added more spi test code, preprocessor defines

and various bugfixes

bsp_q7s/InitMission.cpp

@@ -137,6 +137,7 @@ void initmission::initTasks() {
 
     //TODO: Add handling of missed deadlines
     /* Polling Sequence Table Default */
+#if Q7S_ADD_SPI_TEST == 0
     FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
             "PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
             missedDeadlineFunc);
@@ -144,6 +145,7 @@ void initmission::initTasks() {
     if (result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
     }
+#endif
 
 #if TE0720 == 0
     FixedTimeslotTaskIF* gomSpacePstTask = factory->
@@ -155,13 +157,20 @@ void initmission::initTasks() {
     }
 #endif
 
-    PeriodicTaskIF* testTask = factory->createPeriodicTask(
-            "GPIOD_TEST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
 #if OBSW_ADD_TEST_CODE == 1
+    PeriodicTaskIF* testTask = factory->createPeriodicTask(
+            "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
     result = testTask->addComponent(objects::TEST_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
     }
+
+#if Q7S_ADD_SPI_TEST == 1
+    result = testTask->addComponent(objects::SPI_TEST);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
+    }
+#endif
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 #if TE0720 == 1 && TEST_LIBGPIOD == 1
     result = testTask->addComponent(objects::LIBGPIOD_TEST);
@@ -178,7 +187,10 @@ void initmission::initTasks() {
 #if TE0720 == 0
     gomSpacePstTask->startTask();
 #endif
+
+#if Q7S_ADD_SPI_TEST == 0
     pollingSequenceTableTaskDefault->startTask();
+#endif
 
     pusVerification->startTask();
     pusEvents->startTask();
@@ -186,6 +198,8 @@ void initmission::initTasks() {
     pusMedPrio->startTask();
     pusLowPrio->startTask();
 
+#if OBSW_ADD_TEST_CODE == 1
     testTask->startTask();
+#endif
     sif::info << "Tasks started.." << std::endl;
 }

bsp_q7s/ObjectFactory.cpp

@@ -51,6 +51,7 @@
 /* UDP server includes */
 #include <fsfw/osal/common/UdpTmTcBridge.h>
 #include <fsfw/osal/common/UdpTcPollingTask.h>
+#include <linux/boardtest/SpiTestClass.h>
 
 #if TEST_LIBGPIOD == 1
 #include <linux/boardtest/LibgpiodTest.h>
@@ -96,7 +97,9 @@ void ObjectFactory::produce(){
     new CspComIF(objects::CSP_COM_IF);
     new I2cComIF(objects::I2C_COM_IF);
     new UartComIF(objects::UART_COM_IF);
+#if Q7S_ADD_SPI_TEST == 0
     new SpiComIF(objects::SPI_COM_IF, gpioComIF);
+#endif
 
     /* Temperature sensors */
     Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
@@ -184,7 +187,7 @@ void ObjectFactory::produce(){
 
     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 MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
+    auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
             objects::SPI_COM_IF, spiCookie);
     mgmLis3Handler2->setStartUpImmediately();
 
@@ -261,6 +264,7 @@ void ObjectFactory::produce(){
             objects::UART_COM_IF, syrlinksUartCookie);
     syrlinksHkHandler->setModeNormal();
 
+#if Q7S_ADD_SPI_TEST == 0
     GpioCookie* rtdGpioCookie = new GpioCookie;
 
     gpioCallbacks::initTcsBoardDecoder(gpioComIF);
@@ -382,6 +386,8 @@ void ObjectFactory::produce(){
     Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0);
 //    rtdIc10->setStartUpImmediately();
 //    rtdIc4->setStartUpImmediately();
+#endif /* Q7S_ADD_SPI_TEST == 0 */
+
 #endif /* TE0720 == 0 */
 
     new UdpTmTcBridge(objects::UDP_BRIDGE,
@@ -404,4 +410,8 @@ void ObjectFactory::produce(){
     new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
             objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
 #endif
+
+#if Q7S_ADD_SPI_TEST == 1
+    new SpiTestClass(objects::SPI_TEST, gpioComIF);
+#endif
 }

bsp_q7s/boardconfig/q7s_config.h

@@ -0,0 +1,11 @@
+#ifndef BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_
+#define BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_
+
+/* Only one of those 2 should be enabled! */
+/* Add code for ACS board */
+#define OBSW_ADD_ACS_BOARD              0
+#define Q7S_ADD_SPI_TEST                1
+
+
+
+#endif /* BSP_Q7S_BOARDCONFIG_Q7S_CONFIG_H_ */

fsfw_hal

@@ -1 +1 @@
-Subproject commit 2fb50360ef8910ed785d31cc4da098a77c26fd81
+Subproject commit 94fcbd587ea9eac76fbe6cbd85e1559c42235ce9

fsfwconfig/OBSWConfig.h

@@ -8,6 +8,8 @@
 
 #ifdef RASPBERRY_PI
 #include <rpi_config.h>
+#elif defined(XIPHOS_Q7S)
+#include <q7s_config.h>
 #endif
 #include "commonConfig.h"
 #include "OBSWVersion.h"
@@ -20,8 +22,6 @@ debugging. */
 #define TEST_LIBGPIOD               0
 
 #define TE0720                      0
-/* Add code for ACS board */
-#define OBSW_ADD_ACS_BOARD          1
 
 #define P60DOCK_DEBUG               0
 #define PDU1_DEBUG                  0

fsfwconfig/objects/systemObjectList.h

@@ -54,7 +54,7 @@ namespace objects {
 		/* Custom device handler */
 		PCDU_HANDLER = 0x44001000,
 		SOLAR_ARRAY_DEPL_HANDLER = 0x44001001,
-		SYRLINKS_HK_HANDLER = 0x44000009,
+		SYRLINKS_HK_HANDLER = 0x44001002,
 
 		/* 0x54 ('T') for thermal objects */
 		HEATER_HANDLER = 0x54000003,

linux/boardtest/SpiTestClass.cpp

@@ -21,11 +21,11 @@
 
 
 SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId),
-        gpioIF(gpioIF) {
+gpioIF(gpioIF) {
     if(gpioIF == nullptr) {
         sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
     }
-    testMode = TestModes::GYRO_L3GD20H;
+    testMode = TestModes::MGM_LIS3MDL;
     spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
     spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
 }
@@ -36,11 +36,11 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
         break;
     }
     case(TestModes::MGM_LIS3MDL): {
-        performLis3MdlTest(mgm0Lis3ChipSelect);
+        performLis3MdlTest(mgm2Lis3mdlChipSelect);
         break;
     }
     case(TestModes::MGM_RM3100): {
-        performRm3100Test(mgm1Rm3100ChipSelect);
+        performRm3100Test(mgm3Rm3100ChipSelect);
         break;
     }
     case(TestModes::GYRO_L3GD20H): {
@@ -78,7 +78,7 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
 #ifdef RASPBERRY_PI
     std::string deviceName = "/dev/spidev0.0";
 #else
-    std::string deviceName = "placeholder";
+    std::string deviceName = "/dev/spidev2.0";
 #endif
     int fileDescriptor = 0;
 
@@ -160,13 +160,14 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
     acsInit();
 
     /* Adapt accordingly */
-    if(lis3Id != mgm0Lis3ChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
+    if(lis3Id != mgm0Lis3mdlChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
         sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
     }
     gpioId_t currentGpioId = 0;
     uint8_t chipSelectPin = lis3Id;
     uint8_t whoAmIReg = 0b0000'1111;
-    if(chipSelectPin == mgm0Lis3ChipSelect) {
+    uint8_t whoAmIRegExpectedVal = 0b0011'1101;
+    if(chipSelectPin == mgm0Lis3mdlChipSelect) {
         currentGpioId = gpioIds::MGM_0_LIS3_CS;
     }
     else {
@@ -177,7 +178,7 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
 #ifdef RASPBERRY_PI
     std::string deviceName = "/dev/spidev0.0";
 #else
-    std::string deviceName = "placeholder";
+    std::string deviceName = "/dev/spidev2.0";
 #endif
     int fileDescriptor = 0;
 
@@ -189,10 +190,15 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
         return;
     }
     setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+    spiTransferStruct.delay_usecs = 0;
 
     uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
     sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" <<
             std::bitset<8>(whoAmIRegVal) << std::endl;
+    if(whoAmIRegVal != whoAmIRegExpectedVal) {
+        sif::warning << "SpiTestClass::performLis3MdlTest: WHO AM I register invalid!"
+                << std::endl;
+    }
 
 }
 
@@ -223,7 +229,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
 #ifdef RASPBERRY_PI
     std::string deviceName = "/dev/spidev0.0";
 #else
-    std::string deviceName = "placeholder";
+    std::string deviceName = "/dev/spidev2.0";
 #endif
     int fileDescriptor = 0;
 
@@ -293,46 +299,73 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
 
 void SpiTestClass::acsInit() {
     GpioCookie* gpioCookie = new GpioCookie();
-    std::string rpiGpioName = "gpiochip0";
     GpiodRegular* gpio = nullptr;
-    {
+#ifdef RASPBERRY_PI
-        gpio = new GpiodRegular(rpiGpioName, mgm0Lis3ChipSelect, "MGM_0_LIS3",
+    std::string rpiGpioName = "gpiochip0";
-                gpio::Direction::OUT, 1);
+    gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
-        gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
+            gpio::Direction::OUT, 1);
-    }
+    gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-    {
+
-        gpio = new GpiodRegular(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
+    gpio = new GpiodRegular(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
-                gpio::Direction::OUT, 1);
+            gpio::Direction::OUT, 1);
-        gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
+    gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
-    }
+
-    {
+    gpio = new GpiodRegular(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
-        gpio = new GpiodRegular(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
+            gpio::Direction::OUT, 1);
-                gpio::Direction::OUT, 1);
+    gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
-        gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
+
-    }
+    gpio = new GpiodRegular(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
-    {
+            gpio::Direction::OUT, 1);
-        gpio = new GpiodRegular(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
+    gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
-                gpio::Direction::OUT, 1);
+
-        gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
+    gpio = new GpiodRegular(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
-    }
+            gpio::Direction::OUT, 1);
-    {
+    gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
-        gpio = new GpiodRegular(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
+
-                gpio::Direction::OUT, 1);
+    gpio = new GpiodRegular(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
-        gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
+            gpio::Direction::OUT, 1);
-    }
+    gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
-    {
+
-        gpio = new GpiodRegular(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
+    gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
-                gpio::Direction::OUT, 1);
+            gpio::Direction::OUT, 1);
-        gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
+    gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
-    }
+}
-    {
+#elif defined(XIPHOS_Q7S)
-        gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
+    std::string q7sGpioName5 = "gpiochip5";
-                gpio::Direction::OUT, 1);
+    std::string q7sGpioName6 = "gpiochip6";
-        gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
+
-    }
+    gpio = new GpiodRegular(q7sGpioName5, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
-    if(gpioIF != nullptr) {
+            gpio::Direction::OUT, gpio::HIGH);
-        gpioIF->addGpios(gpioCookie);
+    gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-    }
+
+    gpio = new GpiodRegular(q7sGpioName5, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
+            gpio::Direction::OUT, gpio::HIGH);
+    gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
+
+    gpio = new GpiodRegular(q7sGpioName5, gyro0AdisChipSelect, "GYRO_0_ADIS",
+            gpio::Direction::OUT, gpio::HIGH);
+    gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
+
+    gpio = new GpiodRegular(q7sGpioName5, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
+            gpio::Direction::OUT, gpio::HIGH);
+    gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
+
+    gpio = new GpiodRegular(q7sGpioName5, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
+            gpio::Direction::OUT, gpio::HIGH);
+    gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
+
+    gpio = new GpiodRegular(q7sGpioName6, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
+            gpio::Direction::OUT, gpio::HIGH);
+    gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
+
+    gpio = new GpiodRegular(q7sGpioName5, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
+            gpio::Direction::OUT, gpio::HIGH);
+    gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
+#endif
+if(gpioIF != nullptr) {
+    gpioIF->addGpios(gpioCookie);
+}
+
 }
 
 void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {

linux/boardtest/SpiTestClass.h

@@ -38,6 +38,7 @@ private:
     void acsInit();
 
     /* ACS board specific variables */
+#ifdef RASPBERRY_PI
     uint8_t mgm0Lis3ChipSelect = 0;
     uint8_t mgm1Rm3100ChipSelect = 1;
     uint8_t gyro0AdisChipSelect = 5;
@@ -45,6 +46,16 @@ private:
     uint8_t gyro2L3gd20ChipSelect = 4;
     uint8_t mgm2Lis3mdlChipSelect = 17;
     uint8_t mgm3Rm3100ChipSelect = 27;
+#elif defined(XIPHOS_Q7S)
+    uint8_t mgm0Lis3mdlChipSelect = 5;
+    uint8_t mgm1Rm3100ChipSelect = 17;
+    uint8_t gyro0AdisResetLin = 20;
+    uint8_t gyro0AdisChipSelect = 21;
+    uint8_t gyro1L3gd20ChipSelect = 7;
+    uint8_t gyro2L3gd20ChipSelect = 3;
+    uint8_t mgm2Lis3mdlChipSelect = 0;
+    uint8_t mgm3Rm3100ChipSelect = 23;
+#endif
 
     static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
     static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;

mission/devices/MGMHandlerLIS3MDL.cpp

@@ -33,8 +33,8 @@ void MGMHandlerLIS3MDL::doStartUp() {
         /* Will be set by checking device ID (WHO AM I register) */
         if(commandExecuted) {
             commandExecuted = false;
+            internalState = InternalState::STATE_SETUP;
         }
-        internalState = InternalState::STATE_SETUP;
         break;
     }
     case(InternalState::STATE_SETUP): {
@@ -463,7 +463,7 @@ void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
 }
 
 uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return 10000;
+    return 20000;
 }
 
 void MGMHandlerLIS3MDL::modeChanged(void) {