Merge pull request 'ACS board now working' (#98) from mueller/acs-board-working into develop

Reviewed-on: #98
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

bsp_linux_board/InitMission.cpp

@@ -80,7 +80,7 @@ void initmission::initTasks() {
 
     /* PUS Services */
     std::vector<PeriodicTaskIF*> pusTasks;
-    createPstTasks(*factory, missedDeadlineFunc, pusTasks);
+    createPusTasks(*factory, missedDeadlineFunc, pusTasks);
 
     std::vector<PeriodicTaskIF*> pstTasks;
     createPstTasks(*factory, missedDeadlineFunc, pstTasks);
@@ -193,7 +193,7 @@ void initmission::createPstTasks(TaskFactory& factory,
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 #if OBSW_ADD_SPI_TEST_CODE == 0
     FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-            "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
+            "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
             missedDeadlineFunc);
     result = pst::pstSpi(spiPst);
     if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -235,7 +235,7 @@ void initmission::createTestTasks(TaskFactory& factory,
     bool startTestPst = true;
     static_cast<void>(startTestPst);
 #if OBSW_ADD_TEST_PST == 1
-    FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
+    FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("TEST_PST", 50,
             PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
     result = pst::pstTest(pstTestTask);
     if(result != HasReturnvaluesIF::RETURN_OK) {

bsp_linux_board/ObjectFactory.cpp

@@ -64,10 +64,12 @@ void ObjectFactory::produce(void* args){
     ObjectFactory::produceGenericObjects();
 
 #if OBSW_USE_TMTC_TCP_BRIDGE == 1
-    new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    tmtcBridge->setMaxNumberOfPacketsStored(50);
     new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
 #else
-    new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    tmtcBridge->setMaxNumberOfPacketsStored(50);
     new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
 #endif
 
@@ -110,27 +112,39 @@ void ObjectFactory::produce(void* args){
     auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
             objects::SPI_COM_IF, spiCookie, 0);
     mgmLis3Handler->setStartUpImmediately();
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+    mgmLis3Handler->setToGoToNormalMode(true);
+#endif
 
     spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
     auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, 0);
     mgmRm3100Handler->setStartUpImmediately();
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+    mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
 
     spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
     mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
             objects::SPI_COM_IF, spiCookie, 0);
     mgmLis3Handler->setStartUpImmediately();
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+    mgmLis3Handler->setToGoToNormalMode(true);
+#endif
 
     spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
     mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, 0);
     mgmRm3100Handler->setStartUpImmediately();
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+    mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
 
     spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
     auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
             spiCookie);
     adisHandler->setStartUpImmediately();
@@ -139,16 +153,24 @@ void ObjectFactory::produce(void* args){
     auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
             spiCookie, 0);
     gyroL3gHandler->setStartUpImmediately();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
+    gyroL3gHandler->setToGoToNormalMode(true);
+#endif
+
     spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
-            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
-            spiCookie, 0);
-    gyroL3gHandler->setStartUpImmediately();
+            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+    adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+            spiCookie);
+    adisHandler->setStartUpImmediately();
+
     spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
             L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-    adisHandler = new GyroADIS16507Handler(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
-            spiCookie);
+    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
+            spiCookie, 0);
     gyroL3gHandler->setStartUpImmediately();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
+    gyroL3gHandler->setToGoToNormalMode(true);
+#endif
 
 #endif /* RPI_TEST_ACS_BOARD == 1 */
 

bsp_linux_board/boardconfig/rpiConfig.h.in

@@ -19,13 +19,14 @@
 
 /* Adapt these values accordingly */
 namespace gpio {
-static constexpr uint8_t MGM_0_BCM_PIN = 0;
-static constexpr uint8_t MGM_1_BCM_PIN = 1;
-static constexpr uint8_t MGM_2_BCM_PIN = 17;
-static constexpr uint8_t MGM_3_BCM_PIN = 27;
+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 = 4;
+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_q7s/core/ObjectFactory.cpp

@@ -442,7 +442,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
     auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
-            spiCookie, 0);
+            spiCookie, spi::LIS3_TRANSITION_DELAY);
     mgmLis3Handler->setStartUpImmediately();
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
     mgmLis3Handler->setToGoToNormalMode(true);
@@ -451,7 +451,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
     auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
-            spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
+            spiCookie, spi::RM3100_TRANSITION_DELAY);
     mgmRm3100Handler->setStartUpImmediately();
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     mgmRm3100Handler->setToGoToNormalMode(true);
@@ -460,7 +460,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
     auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
-            spiCookie, 0);
+            spiCookie, spi::LIS3_TRANSITION_DELAY);
     mgmLis3Handler2->setStartUpImmediately();
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
     mgmLis3Handler2->setToGoToNormalMode(true);
@@ -469,7 +469,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
     mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
-            spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
+            spiCookie, spi::RM3100_TRANSITION_DELAY);
     mgmRm3100Handler->setStartUpImmediately();
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     mgmRm3100Handler->setToGoToNormalMode(true);
@@ -487,10 +487,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
             L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
     auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
-            spiCookie, 0);
+            spiCookie, spi::L3G_TRANSITION_DELAY);
     gyroL3gHandler->setStartUpImmediately();
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-    gyroL3gHandler->setGoNormalModeAtStartup();
+    gyroL3gHandler->setToGoToNormalMode(true);
 #endif
     // Gyro 2 Side B
     spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
@@ -503,10 +503,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
             L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
     gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
-            spiCookie, 0);
+            spiCookie, spi::L3G_TRANSITION_DELAY);
     gyroL3gHandler->setStartUpImmediately();
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-    gyroL3gHandler->setGoNormalModeAtStartup();
+    gyroL3gHandler->setToGoToNormalMode(true);
 #endif
 
     bool debugGps = false;

common/config/devConf.h

@@ -10,14 +10,17 @@
  */
 namespace spi {
 
-/* Default values, changing them is not supported for now */
+// Default values, changing them is not supported for now
 static constexpr uint32_t DEFAULT_LIS3_SPEED = 976'000;
+static constexpr uint32_t LIS3_TRANSITION_DELAY = 10000;
 static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3;
 
 static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000;
+static constexpr uint32_t RM3100_TRANSITION_DELAY = 10000;
 static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3;
 
 static constexpr uint32_t DEFAULT_L3G_SPEED = 976'000;
+static constexpr uint32_t L3G_TRANSITION_DELAY = 10000;
 static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
 
 static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;

fsfw

@@ -1 +1 @@
-Subproject commit 5c56eda61077e3aef00d32133c5546987b476e8c
+Subproject commit c9b343ebcd92de1d214a9b1d7abafee4a7e79888

linux/fsfwconfig/FSFWConfig.h.in

@@ -78,5 +78,6 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 #define FSFW_HAL_L3GD20_GYRO_DEBUG              0
 #define FSFW_HAL_RM3100_MGM_DEBUG               0
 #define FSFW_HAL_LIS3MDL_MGM_DEBUG              0
+#define FSFW_HAL_ADIS16507_GYRO_DEBUG           0
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -476,15 +476,15 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 //        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85,
 //                DeviceHandlerIF::GET_READ);
 
-        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
-        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.35,
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.35,
                 DeviceHandlerIF::SEND_WRITE);
-        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
                 DeviceHandlerIF::GET_WRITE);
-        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75,
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.75,
                 DeviceHandlerIF::SEND_READ);
-        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85,
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85,
                 DeviceHandlerIF::GET_READ);
     }
 

mission/devices/GyroADIS16507Handler.cpp

@@ -1,8 +1,7 @@
+#include "GyroADIS16507Handler.h"
 #include <fsfw/action/HasActionsIF.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 
-#include "GyroADIS16507Handler.h"
-
 #if OBSW_ADIS16507_LINUX_COM_IF == 1
 #include "fsfw_hal/linux/utility.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
@@ -16,7 +15,7 @@ GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
         object_id_t deviceCommunication, CookieIF * comCookie):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
         configDataset(this), breakCountdown() {
-#if OBSW_DEBUG_ADIS16507 == 1
+#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
     debugDivider = new PeriodicOperationDivider(5);
 #endif
 
@@ -285,7 +284,7 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
             primaryDataset.setValidity(true, true);
         }
 
-#if OBSW_DEBUG_ADIS16507 == 1
+#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
         if(debugDivider->checkAndIncrement()) {
             sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
             sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;

mission/devices/GyroADIS16507Handler.h

@@ -1,11 +1,13 @@
 #ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
 #define MISSION_DEVICES_GYROADIS16507HANDLER_H_
 
-#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include "OBSWConfig.h"
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "FSFWConfig.h"
 #include "devicedefinitions/GyroADIS16507Definitions.h"
 
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+
 #if OBSW_ADIS16507_LINUX_COM_IF == 1
 class SpiComIF;
 class SpiCookie;
@@ -69,7 +71,7 @@ private:
             const uint8_t *sendData, size_t sendLen, void* args);
 #endif
 
-#if OBSW_DEBUG_ADIS16507 == 1
+#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
     PeriodicOperationDivider* debugDivider;
 #endif
     Countdown breakCountdown;

mission/devices/devicedefinitions/GyroADIS16507Definitions.h

@@ -1,6 +1,7 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
 
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
 #include "fsfw/datapoollocal/StaticLocalDataSet.h"
 
 #include <cstddef>