eive/eive-obsw
eive/eive-obsw
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testing mgm handler

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This commit is contained in:
Robin Müller 2021-02-23 22:07:39 +01:00 committed by Robin Mueller
parent f67948524f
commit 43600962e6
9 changed files with 164 additions and 77 deletions
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15
bsp_rpi/InitMission.cpp
View File

@ -105,7 +105,7 @@ void initmission::initTasks() {
}
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
"PUS_HIGH_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
@ -126,6 +126,15 @@ void initmission::initTasks() {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
#if RPI_TEST_ACS_BOARD == 1
FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
result = pst::pollingSequenceAcsTest(acsTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
}
#endif /* RPI_TEST_ACS_BOARD == 1 */
PeriodicTaskIF* testTask = factory->createPeriodicTask(
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
#if OBSW_ADD_TEST_CODE == 1
@ -161,5 +170,9 @@ void initmission::initTasks() {
#if OBSW_ADD_TEST_CODE == 1
testTask->startTask();
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if RPI_TEST_ACS_BOARD == 1
acsTask->startTask();
#endif /* RPI_TEST_ACS_BOARD == 1 */
sif::info << "Tasks started.." << std::endl;
}

41
bsp_rpi/ObjectFactory.cpp
View File

@ -2,6 +2,7 @@
#include <bsp_rpi/gpio/GPIORPi.h>
#include <objects/systemObjectList.h>
#include <devices/addresses.h>
#include <devices/gpioIds.h>
#include <OBSWConfig.h>
#include <tmtc/apid.h>
@ -12,8 +13,11 @@
#include <linux/gpio/GpioCookie.h>
#include <linux/gpio/LinuxLibgpioIF.h>
#include <linux/spi/SpiCookie.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
#include <mission/devices/MGMHandlerLIS3MDL.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
@ -22,6 +26,7 @@
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <fsfw/tasks/TaskFactory.h>
#include <linux/spi/SpiComIF.h>
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@ -58,16 +63,44 @@ void ObjectFactory::produce(){
#endif
#if RPI_LOOPBACK_TEST_GPIO == 1
GpioCookie* gpioCookie = new GpioCookie();
GpioCookie* gpioCookieLoopback = new GpioCookie();
/* Loopback pins. Adapt according to setup */
gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
int bcmPinSender = 26;
gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
int bcmPinReader = 16;
gpio::createRpiGpioConfig(gpioCookie, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
gpio::Direction::OUT, 0);
gpio::createRpiGpioConfig(gpioCookie, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
gpio::Direction::IN, 0);
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
#endif
new SpiComIF(objects::SPI_COM_IF, gpioIF);
#if RPI_TEST_ACS_BOARD == 1
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
"MGM_0_LIS3", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
"MGM_1_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
"MGM_2_LIS3", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
"MGM_3_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
"GYRO_1_L3G", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
"GYRO_2_L3G", gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookieAcsBoard);
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3,
gpioIds::MGM_0_LIS3_CS, "/dev/spidev0.0", 24, spi::SpiMode::MODE_3, 3'900'000);
auto mgmHandler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmHandler->setStartUpImmediately();
#endif
}

16
bsp_rpi/boardconfig/rpi_config.h
View File

@ -1,10 +1,24 @@
#ifndef BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
#define BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
#include <cstdint>
#define RPI_ADD_GPIO_TEST 1
#define RPI_ADD_SPI_TEST 1
#define RPI_LOOPBACK_TEST_GPIO 1
/* Only one of those 2 should be enabled! */
#define RPI_ADD_SPI_TEST 0
#define RPI_TEST_ACS_BOARD 1
/* 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 GYRO_0_BCM_PIN = 5;
static constexpr uint8_t GYRO_1_BCM_PIN = 6;
static constexpr uint8_t GYRO_2_BCM_PIN = 4;
}
#endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */

2
fsfw

@ -1 +1 @@
Subproject commit 91f69aa34fcdde9d3f6ae1a71e72a084bf3bc49d
Subproject commit f3cc664d4f9fdadc2f6e2ebf814dd0c924e5ae33

18
fsfwconfig/devices/addresses.h
View File

@ -1,20 +1,24 @@
/**
* \file addresses.cpp
*
* \date 07.11.2019
*/
#ifndef FSFWCONFIG_DEVICES_ADDRESSES_H_
#define FSFWCONFIG_DEVICES_ADDRESSES_H_
#include <stdint.h>
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfwconfig/objects/systemObjectList.h>
#include <cstdint>
namespace addresses {
/* Logical addresses have uint32_t datatype */
enum logicalAddresses: address_t {
PCDU,
MGM_0_LIS3 = objects::MGM_0_LIS3_HANDLER,
MGM_1_RM3100 = objects::MGM_1_RM3100_HANDLER,
MGM_2_LIS3 = objects::MGM_2_LIS3_HANDLER,
MGM_3_RM3100 = objects::MGM_3_RM3100_HANDLER,
GYRO_0_ADIS = objects::GYRO_0_ADIS_HANDLER,
GYRO_1_L3G = objects::GYRO_1_L3G_HANDLER,
GYRO_2_L3G = objects::GYRO_2_L3G_HANDLER,
/* Dummy and Test Addresses */
DUMMY_ECHO = 129,
DUMMY_GPS0 = 130,

12
fsfwconfig/objects/systemObjectList.h
View File

@ -30,6 +30,7 @@ namespace objects {
ARDUINO_COM_IF = 0x49000001,
CSP_COM_IF = 0x49000002,
I2C_COM_IF = 0x49000003,
SPI_COM_IF = 0x49000004,
/* 0x47 ('G') for Gpio Interfaces */
GPIO_IF = 0x47000001,
@ -41,10 +42,17 @@ namespace objects {
ACU_HANDLER = 0x44000004,
TMP1075_HANDLER_1 = 0x44000005,
TMP1075_HANDLER_2 = 0x44000006,
MGM_0_LIS3_HANDLER = 0x4400007,
MGM_1_RM3100_HANDLER = 0x44000008,
MGM_2_LIS3_HANDLER = 0x44000009,
MGM_3_RM3100_HANDLER = 0x44000010,
GYRO_0_ADIS_HANDLER = 0x44000011,
GYRO_1_L3G_HANDLER = 0x44000012,
GYRO_2_L3G_HANDLER = 0x44000013,
/* Custom device handler */
PCDU_HANDLER = 0x44000007,
SOLAR_ARRAY_DEPL_HANDLER = 0x44000008,
PCDU_HANDLER = 0x44001000,
SOLAR_ARRAY_DEPL_HANDLER = 0x44001001,
/* 0x54 ('T') for thermal objects */
HEATER_HANDLER = 0x54000003,

133
fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
View File

@ -7,8 +7,8 @@
ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
{
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
@ -30,73 +30,86 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
sif::error << "PollingSequence::initialize has errors!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::error << "PollingSequence::initialize has errors!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
uint32_t length = thisSequence->getPeriodMs();
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
sif::error << "Initialization of GomSpace PST failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Initialization of GomSpace PST failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.5,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.75,
DeviceHandlerIF::PERFORM_OPERATION);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Initialization of ACS Board PST failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}

2
fsfwconfig/pollingsequence/PollingSequenceFactory.h
View File

@ -32,6 +32,8 @@ ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
* blocking calls when requesting data from devices.
*/
ReturnValue_t gomspacePstInit(FixedTimeslotTaskIF *thisSequence);
ReturnValue_t pollingSequenceAcsTest(FixedTimeslotTaskIF* thisSequence);
}

2
tmtc

@ -1 +1 @@
Subproject commit 2b85ece07195ee905c35b35494bc7a86b94335f5
Subproject commit 90c45ea0c77f04677322b3c8c9077db841fc3129