
- The dual lane assembly transition failed handler started new transitions towards the current mode
instead of the target mode. This means that if the dual lane assembly never reached the initial
submode (e.g. mode normal and submode dual side), it will transition back to the current mode,
@ -47,11 +49,18 @@ will consitute of a breaking change warranting a new major release:
recovery handling becomes stuck in the custom recovery sequence when swichting power back on.
- The dual lane custom recovery handling was adapted to always perform proper power switch handling
irrespective of current or target modes.
- Compile fix if SCEX is compiled for the EM.
- Set up Rad Sensor chip select even for EM to avoid SPI bus issues.
- Correct ADIS Gyroscope type configuration for the EM, where the 16507 type is used instead of the
16505 type.
## Changed
- The CMake build generator will now search for the cross-compiler binaries in the environmental
variable named `CROSS_COMPILE_BIN_PATH` first when setting up the build system. This prevents
CMake from selecting wrong cross-compilers if multiple cross-compilers with the same name are used
on the same system.
- Compile fix if SCEX is compiled for the EM.
- Add ACS board for EM by default now.
# [v2.0.4] 2023-04-19

2
CMakeLists.txt
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@ -98,7 +98,7 @@ set(OBSW_ADD_THERMAL_TEMP_INSERTER
${OBSW_Q7S_EM}
CACHE STRING "Add thermal sensor temperature inserter")
set(OBSW_ADD_ACS_BOARD
${INIT_VAL}
1
CACHE STRING "Add ACS board module")
set(OBSW_ADD_GPS_CTRL
${INIT_VAL}

44
bsp_q7s/core/ObjectFactory.cpp
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@ -240,20 +240,7 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
Stack5VHandler& stackHandler) {
using namespace gpio;
if (gpioComIF == nullptr) {
return returnvalue::FAILED;
}
GpioCookie* gpioCookieRadSensor = new GpioCookie;
std::stringstream consumer;
consumer << "0x" << std::hex << objects::RAD_SENSOR;
GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), Direction::OUT, Levels::HIGH);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
Levels::LOW);
gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
gpioChecker(gpioComIF->addGpios(gpioCookieRadSensor), "RAD sensor");
createRadSensorChipSelect(gpioComIF);
SpiCookie* spiCookieRadSensor =
new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
@ -367,7 +354,7 @@ void ObjectFactory::createAcsBoardGpios(GpioCookie& cookie) {
void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF,
SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher,
bool enableHkSets) {
bool enableHkSets, adis1650x::Type adisType) {
using namespace gpio;
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
createAcsBoardGpios(*gpioCookieAcsBoard);
@ -453,9 +440,8 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, adis1650x::MAXIMUM_REPLY_SIZE,
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto adisHandler =
new GyrAdis1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, adis1650x::Type::ADIS16505);
auto adisHandler = new GyrAdis1650XHandler(objects::GYRO_0_ADIS_HANDLER,
objects::ACS_BOARD_POLLING_TASK, spiCookie, adisType);
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir);
assemblyChildren[4] = adisHandler;
@ -488,9 +474,8 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, adis1650x::MAXIMUM_REPLY_SIZE,
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
adisHandler =
new GyrAdis1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, adis1650x::Type::ADIS16505);
adisHandler = new GyrAdis1650XHandler(objects::GYRO_2_ADIS_HANDLER,
objects::ACS_BOARD_POLLING_TASK, spiCookie, adisType);
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir);
assemblyChildren[6] = adisHandler;
@ -1022,3 +1007,20 @@ void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
sif::warning << "Sending mode command failed" << std::endl;
}
}
void ObjectFactory::createRadSensorChipSelect(LinuxLibgpioIF* gpioIF) {
using namespace gpio;
if (gpioIF == nullptr) {
return;
}
GpioCookie* gpioCookieRadSensor = new GpioCookie;
std::stringstream consumer;
consumer << "0x" << std::hex << objects::RAD_SENSOR;
GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), Direction::OUT, Levels::HIGH);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
Levels::LOW);
gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
gpioChecker(gpioIF->addGpios(gpioCookieRadSensor), "RAD sensor");
}

5
bsp_q7s/core/ObjectFactory.h
View File

@ -3,6 +3,7 @@
#include <fsfw/returnvalues/returnvalue.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <mission/acs/gyroAdisHelpers.h>
#include <mission/com/CcsdsIpCoreHandler.h>
#include <mission/com/PersistentLogTmStoreTask.h>
#include <mission/genericFactory.h>
@ -58,10 +59,12 @@ void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher
void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
void createTmpComponents();
void createRadSensorChipSelect(LinuxLibgpioIF* gpioIF);
ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
void createAcsBoardGpios(GpioCookie& cookie);
void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
PowerSwitchIF& pwrSwitcher, bool enableHkSets);
PowerSwitchIF& pwrSwitcher, bool enableHkSets,
adis1650x::Type adisType);
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
HeaterHandler*& heaterHandler);
void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);

11
bsp_q7s/em/emObjectFactory.cpp
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@ -55,6 +55,10 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_SYRLINKS == 1
dummyCfg.addSyrlinksDummies = false;
#endif
#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
dummyCfg.addPlocDummies = false;
dummyCfg.addCamSwitcherDummy = false;
#endif
#if OBSW_ADD_GOMSPACE_PCDU == 1
dummyCfg.addPowerDummies = false;
// The ACU broke.
@ -93,9 +97,12 @@ void ObjectFactory::produce(void* args) {
// TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
// and will cause xsc_boot_copy commands to always boot to 0 0
// createRadSensorComponent(gpioComIF);
// Still initialize chip select to avoid SPI bus issues.
createRadSensorChipSelect(gpioComIF);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true);
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
adis1650x::Type::ADIS16507);
#else
// Still add all GPIOs for EM.
GpioCookie* acsBoardGpios = new GpioCookie();
@ -123,6 +130,8 @@ void ObjectFactory::produce(void* args) {
createStrComponents(pwrSwitcher);
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
createPayloadComponents(gpioComIF, *pwrSwitcher);
#if OBSW_ADD_CCSDS_IP_CORES == 1
CcsdsIpCoreHandler* ipCoreHandler = nullptr;
CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,

4
bsp_q7s/fmObjectFactory.cpp
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@ -1,4 +1,5 @@
#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
#include <devices/gpioIds.h>
#include <fsfw/storagemanager/LocalPool.h>
#include <fsfw/storagemanager/PoolManager.h>
#include <mission/power/gsDefs.h>
@ -59,7 +60,8 @@ void ObjectFactory::produce(void* args) {
#endif
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true);
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
adis1650x::Type::ADIS16505);
#endif
HeaterHandler* heaterHandler;
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);

8
dummies/helperFactory.cpp
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@ -217,9 +217,11 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
}
}
auto* camSwitcher =
new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher, power::Switches::PDU2_CH8_PAYLOAD_CAMERA);
camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
if (cfg.addCamSwitcherDummy) {
auto* camSwitcher = new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher,
power::Switches::PDU2_CH8_PAYLOAD_CAMERA);
camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
}
auto* scexDummy = new ScexDummy(objects::SCEX, objects::DUMMY_COM_IF, comCookieDummy);
scexDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
auto* plPcduDummy =

1
dummies/helperFactory.h
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@ -19,6 +19,7 @@ struct DummyCfg {
bool addTempSensorDummies = true;
bool addRtdComIFDummy = true;
bool addPlocDummies = true;
bool addCamSwitcherDummy = true;
};
void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF);