Merge remote-tracking branch 'origin/develop' into mueller/heater-health-if
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This commit is contained in:
commit
51466e68d7
3
.gitmodules
vendored
3
.gitmodules
vendored
@ -19,3 +19,6 @@
|
||||
[submodule "thirdparty/json"]
|
||||
path = thirdparty/json
|
||||
url = https://github.com/nlohmann/json.git
|
||||
[submodule "thirdparty/rapidcsv"]
|
||||
path = thirdparty/rapidcsv
|
||||
url = https://github.com/d99kris/rapidcsv.git
|
||||
|
||||
18
CHANGELOG.md
18
CHANGELOG.md
@ -12,6 +12,24 @@ list yields a list of all related PRs for each release.
|
||||
|
||||
# [v1.12.0]
|
||||
|
||||
## Added
|
||||
|
||||
- Adds `HealthIF` to heaters. Heaters are own system object with queues now which allows to set them faulty.
|
||||
- Some simplifications for `HeaterHandler`, use `std::vector` instead of `std::unordered_map` for primary container. Using the heater indexes 0 to 7 allows to use natural array indexing
|
||||
- Some additional input sanity checks in `executeAction`
|
||||
- `RwAssembly` added to system components. Assembly works in principle,
|
||||
issues making 4 consecutives RWs communicate at once..
|
||||
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/224
|
||||
- Adds a yocto helper script which is able to install the release build binaries
|
||||
(OBSW and Watchdog) into the `q7s-yocto` repository as long as the `q7s-package`
|
||||
or `q7s-yocto` repo was cloned in the same directory the EIVE OBSW repo.
|
||||
This makes updating the root filesystem a lot easier. It also creates and installs a
|
||||
version file.
|
||||
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
|
||||
- Create the generic image by default for the Q7S build. The unique binary with the
|
||||
username appended at the end is created as a side-product now
|
||||
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
|
||||
|
||||
## Changed
|
||||
|
||||
- Build unittest as default side product of hosted builds
|
||||
|
||||
@ -275,11 +275,8 @@ add_library(${LIB_EIVE_MISSION})
|
||||
|
||||
# Add main executable
|
||||
add_executable(${OBSW_NAME})
|
||||
if(EIVE_CREATE_UNIQUE_OBSW_BIN)
|
||||
set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME}-$ENV{USERNAME})
|
||||
else()
|
||||
set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
|
||||
endif()
|
||||
set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
|
||||
|
||||
set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})
|
||||
|
||||
# Watchdog
|
||||
@ -311,6 +308,8 @@ if(EIVE_ADD_JSON_LIB)
|
||||
add_subdirectory(${LIB_JSON_PATH})
|
||||
endif()
|
||||
|
||||
add_subdirectory(thirdparty/rapidcsv)
|
||||
|
||||
if(EIVE_ADD_LINUX_FILES)
|
||||
add_subdirectory(${LIB_ARCSEC_PATH})
|
||||
add_subdirectory(${LINUX_PATH})
|
||||
@ -409,6 +408,7 @@ endif()
|
||||
target_link_libraries(${UNITTEST_NAME} PRIVATE
|
||||
Catch2
|
||||
${LIB_EIVE_MISSION}
|
||||
rapidcsv
|
||||
)
|
||||
|
||||
if(TGT_BSP MATCHES "arm/egse")
|
||||
|
||||
119
README.md
119
README.md
@ -70,8 +70,9 @@ prerequisites.
|
||||
## Building the OBSW and flashing it on the Q7S
|
||||
|
||||
1. ARM cross-compiler installed, either as part of [Vivado 2018.2 installation](#vivado) or
|
||||
as a [separate download](#arm-toolchain)
|
||||
2. [Q7S sysroot](#sysroot) on local development machine
|
||||
as a [separate download](#arm-toolchain). The Xiphos SDK also installs a cross-compiler,
|
||||
but its version is currently too old to compile the OBSW (7.3.0).
|
||||
2. [Q7S sysroot](#sysroot) on local development machine. It is installed by the Xiphos SDK
|
||||
3. Recommended: Eclipse or [Vivado 2018.2 SDK](#vivado) for OBSW development
|
||||
3. [TCF agent](https://wiki.eclipse.org/TCF) running on Q7S
|
||||
|
||||
@ -88,7 +89,7 @@ When using Windows, run theses steps in MSYS2.
|
||||
1. Clone the repository with
|
||||
|
||||
```sh
|
||||
git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
|
||||
git clone https://egit.irs.uni-stuttgart.de/eive/eive-obsw.git
|
||||
```
|
||||
|
||||
2. Update all the submodules
|
||||
@ -143,7 +144,7 @@ When using Windows, run theses steps in MSYS2.
|
||||
|
||||
There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
|
||||
or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`.
|
||||
|
||||
|
||||
5. Build the software with
|
||||
|
||||
```sh
|
||||
@ -151,6 +152,53 @@ When using Windows, run theses steps in MSYS2.
|
||||
cmake --build . -j
|
||||
```
|
||||
|
||||
## Build for the Q7S target root filesystem with `yocto`
|
||||
|
||||
The EIVE root filesystem will contain the EIVE OBSW and the Watchdog component.
|
||||
It is currently generated with `yocto`, but the tool can not compile the primary
|
||||
OBSW due to toolchain version incompatibility. Therefore, the OBSW components
|
||||
are currently compiled using the toolchain specified in this README (e.g. installed by Vivado).
|
||||
|
||||
However, it is still possible to install the two components using yocto. A few helper files were
|
||||
provided to make this process easier. The following steps can be used to install the OBSW
|
||||
components and a version file to the yocto sources for the generation of the complete EIVE root
|
||||
file system image. The steps here are shown for Ubuntu, you can use the according Windows
|
||||
helper scripts as well.
|
||||
|
||||
1. Copy the `q7s-env.sh` script to the same layer as the `eive-obsw`.
|
||||
|
||||
```sh
|
||||
cp scripts/q7s-env.sh ..
|
||||
cd ..
|
||||
./q7s-env.sh
|
||||
q7s-make-release.sh
|
||||
```
|
||||
|
||||
2. Compile the OBSW components in release mode
|
||||
|
||||
```sh
|
||||
cd cmake-build-release-q7s
|
||||
cmake --build . -j
|
||||
```
|
||||
|
||||
3. Make sure the [`q7s-yocto`](https://egit.irs.uni-stuttgart.de/eive/q7s-yocto)
|
||||
repository or the [`q7s-package`](https://egit.irs.uni-stuttgart.de/eive/q7s-package.git)
|
||||
repository and its `q7s-yocto` submodule were cloned in the same directory layer as
|
||||
the `eive-obsw`.
|
||||
|
||||
4. Run the install script to install the files into `q7s-yocto`.
|
||||
|
||||
```sh
|
||||
install-obsw-yocto.sh
|
||||
```
|
||||
|
||||
5. Navigate into the `q7s-yocto` repo and review the changes. You can then add and push those
|
||||
changes.
|
||||
|
||||
6. You can now rebuild the root filesystem with the updated OBSW using `yocto`. This probably needs
|
||||
to be done on another machine or in a VM. The [`q7s-yocto`](https://egit.irs.uni-stuttgart.de/eive/q7s-yocto)
|
||||
repository contains details on how to best do this.
|
||||
|
||||
## Building in Xilinx SDK 2018.2
|
||||
|
||||
1. Open Xilinx SDK 2018.2
|
||||
@ -326,7 +374,7 @@ If you are comiling for the Raspberry Pi, you have to set the `LINUX_ROOTFS` env
|
||||
variable instead. You can find a base root filesystem for the Raspberry Pi
|
||||
[here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs).
|
||||
|
||||
## <a id="vivado"></a> Installing Vivado the the Xilinx development tools
|
||||
## <a id="vivado"></a> Installing Vivado and the Xilinx development tools
|
||||
|
||||
It's also possible to perform debugging with a normal Eclipse installation by installing
|
||||
the TCF plugin and downloading the cross-compiler as specified in the section below. However,
|
||||
@ -342,9 +390,9 @@ installed Vivado with the SDK core tools.
|
||||
|
||||
<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/vivado-edition.png" width="50%"> <br>
|
||||
|
||||
<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/mueller/master/doc/img/vivado-hl-design.png" width="50%"> <br>
|
||||
<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/vivado-hl-design.png" width="50%"> <br>
|
||||
|
||||
<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/mueller/master/doc/img/xilinx-install.PNG" width="50%"> <br>
|
||||
<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/xilinx-install.PNG" width="50%"> <br>
|
||||
|
||||
* For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf .
|
||||
Installation was tested on Windows and Ubuntu 21.04.
|
||||
@ -661,35 +709,7 @@ Thus the replies are received with a larger delay compared to a direct TCP conne
|
||||
3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
|
||||
* When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation
|
||||
is 192.168.133.2
|
||||
|
||||
4. Run tcf-agent on Q7S
|
||||
|
||||
* Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
|
||||
|
||||
```sh
|
||||
git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
|
||||
cd org.eclipse.tcf.agent/agent
|
||||
make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
|
||||
```
|
||||
|
||||
* Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
|
||||
|
||||
```sh
|
||||
cd obj/GNU/Linux/arm/Debug
|
||||
scp agent root@192.168.133.10:/tmp
|
||||
```
|
||||
|
||||
* On Q7S
|
||||
```sh
|
||||
cd /tmp
|
||||
chmod +x agent
|
||||
```
|
||||
|
||||
* Run agent
|
||||
```sh
|
||||
./agent
|
||||
```
|
||||
|
||||
4. Make sure th `tcf-agent` is running by checking `systemctl status tcf-agent`
|
||||
5. In Xilinx SDK 2018.2 right click on project → Debug As → Debug Configurations
|
||||
6. Right click Xilinx C/C++ applicaton (System Debugger) → New →
|
||||
7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
|
||||
@ -699,8 +719,8 @@ Thus the replies are received with a larger delay compared to a direct TCP conne
|
||||
11. Test connection (This ensures the TCF Agent is running on the Q7S)
|
||||
12. Select Application tab
|
||||
* Project Name: eive_obsw
|
||||
* Local File Path: Path to eiveobsw-linux.elf (in `_bin\linux\devel`)
|
||||
* Remote File Path: `/tmp/eive_obsw.elf`
|
||||
* Local File Path: Path to OBSW application image with debug symbols (non-stripped)
|
||||
* Remote File Path: `/tmp/<OBSW NAME>`
|
||||
|
||||
# <a id="file-transfer"></a> Transfering Files to the Q7S
|
||||
|
||||
@ -726,7 +746,8 @@ From a windows machine files can be copied with putty tools (note: use IPv4 addr
|
||||
pscp -scp -P 22 eive@192.168.199.227:</directory-to-example-file/>/example-file </windows-machine-path/>
|
||||
````
|
||||
|
||||
More detailed information about the used q7s commands can be found in the Q7S user manual.
|
||||
A helper script named `q7s-cp.py` can be used together with the `q7s-port.sh`
|
||||
script to make this process easier.
|
||||
|
||||
# <a id="q7s"></a> Q7S OBC
|
||||
|
||||
@ -1106,16 +1127,28 @@ Eclipse indexer.
|
||||
|
||||
The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debugging on the Q7S.
|
||||
|
||||
1. Install the TCF agent plugin in Eclipse from
|
||||
1. Copy the `.cproject` file and the `.project` file inside the `misc/eclipse` folder into the
|
||||
repo root
|
||||
|
||||
```sh
|
||||
cd eive-obsw
|
||||
cp misc/eclipse/.cproject .
|
||||
cp misc/eclipse/.project .
|
||||
```
|
||||
|
||||
2. Open the repo in Eclipse as a folder.
|
||||
|
||||
3. Install the TCF agent plugin in Eclipse from
|
||||
the [releases](https://www.eclipse.org/tcf/downloads.php). Go to
|
||||
Help → Install New Software and use the download page, for
|
||||
example https://download.eclipse.org/tools/tcf/releases/1.7/1.7.0/ to search for the plugin and install it. You can find the newest version [here](https://www.eclipse.org/tcf/downloads.php)
|
||||
example https://download.eclipse.org/tools/tcf/releases/1.7/1.7.0/ to search for the plugin and
|
||||
install it. You can find the newest version [here](https://www.eclipse.org/tcf/downloads.php)
|
||||
|
||||
2. Go to Window → Perspective → Open Perspective and open the **Target Explorer Perspective**.
|
||||
4. Go to Window → Perspective → Open Perspective and open the **Target Explorer Perspective**.
|
||||
Here, the Q7S should show up if the local port forwarding was set up as explained previously.
|
||||
Please note that you have to connect to `localhost` and port `1534` with port forwaring set up.
|
||||
|
||||
3. A launch configuration was provided, but it might be necessary to adapt it for your own needs.
|
||||
5. A launch configuration was provided, but it might be necessary to adapt it for your own needs.
|
||||
Alternatively:
|
||||
|
||||
- Create a new **TCF Remote Application** by pressing the cogs button at the top or going to
|
||||
|
||||
@ -131,6 +131,7 @@ void initmission::initTasks() {
|
||||
|
||||
PeriodicTaskIF* testTask = factory->createPeriodicTask(
|
||||
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
static_cast<void>(testTask);
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
result = testTask->addComponent(objects::TEST_TASK);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
|
||||
@ -25,7 +25,9 @@ add_subdirectory(core)
|
||||
if(EIVE_Q7S_EM)
|
||||
add_subdirectory(em)
|
||||
else()
|
||||
add_subdirectory(fm)
|
||||
target_sources(${OBSW_NAME} PUBLIC
|
||||
fmObjectFactory.cpp
|
||||
)
|
||||
endif()
|
||||
|
||||
add_subdirectory(memory)
|
||||
|
||||
@ -34,5 +34,6 @@ SOFTWARE.
|
||||
|
||||
#define ETL_CPP11_SUPPORTED 1
|
||||
#define ETL_NO_NULLPTR_SUPPORT 0
|
||||
#define ETL_HAS_ERROR_ON_STRING_TRUNCATION 1
|
||||
|
||||
#endif
|
||||
|
||||
@ -48,7 +48,7 @@ void q7s::gpioCallbacks::initSpiCsDecoder(GpioIF* gpioComIF) {
|
||||
|
||||
result = gpioComIF->addGpios(spiMuxGpios);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
|
||||
sif::error << "initSpiCsDecoder: Failed to add SPI MUX bit GPIOs" << std::endl;
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,5 +1,7 @@
|
||||
#include "rwSpiCallback.h"
|
||||
|
||||
#include <fsfw/timemanager/Stopwatch.h>
|
||||
|
||||
#include "devices/gpioIds.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
#include "fsfw_hal/linux/UnixFileGuard.h"
|
||||
@ -8,8 +10,25 @@
|
||||
|
||||
namespace rwSpiCallback {
|
||||
|
||||
namespace {
|
||||
static bool MODE_SET = false;
|
||||
|
||||
ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
|
||||
MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
|
||||
int& fd);
|
||||
/**
|
||||
* @brief This function closes a spi session. Pulls the chip select to high an releases the
|
||||
* mutex.
|
||||
* @param gpioId Gpio ID of chip select
|
||||
* @param gpioIF Pointer to gpio interface to drive the chip select
|
||||
* @param mutex The spi mutex
|
||||
*/
|
||||
void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
|
||||
} // namespace
|
||||
|
||||
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
|
||||
size_t sendLen, void* args) {
|
||||
// Stopwatch watch;
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
|
||||
RwHandler* handler = reinterpret_cast<RwHandler*>(args);
|
||||
@ -18,7 +37,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
uint8_t writeBuffer[2];
|
||||
uint8_t writeBuffer[2] = {};
|
||||
uint8_t writeSize = 0;
|
||||
|
||||
gpioId_t gpioId = cookie->getChipSelectPin();
|
||||
@ -32,37 +51,30 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
}
|
||||
|
||||
int fileDescriptor = 0;
|
||||
std::string device = cookie->getSpiDevice();
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
|
||||
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
|
||||
return SpiComIF::OPENING_FILE_FAILED;
|
||||
}
|
||||
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
||||
uint32_t spiSpeed = 0;
|
||||
cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
|
||||
comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
||||
|
||||
result = mutex->lockMutex(timeoutType, timeoutMs);
|
||||
const std::string& dev = comIf->getSpiDev();
|
||||
result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
|
||||
return result;
|
||||
}
|
||||
|
||||
/** Sending frame start sign */
|
||||
writeBuffer[0] = 0x7E;
|
||||
writeSize = 1;
|
||||
|
||||
// Pull SPI CS low. For now, no support for active high given
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
if (gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
|
||||
}
|
||||
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
||||
uint32_t spiSpeed = 0;
|
||||
cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
|
||||
// We are in protected section, so we can use the static variable here without issues.
|
||||
// We don't need to set the speed because a SPI core is used, but the mode has to be set once
|
||||
// correctly for all RWs
|
||||
if (not MODE_SET) {
|
||||
comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
||||
MODE_SET = true;
|
||||
}
|
||||
|
||||
/** Sending frame start sign */
|
||||
writeBuffer[0] = FLAG_BYTE;
|
||||
writeSize = 1;
|
||||
|
||||
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
return RwHandler::SPI_WRITE_FAILURE;
|
||||
}
|
||||
|
||||
@ -87,33 +99,39 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
}
|
||||
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
return RwHandler::SPI_WRITE_FAILURE;
|
||||
}
|
||||
idx++;
|
||||
}
|
||||
|
||||
/** Sending frame end sign */
|
||||
writeBuffer[0] = 0x7E;
|
||||
writeBuffer[0] = FLAG_BYTE;
|
||||
writeSize = 1;
|
||||
|
||||
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
return RwHandler::SPI_WRITE_FAILURE;
|
||||
}
|
||||
|
||||
uint8_t* rxBuf = nullptr;
|
||||
result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
return result;
|
||||
}
|
||||
|
||||
size_t replyBufferSize = cookie->getMaxBufferSize();
|
||||
|
||||
/** There must be a delay of at least 20 ms after sending the command */
|
||||
// There must be a delay of at least 20 ms after sending the command.
|
||||
// Delay for 70 ms here and release the SPI bus for that duration.
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
usleep(RwDefinitions::SPI_REPLY_DELAY);
|
||||
result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* The reaction wheel responds with empty frames while preparing the reply data.
|
||||
@ -123,13 +141,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
for (int idx = 0; idx < 10; idx++) {
|
||||
if (read(fileDescriptor, &byteRead, 1) != 1) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
return RwHandler::SPI_READ_FAILURE;
|
||||
}
|
||||
if (idx == 0) {
|
||||
if (byteRead != FLAG_BYTE) {
|
||||
sif::error << "Invalid data, expected start marker" << std::endl;
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
return RwHandler::NO_START_MARKER;
|
||||
}
|
||||
}
|
||||
@ -140,7 +158,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
|
||||
if (idx == 9) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
return RwHandler::NO_REPLY;
|
||||
}
|
||||
}
|
||||
@ -180,7 +198,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
continue;
|
||||
} else {
|
||||
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
result = RwHandler::INVALID_SUBSTITUTE;
|
||||
break;
|
||||
}
|
||||
@ -201,8 +219,9 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
result = RwHandler::SPI_READ_FAILURE;
|
||||
break;
|
||||
}
|
||||
if (byteRead != 0x7E) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
|
||||
if (byteRead != FLAG_BYTE) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
|
||||
<< std::endl;
|
||||
decodedFrameLen--;
|
||||
result = RwHandler::MISSING_END_SIGN;
|
||||
break;
|
||||
@ -213,12 +232,40 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
|
||||
cookie->setTransferSize(decodedFrameLen);
|
||||
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
|
||||
namespace {
|
||||
|
||||
ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
|
||||
MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
|
||||
int& fd) {
|
||||
ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
|
||||
return result;
|
||||
}
|
||||
|
||||
fd = open(devname.c_str(), flags);
|
||||
if (fd < 0) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
|
||||
return SpiComIF::OPENING_FILE_FAILED;
|
||||
}
|
||||
|
||||
// Pull SPI CS low. For now, no support for active high given
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
result = gpioIF->pullLow(gpioId);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
|
||||
return result;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
|
||||
close(fd);
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
|
||||
@ -229,4 +276,7 @@ void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
|
||||
;
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
} // namespace rwSpiCallback
|
||||
|
||||
@ -33,14 +33,5 @@ static constexpr uint8_t FLAG_BYTE = 0x7E;
|
||||
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
|
||||
size_t sendLen, void* args);
|
||||
|
||||
/**
|
||||
* @brief This function closes a spi session. Pulls the chip select to high an releases the
|
||||
* mutex.
|
||||
* @param gpioId Gpio ID of chip select
|
||||
* @param gpioIF Pointer to gpio interface to drive the chip select
|
||||
* @param mutex The spi mutex
|
||||
*/
|
||||
void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
|
||||
|
||||
} // namespace rwSpiCallback
|
||||
#endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */
|
||||
|
||||
@ -1,6 +1,7 @@
|
||||
target_sources(${OBSW_NAME} PRIVATE
|
||||
CoreController.cpp
|
||||
InitMission.cpp
|
||||
ObjectFactory.cpp
|
||||
)
|
||||
|
||||
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
|
||||
|
||||
@ -138,6 +138,12 @@ void initmission::initTasks() {
|
||||
initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
|
||||
}
|
||||
#endif /* OBSW_ADD_ACS_HANDLERS */
|
||||
#if OBSW_ADD_RW == 1
|
||||
result = sysTask->addComponent(objects::RW_ASS);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_SUS_BOARD_ASS == 1
|
||||
result = sysTask->addComponent(objects::SUS_BOARD_ASS);
|
||||
@ -266,7 +272,7 @@ void initmission::createPstTasks(TaskFactory& factory,
|
||||
/* Polling Sequence Table Default */
|
||||
#if OBSW_ADD_SPI_TEST_CODE == 0
|
||||
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
|
||||
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
|
||||
"MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
|
||||
result = pst::pstSpi(spiPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
@ -279,8 +285,23 @@ void initmission::createPstTasks(TaskFactory& factory,
|
||||
}
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_RW == 1
|
||||
FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
|
||||
"RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
|
||||
result = pst::pstSpiRw(rwPstTask);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
|
||||
} else {
|
||||
sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
|
||||
}
|
||||
} else {
|
||||
taskVec.push_back(rwPstTask);
|
||||
}
|
||||
#endif
|
||||
|
||||
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
|
||||
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
|
||||
"UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
|
||||
result = pst::pstUart(uartPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
@ -293,7 +314,7 @@ void initmission::createPstTasks(TaskFactory& factory,
|
||||
}
|
||||
|
||||
FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
|
||||
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
|
||||
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
|
||||
result = pst::pstGpio(gpioPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
@ -306,7 +327,7 @@ void initmission::createPstTasks(TaskFactory& factory,
|
||||
}
|
||||
#if OBSW_ADD_I2C_TEST_CODE == 0
|
||||
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
|
||||
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
|
||||
"I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
|
||||
result = pst::pstI2c(i2cPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
|
||||
@ -1,5 +1,4 @@
|
||||
#include <mission/system/fdir/GomspacePowerFdir.h>
|
||||
#include <mission/system/fdir/SyrlinksFdir.h>
|
||||
#include "ObjectFactory.h"
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "bsp_q7s/boardtest/Q7STestTask.h"
|
||||
@ -8,7 +7,6 @@
|
||||
#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
|
||||
#include "bsp_q7s/callbacks/rwSpiCallback.h"
|
||||
#include "bsp_q7s/core/CoreController.h"
|
||||
#include "bsp_q7s/core/ObjectFactory.h"
|
||||
#include "bsp_q7s/memory/FileSystemHandler.h"
|
||||
#include "busConf.h"
|
||||
#include "ccsdsConfig.h"
|
||||
@ -38,9 +36,12 @@
|
||||
#include "linux/obc/PdecHandler.h"
|
||||
#include "linux/obc/Ptme.h"
|
||||
#include "linux/obc/PtmeConfig.h"
|
||||
#include "mission/system/RwAssembly.h"
|
||||
#include "mission/system/fdir/AcsBoardFdir.h"
|
||||
#include "mission/system/fdir/GomspacePowerFdir.h"
|
||||
#include "mission/system/fdir/RtdFdir.h"
|
||||
#include "mission/system/fdir/SusFdir.h"
|
||||
#include "mission/system/fdir/SyrlinksFdir.h"
|
||||
#include "tmtc/apid.h"
|
||||
#include "tmtc/pusIds.h"
|
||||
#if OBSW_TEST_LIBGPIOD == 1
|
||||
@ -91,11 +92,10 @@
|
||||
#include "mission/tmtc/CCSDSHandler.h"
|
||||
#include "mission/tmtc/VirtualChannel.h"
|
||||
#include "mission/utility/TmFunnel.h"
|
||||
|
||||
ResetArgs resetArgsGnss0;
|
||||
ResetArgs resetArgsGnss1;
|
||||
|
||||
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
@ -119,88 +119,7 @@ void Factory::setStaticFrameworkObjectIds() {
|
||||
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
|
||||
}
|
||||
|
||||
void ObjectFactory::produce(void* args) {
|
||||
ObjectFactory::setStatics();
|
||||
HealthTableIF* healthTable = nullptr;
|
||||
ObjectFactory::produceGenericObjects(&healthTable);
|
||||
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
UartComIF* uartComIF = nullptr;
|
||||
SpiComIF* spiComIF = nullptr;
|
||||
I2cComIF* i2cComIF = nullptr;
|
||||
PowerSwitchIF* pwrSwitcher = nullptr;
|
||||
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
|
||||
createTmpComponents();
|
||||
new CoreController(objects::CORE_CONTROLLER);
|
||||
|
||||
gpioCallbacks::disableAllDecoder(gpioComIF);
|
||||
createPcduComponents(gpioComIF, &pwrSwitcher);
|
||||
createRadSensorComponent(gpioComIF);
|
||||
createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
|
||||
#endif
|
||||
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
|
||||
|
||||
createSolarArrayDeploymentComponents();
|
||||
createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
|
||||
#if OBSW_ADD_SYRLINKS == 1
|
||||
createSyrlinksComponents(pwrSwitcher);
|
||||
#endif /* OBSW_ADD_SYRLINKS == 1 */
|
||||
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
|
||||
createPayloadComponents(gpioComIF);
|
||||
|
||||
#if OBSW_ADD_MGT == 1
|
||||
I2cCookie* imtqI2cCookie =
|
||||
new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
|
||||
auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
|
||||
pcdu::Switches::PDU1_CH3_MGT_5V);
|
||||
imtqHandler->setPowerSwitcher(pwrSwitcher);
|
||||
static_cast<void>(imtqHandler);
|
||||
#if OBSW_TEST_IMTQ == 1
|
||||
imtqHandler->setStartUpImmediately();
|
||||
imtqHandler->setToGoToNormal(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_IMTQ == 1
|
||||
imtqHandler->setDebugMode(true);
|
||||
#endif
|
||||
#endif
|
||||
createReactionWheelComponents(gpioComIF);
|
||||
|
||||
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
|
||||
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
|
||||
BpxBatteryHandler* bpxHandler =
|
||||
new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
|
||||
bpxHandler->setStartUpImmediately();
|
||||
bpxHandler->setToGoToNormalMode(true);
|
||||
#if OBSW_DEBUG_BPX_BATT == 1
|
||||
bpxHandler->setDebugMode(true);
|
||||
#endif
|
||||
#endif
|
||||
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
|
||||
|
||||
#if OBSW_ADD_STAR_TRACKER == 1
|
||||
UartCookie* starTrackerCookie =
|
||||
new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
|
||||
startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
|
||||
starTrackerCookie->setNoFixedSizeReply();
|
||||
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
|
||||
auto starTracker =
|
||||
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
|
||||
strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
|
||||
starTracker->setPowerSwitcher(pwrSwitcher);
|
||||
|
||||
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
|
||||
#if OBSW_USE_CCSDS_IP_CORE == 1
|
||||
createCcsdsComponents(gpioComIF);
|
||||
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
|
||||
/* Test Task */
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
createTestComponents(gpioComIF);
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
|
||||
}
|
||||
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
|
||||
|
||||
void ObjectFactory::createTmpComponents() {
|
||||
I2cCookie* i2cCookieTmp1075tcs1 =
|
||||
@ -218,8 +137,10 @@ void ObjectFactory::createTmpComponents() {
|
||||
}
|
||||
|
||||
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
|
||||
SpiComIF** spiComIF, I2cComIF** i2cComIF) {
|
||||
if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
|
||||
SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
|
||||
SpiComIF** spiRWComIF) {
|
||||
if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
|
||||
spiRWComIF == nullptr) {
|
||||
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
|
||||
<< std::endl;
|
||||
}
|
||||
@ -229,8 +150,8 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
|
||||
new CspComIF(objects::CSP_COM_IF);
|
||||
*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
|
||||
*uartComIF = new UartComIF(objects::UART_COM_IF);
|
||||
*spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
|
||||
|
||||
*spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, *gpioComIF);
|
||||
*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, *gpioComIF);
|
||||
/* Adding gpios for chip select decoding to the gpioComIf */
|
||||
q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
|
||||
}
|
||||
@ -288,12 +209,12 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
|
||||
gpioComIF->addGpios(gpioCookieRadSensor);
|
||||
gpioChecker(gpioComIF->addGpios(gpioCookieRadSensor), "RAD sensor");
|
||||
|
||||
SpiCookie* spiCookieRadSensor = new SpiCookie(
|
||||
addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
|
||||
RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
|
||||
auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF,
|
||||
SpiCookie* spiCookieRadSensor =
|
||||
new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
|
||||
spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
|
||||
auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
|
||||
spiCookieRadSensor, gpioComIF);
|
||||
static_cast<void>(radSensor);
|
||||
// The radiation sensor ADC is powered by the 5V stack connector which should always be on
|
||||
@ -404,16 +325,16 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
|
||||
gpioComIF->addGpios(gpioCookieAcsBoard);
|
||||
gpioChecker(gpioComIF->addGpios(gpioCookieAcsBoard), "ACS Board");
|
||||
AcsBoardFdir* fdir = nullptr;
|
||||
static_cast<void>(fdir);
|
||||
|
||||
#if OBSW_ADD_ACS_HANDLERS == 1
|
||||
std::string spiDev = q7s::SPI_DEFAULT_DEV;
|
||||
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,
|
||||
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
|
||||
spiCookie, spi::LIS3_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
|
||||
mgmLis3Handler->setCustomFdir(fdir);
|
||||
@ -426,10 +347,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
|
||||
#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, spi::RM3100_TRANSITION_DELAY);
|
||||
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
auto mgmRm3100Handler =
|
||||
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
|
||||
spi::RM3100_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
|
||||
mgmRm3100Handler->setCustomFdir(fdir);
|
||||
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
|
||||
@ -442,9 +364,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
|
||||
#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,
|
||||
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
|
||||
spiCookie, spi::LIS3_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
|
||||
mgmLis3Handler->setCustomFdir(fdir);
|
||||
@ -458,9 +380,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
|
||||
#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,
|
||||
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF,
|
||||
spiCookie, spi::RM3100_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
|
||||
mgmRm3100Handler->setCustomFdir(fdir);
|
||||
@ -474,11 +396,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
#endif
|
||||
// Commented until ACS board V2 in in clean room again
|
||||
// Gyro 0 Side A
|
||||
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
|
||||
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
||||
spi::DEFAULT_ADIS16507_SPEED);
|
||||
auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, ADIS1650X::Type::ADIS16505);
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
|
||||
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
|
||||
auto adisHandler =
|
||||
new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
|
||||
ADIS1650X::Type::ADIS16505);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
|
||||
adisHandler->setCustomFdir(fdir);
|
||||
adisHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
@ -491,11 +414,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
adisHandler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
// Gyro 1 Side A
|
||||
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, spi::L3G_TRANSITION_DELAY);
|
||||
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
auto gyroL3gHandler = new GyroHandlerL3GD20H(
|
||||
objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
|
||||
gyroL3gHandler->setCustomFdir(fdir);
|
||||
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
@ -508,10 +430,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
// Gyro 2 Side B
|
||||
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
|
||||
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
||||
spi::DEFAULT_ADIS16507_SPEED);
|
||||
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
|
||||
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
|
||||
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
|
||||
spiCookie, ADIS1650X::Type::ADIS16505);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
|
||||
adisHandler->setCustomFdir(fdir);
|
||||
@ -521,10 +443,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
adisHandler->setToGoToNormalModeImmediately();
|
||||
#endif
|
||||
// Gyro 3 Side B
|
||||
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 = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF,
|
||||
spiCookie, spi::L3G_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
|
||||
gyroL3gHandler->setCustomFdir(fdir);
|
||||
@ -664,7 +585,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
consumer.str(), Direction::OUT, Levels::HIGH);
|
||||
auto mpsocGpioCookie = new GpioCookie;
|
||||
mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
|
||||
gpioComIF->addGpios(mpsocGpioCookie);
|
||||
gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
|
||||
auto mpsocCookie =
|
||||
new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
|
||||
mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
|
||||
@ -693,7 +614,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
static_cast<void>(consumer);
|
||||
}
|
||||
|
||||
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
|
||||
PowerSwitchIF* pwrSwitcher) {
|
||||
using namespace gpio;
|
||||
GpioCookie* gpioCookieRw = new GpioCookie;
|
||||
GpioCallback* csRw1 =
|
||||
@ -735,50 +657,38 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookieRw);
|
||||
gpioChecker(gpioComIF->addGpios(gpioCookieRw), "RWs");
|
||||
|
||||
#if OBSW_ADD_RW == 1
|
||||
auto rw1SpiCookie =
|
||||
new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw2SpiCookie =
|
||||
new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw3SpiCookie =
|
||||
new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw4SpiCookie =
|
||||
new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
std::array<std::pair<address_t, gpioId_t>, 4> rwCookieParams = {
|
||||
{{addresses::RW1, gpioIds::CS_RW1},
|
||||
{addresses::RW2, gpioIds::CS_RW2},
|
||||
{addresses::RW3, gpioIds::CS_RW3},
|
||||
{addresses::RW4, gpioIds::CS_RW4}}};
|
||||
std::array<SpiCookie*, 4> rwCookies = {};
|
||||
std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
|
||||
std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
|
||||
gpioIds::EN_RW4};
|
||||
std::array<RwHandler*, 4> rws = {};
|
||||
for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
|
||||
rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
|
||||
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
|
||||
&rwSpiCallback::spiCallback, nullptr);
|
||||
rws[idx] = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
|
||||
rwGpioIds[idx]);
|
||||
rwCookies[idx]->setCallbackArgs(rws[idx]);
|
||||
#if OBSW_TEST_RW == 1
|
||||
rws[idx]->setStartUpImmediately();
|
||||
#endif
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rws[idx]->setDebugMode(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
auto rwHandler1 =
|
||||
new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
|
||||
rw1SpiCookie->setCallbackArgs(rwHandler1);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler1->setStartUpImmediately();
|
||||
rwHandler1->setDebugMode(true);
|
||||
#endif
|
||||
auto rwHandler2 =
|
||||
new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
|
||||
rw2SpiCookie->setCallbackArgs(rwHandler2);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler2->setStartUpImmediately();
|
||||
rwHandler2->setDebugMode(true);
|
||||
#endif
|
||||
auto rwHandler3 =
|
||||
new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
|
||||
rw3SpiCookie->setCallbackArgs(rwHandler3);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler3->setStartUpImmediately();
|
||||
rwHandler3->setDebugMode(true);
|
||||
#endif
|
||||
auto rwHandler4 =
|
||||
new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
|
||||
rw4SpiCookie->setCallbackArgs(rwHandler4);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler4->setStartUpImmediately();
|
||||
rwHandler4->setDebugMode(true);
|
||||
#endif
|
||||
RwHelper rwHelper(rwIds);
|
||||
auto* rwAss = new RwAssembly(objects::RW_ASS, objects::NO_OBJECT, pwrSwitcher,
|
||||
pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
|
||||
static_cast<void>(rwAss);
|
||||
#endif /* OBSW_ADD_RW == 1 */
|
||||
}
|
||||
|
||||
@ -817,7 +727,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookiePtmeIp);
|
||||
gpioChecker(gpioComIF->addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
|
||||
|
||||
// Creating virtual channel interfaces
|
||||
VcInterfaceIF* vc0 =
|
||||
@ -871,7 +781,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
Levels::LOW);
|
||||
gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookiePdec);
|
||||
gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");
|
||||
|
||||
new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
|
||||
q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
|
||||
@ -892,7 +802,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioRS485Chip);
|
||||
gpioChecker(gpioComIF->addGpios(gpioRS485Chip), "RS485 Transceiver");
|
||||
}
|
||||
|
||||
void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
|
||||
@ -937,14 +847,14 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, Direction::OUT,
|
||||
gpio::Levels::HIGH);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
|
||||
gpioComIF->addGpios(plPcduGpios);
|
||||
SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS,
|
||||
q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
|
||||
spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
|
||||
gpioChecker(gpioComIF->addGpios(plPcduGpios), "PL PCDU");
|
||||
SpiCookie* spiCookie =
|
||||
new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, plpcdu::MAX_ADC_REPLY_SIZE,
|
||||
spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
|
||||
// Create device handler components
|
||||
auto plPcduHandler = new PayloadPcduHandler(
|
||||
objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF, SdCardManager::instance(),
|
||||
pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
|
||||
objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, gpioComIF,
|
||||
SdCardManager::instance(), pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
|
||||
pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
|
||||
spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
|
||||
// plPcduHandler->enablePeriodicPrintout(true, 5);
|
||||
@ -971,6 +881,50 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
|
||||
UartCookie* starTrackerCookie =
|
||||
new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
|
||||
startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
|
||||
starTrackerCookie->setNoFixedSizeReply();
|
||||
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
|
||||
auto starTracker =
|
||||
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
|
||||
strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
|
||||
starTracker->setPowerSwitcher(pwrSwitcher);
|
||||
}
|
||||
|
||||
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
|
||||
I2cCookie* imtqI2cCookie =
|
||||
new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
|
||||
auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
|
||||
pcdu::Switches::PDU1_CH3_MGT_5V);
|
||||
imtqHandler->setPowerSwitcher(pwrSwitcher);
|
||||
static_cast<void>(imtqHandler);
|
||||
#if OBSW_TEST_IMTQ == 1
|
||||
imtqHandler->setStartUpImmediately();
|
||||
imtqHandler->setToGoToNormal(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_IMTQ == 1
|
||||
imtqHandler->setDebugMode(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createBpxBatteryComponent() {
|
||||
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
|
||||
BpxBatteryHandler* bpxHandler =
|
||||
new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
|
||||
bpxHandler->setStartUpImmediately();
|
||||
bpxHandler->setToGoToNormalMode(true);
|
||||
#if OBSW_DEBUG_BPX_BATT == 1
|
||||
bpxHandler->setDebugMode(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createMiscComponents() {
|
||||
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
|
||||
new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
|
||||
}
|
||||
|
||||
void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
|
||||
CommandMessage msg;
|
||||
ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
|
||||
@ -1,6 +1,10 @@
|
||||
#ifndef BSP_Q7S_OBJECTFACTORY_H_
|
||||
#define BSP_Q7S_OBJECTFACTORY_H_
|
||||
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
#include <string>
|
||||
|
||||
class LinuxLibgpioIF;
|
||||
class UartComIF;
|
||||
class SpiComIF;
|
||||
@ -16,7 +20,8 @@ void setStatics();
|
||||
void produce(void* args);
|
||||
|
||||
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
|
||||
SpiComIF** spiComIF, I2cComIF** i2cComIF);
|
||||
SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
|
||||
SpiComIF** spiRwComIF);
|
||||
void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
|
||||
void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
|
||||
PowerSwitchIF* pwrSwitcher);
|
||||
@ -24,12 +29,21 @@ void createTmpComponents();
|
||||
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
|
||||
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
|
||||
PowerSwitchIF* pwrSwitcher);
|
||||
<<<<<<< HEAD
|
||||
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
|
||||
=======
|
||||
void createHeaterComponents();
|
||||
void createImtqComponents(PowerSwitchIF* pwrSwitcher);
|
||||
void createBpxBatteryComponent();
|
||||
void createStrComponents(PowerSwitchIF* pwrSwitcher);
|
||||
>>>>>>> origin/develop
|
||||
void createSolarArrayDeploymentComponents();
|
||||
void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
|
||||
void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
|
||||
void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createMiscComponents();
|
||||
|
||||
void createTestComponents(LinuxLibgpioIF* gpioComIF);
|
||||
|
||||
void testAcsBrdAss(AcsBoardAssembly* assAss);
|
||||
|
||||
@ -1,126 +1,13 @@
|
||||
#include <mission/system/fdir/GomspacePowerFdir.h>
|
||||
#include <mission/system/fdir/SyrlinksFdir.h>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "bsp_q7s/boardtest/Q7STestTask.h"
|
||||
#include "bsp_q7s/callbacks/gnssCallback.h"
|
||||
#include "bsp_q7s/callbacks/pcduSwitchCb.h"
|
||||
#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
|
||||
#include "bsp_q7s/callbacks/rwSpiCallback.h"
|
||||
#include "bsp_q7s/core/CoreController.h"
|
||||
#include "bsp_q7s/core/ObjectFactory.h"
|
||||
#include "bsp_q7s/memory/FileSystemHandler.h"
|
||||
#include "busConf.h"
|
||||
#include "ccsdsConfig.h"
|
||||
#include "commonObjects.h"
|
||||
#include "devConf.h"
|
||||
#include "devices/addresses.h"
|
||||
#include "devices/gpioIds.h"
|
||||
#include "devices/powerSwitcherList.h"
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "linux/ObjectFactory.h"
|
||||
#include "linux/boardtest/I2cTestClass.h"
|
||||
#include "linux/boardtest/SpiTestClass.h"
|
||||
#include "linux/boardtest/UartTestClass.h"
|
||||
#include "linux/callbacks/gpioCallbacks.h"
|
||||
#include "linux/csp/CspComIF.h"
|
||||
#include "linux/csp/CspCookie.h"
|
||||
#include "linux/devices/GPSHyperionLinuxController.h"
|
||||
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
|
||||
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
|
||||
#include "linux/devices/ploc/PlocMPSoCHandler.h"
|
||||
#include "linux/devices/ploc/PlocMPSoCHelper.h"
|
||||
#include "linux/devices/ploc/PlocMemoryDumper.h"
|
||||
#include "linux/devices/ploc/PlocSupervisorHandler.h"
|
||||
#include "linux/devices/ploc/PlocSupvHelper.h"
|
||||
#include "linux/devices/startracker/StarTrackerHandler.h"
|
||||
#include "linux/devices/startracker/StrHelper.h"
|
||||
#include "linux/obc/AxiPtmeConfig.h"
|
||||
#include "linux/obc/PapbVcInterface.h"
|
||||
#include "linux/obc/PdecHandler.h"
|
||||
#include "linux/obc/Ptme.h"
|
||||
#include "linux/obc/PtmeConfig.h"
|
||||
#include "mission/system/SusAssembly.h"
|
||||
#include "mission/system/TcsBoardAssembly.h"
|
||||
#include "mission/system/fdir/AcsBoardFdir.h"
|
||||
#include "mission/system/fdir/RtdFdir.h"
|
||||
#include "mission/system/fdir/SusFdir.h"
|
||||
#include "tmtc/apid.h"
|
||||
#include "tmtc/pusIds.h"
|
||||
#if OBSW_TEST_LIBGPIOD == 1
|
||||
#include "linux/boardtest/LibgpiodTest.h"
|
||||
#endif
|
||||
#include <sstream>
|
||||
|
||||
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
|
||||
#include "fsfw/tmtcpacket/pus/tm.h"
|
||||
#include "fsfw/tmtcservices/CommandingServiceBase.h"
|
||||
#include "fsfw/tmtcservices/PusServiceBase.h"
|
||||
#include "fsfw_hal/common/gpio/GpioCookie.h"
|
||||
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
|
||||
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
|
||||
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
|
||||
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
|
||||
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
|
||||
#include "fsfw_hal/linux/i2c/I2cComIF.h"
|
||||
#include "fsfw_hal/linux/i2c/I2cCookie.h"
|
||||
#include "fsfw_hal/linux/spi/SpiComIF.h"
|
||||
#include "fsfw_hal/linux/spi/SpiCookie.h"
|
||||
#include "fsfw_hal/linux/uart/UartComIF.h"
|
||||
#include "fsfw_hal/linux/uart/UartCookie.h"
|
||||
#include "linux/ObjectFactory.h"
|
||||
#include "linux/callbacks/gpioCallbacks.h"
|
||||
#include "mission/core/GenericFactory.h"
|
||||
#include "mission/devices/ACUHandler.h"
|
||||
#include "mission/devices/BpxBatteryHandler.h"
|
||||
#include "mission/devices/GyroADIS1650XHandler.h"
|
||||
#include "mission/devices/HeaterHandler.h"
|
||||
#include "mission/devices/IMTQHandler.h"
|
||||
#include "mission/devices/Max31865PT1000Handler.h"
|
||||
#include "mission/devices/P60DockHandler.h"
|
||||
#include "mission/devices/PCDUHandler.h"
|
||||
#include "mission/devices/PDU1Handler.h"
|
||||
#include "mission/devices/PDU2Handler.h"
|
||||
#include "mission/devices/PayloadPcduHandler.h"
|
||||
#include "mission/devices/RadiationSensorHandler.h"
|
||||
#include "mission/devices/RwHandler.h"
|
||||
#include "mission/devices/SolarArrayDeploymentHandler.h"
|
||||
#include "mission/devices/SyrlinksHkHandler.h"
|
||||
#include "mission/devices/Tmp1075Handler.h"
|
||||
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
|
||||
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/RwDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
|
||||
#include "mission/system/AcsBoardAssembly.h"
|
||||
#include "mission/tmtc/CCSDSHandler.h"
|
||||
#include "mission/tmtc/VirtualChannel.h"
|
||||
#include "mission/utility/TmFunnel.h"
|
||||
ResetArgs resetArgsGnss0;
|
||||
ResetArgs resetArgsGnss1;
|
||||
|
||||
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
|
||||
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
|
||||
|
||||
DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
|
||||
// DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
|
||||
#if OBSW_TM_TO_PTME == 1
|
||||
TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
|
||||
#else
|
||||
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
|
||||
#endif /* OBSW_TM_TO_PTME == 1 */
|
||||
// No storage object for now.
|
||||
TmFunnel::storageDestination = objects::NO_OBJECT;
|
||||
|
||||
LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
|
||||
|
||||
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
|
||||
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
|
||||
}
|
||||
|
||||
void ObjectFactory::produce(void* args) {
|
||||
ObjectFactory::setStatics();
|
||||
@ -128,24 +15,25 @@ void ObjectFactory::produce(void* args) {
|
||||
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
UartComIF* uartComIF = nullptr;
|
||||
SpiComIF* spiComIF = nullptr;
|
||||
SpiComIF* spiMainComIF = nullptr;
|
||||
I2cComIF* i2cComIF = nullptr;
|
||||
PowerSwitchIF* pwrSwitcher = nullptr;
|
||||
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
|
||||
SpiComIF* spiRwComIF = nullptr;
|
||||
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
|
||||
createTmpComponents();
|
||||
new CoreController(objects::CORE_CONTROLLER);
|
||||
|
||||
gpioCallbacks::disableAllDecoder(gpioComIF);
|
||||
createPcduComponents(gpioComIF, &pwrSwitcher);
|
||||
createRadSensorComponent(gpioComIF);
|
||||
createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
|
||||
createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
|
||||
#endif
|
||||
createHeaterComponents();
|
||||
createSolarArrayDeploymentComponents();
|
||||
createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
|
||||
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
|
||||
#if OBSW_ADD_SYRLINKS == 1
|
||||
createSyrlinksComponents(pwrSwitcher);
|
||||
#endif /* OBSW_ADD_SYRLINKS == 1 */
|
||||
@ -153,45 +41,16 @@ void ObjectFactory::produce(void* args) {
|
||||
createPayloadComponents(gpioComIF);
|
||||
|
||||
#if OBSW_ADD_MGT == 1
|
||||
I2cCookie* imtqI2cCookie =
|
||||
new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
|
||||
auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
|
||||
pcdu::Switches::PDU1_CH3_MGT_5V);
|
||||
imtqHandler->setPowerSwitcher(pwrSwitcher);
|
||||
static_cast<void>(imtqHandler);
|
||||
#if OBSW_TEST_IMTQ == 1
|
||||
imtqHandler->setStartUpImmediately();
|
||||
imtqHandler->setToGoToNormal(true);
|
||||
createImtqComponents(pwrSwitcher);
|
||||
#endif
|
||||
#if OBSW_DEBUG_IMTQ == 1
|
||||
imtqHandler->setDebugMode(true);
|
||||
#endif
|
||||
#endif
|
||||
createReactionWheelComponents(gpioComIF);
|
||||
createReactionWheelComponents(gpioComIF, pwrSwitcher);
|
||||
|
||||
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
|
||||
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
|
||||
BpxBatteryHandler* bpxHandler =
|
||||
new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
|
||||
bpxHandler->setStartUpImmediately();
|
||||
bpxHandler->setToGoToNormalMode(true);
|
||||
#if OBSW_DEBUG_BPX_BATT == 1
|
||||
bpxHandler->setDebugMode(true);
|
||||
createBpxBatteryComponent();
|
||||
#endif
|
||||
#endif
|
||||
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
|
||||
|
||||
#if OBSW_ADD_STAR_TRACKER == 1
|
||||
UartCookie* starTrackerCookie =
|
||||
new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
|
||||
startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
|
||||
starTrackerCookie->setNoFixedSizeReply();
|
||||
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
|
||||
auto starTracker =
|
||||
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
|
||||
strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
|
||||
starTracker->setPowerSwitcher(pwrSwitcher);
|
||||
|
||||
createStrComponents(pwrSwitcher);
|
||||
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
|
||||
#if OBSW_USE_CCSDS_IP_CORE == 1
|
||||
createCcsdsComponents(gpioComIF);
|
||||
@ -200,770 +59,6 @@ void ObjectFactory::produce(void* args) {
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
createTestComponents(gpioComIF);
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
|
||||
}
|
||||
|
||||
void ObjectFactory::createTmpComponents() {
|
||||
I2cCookie* i2cCookieTmp1075tcs1 =
|
||||
new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
|
||||
I2cCookie* i2cCookieTmp1075tcs2 =
|
||||
new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
|
||||
|
||||
/* Temperature sensors */
|
||||
Tmp1075Handler* tmp1075Handler_1 =
|
||||
new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
|
||||
(void)tmp1075Handler_1;
|
||||
Tmp1075Handler* tmp1075Handler_2 =
|
||||
new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
|
||||
(void)tmp1075Handler_2;
|
||||
}
|
||||
|
||||
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
|
||||
SpiComIF** spiComIF, I2cComIF** i2cComIF) {
|
||||
if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
|
||||
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
|
||||
<< std::endl;
|
||||
}
|
||||
*gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
||||
|
||||
/* Communication interfaces */
|
||||
new CspComIF(objects::CSP_COM_IF);
|
||||
*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
|
||||
*uartComIF = new UartComIF(objects::UART_COM_IF);
|
||||
*spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
|
||||
|
||||
/* Adding gpios for chip select decoding to the gpioComIf */
|
||||
q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
|
||||
}
|
||||
|
||||
void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
|
||||
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
|
||||
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
|
||||
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
|
||||
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
|
||||
|
||||
auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
|
||||
P60DockHandler* p60dockhandler =
|
||||
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
|
||||
|
||||
auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
|
||||
PDU1Handler* pdu1handler =
|
||||
new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
|
||||
|
||||
auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
|
||||
PDU2Handler* pdu2handler =
|
||||
new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
|
||||
|
||||
auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
|
||||
ACUHandler* acuhandler =
|
||||
new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
|
||||
auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
|
||||
|
||||
/**
|
||||
* Setting PCDU devices to mode normal immediately after start up because PCDU is always
|
||||
* running.
|
||||
*/
|
||||
p60dockhandler->setModeNormal();
|
||||
pdu1handler->setModeNormal();
|
||||
pdu2handler->setModeNormal();
|
||||
acuhandler->setModeNormal();
|
||||
if (pwrSwitcher != nullptr) {
|
||||
*pwrSwitcher = pcduHandler;
|
||||
}
|
||||
#if OBSW_DEBUG_P60DOCK == 1
|
||||
p60dockhandler->setDebugMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACU == 1
|
||||
acuhandler->setDebugMode(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
|
||||
using namespace gpio;
|
||||
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);
|
||||
gpioComIF->addGpios(gpioCookieRadSensor);
|
||||
|
||||
SpiCookie* spiCookieRadSensor = new SpiCookie(
|
||||
addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
|
||||
RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
|
||||
auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF,
|
||||
spiCookieRadSensor, gpioComIF);
|
||||
static_cast<void>(radSensor);
|
||||
// The radiation sensor ADC is powered by the 5V stack connector which should always be on
|
||||
radSensor->setStartUpImmediately();
|
||||
// It's a simple sensor, so just to to normal mode immediately
|
||||
radSensor->setToGoToNormalModeImmediately();
|
||||
#if OBSW_DEBUG_RAD_SENSOR == 1
|
||||
radSensor->enablePeriodicDataPrint(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
|
||||
PowerSwitchIF* pwrSwitcher) {
|
||||
using namespace gpio;
|
||||
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
|
||||
|
||||
std::stringstream consumer;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
// GNSS reset pins are active low
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
|
||||
// Enable pins must be pulled low for regular operations
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
|
||||
|
||||
// Enable pins for GNSS
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
|
||||
|
||||
// Select pin. 0 for GPS side A, 1 for GPS side B
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
|
||||
gpioComIF->addGpios(gpioCookieAcsBoard);
|
||||
AcsBoardFdir* fdir = nullptr;
|
||||
static_cast<void>(fdir);
|
||||
|
||||
#if OBSW_ADD_ACS_HANDLERS == 1
|
||||
std::string spiDev = q7s::SPI_DEFAULT_DEV;
|
||||
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, spi::LIS3_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
|
||||
mgmLis3Handler->setCustomFdir(fdir);
|
||||
static_cast<void>(mgmLis3Handler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmLis3Handler->setStartUpImmediately();
|
||||
mgmLis3Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
|
||||
#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, spi::RM3100_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
|
||||
mgmRm3100Handler->setCustomFdir(fdir);
|
||||
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
|
||||
static_cast<void>(mgmRm3100Handler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmRm3100Handler->setStartUpImmediately();
|
||||
mgmRm3100Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
|
||||
#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, spi::LIS3_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
|
||||
mgmLis3Handler->setCustomFdir(fdir);
|
||||
mgmLis3Handler->setParent(objects::ACS_BOARD_ASS);
|
||||
static_cast<void>(mgmLis3Handler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmLis3Handler->setStartUpImmediately();
|
||||
mgmLis3Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
|
||||
#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, spi::RM3100_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
|
||||
mgmRm3100Handler->setCustomFdir(fdir);
|
||||
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmRm3100Handler->setStartUpImmediately();
|
||||
mgmRm3100Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
// Commented until ACS board V2 in in clean room again
|
||||
// Gyro 0 Side A
|
||||
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
|
||||
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
||||
spi::DEFAULT_ADIS16507_SPEED);
|
||||
auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, ADIS1650X::Type::ADIS16505);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
|
||||
adisHandler->setCustomFdir(fdir);
|
||||
adisHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
static_cast<void>(adisHandler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
adisHandler->setStartUpImmediately();
|
||||
adisHandler->setToGoToNormalModeImmediately();
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
adisHandler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
// Gyro 1 Side A
|
||||
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, spi::L3G_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
|
||||
gyroL3gHandler->setCustomFdir(fdir);
|
||||
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
static_cast<void>(gyroL3gHandler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
gyroL3gHandler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
// Gyro 2 Side B
|
||||
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
|
||||
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
||||
spi::DEFAULT_ADIS16507_SPEED);
|
||||
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, ADIS1650X::Type::ADIS16505);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
|
||||
adisHandler->setCustomFdir(fdir);
|
||||
adisHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
adisHandler->setStartUpImmediately();
|
||||
adisHandler->setToGoToNormalModeImmediately();
|
||||
#endif
|
||||
// Gyro 3 Side B
|
||||
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, spi::L3G_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
|
||||
gyroL3gHandler->setCustomFdir(fdir);
|
||||
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
gyroL3gHandler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
bool debugGps = false;
|
||||
#if OBSW_DEBUG_GPS == 1
|
||||
debugGps = true;
|
||||
#endif
|
||||
resetArgsGnss1.gnss1 = true;
|
||||
resetArgsGnss1.gpioComIF = gpioComIF;
|
||||
resetArgsGnss1.waitPeriodMs = 100;
|
||||
resetArgsGnss0.gnss1 = false;
|
||||
resetArgsGnss0.gpioComIF = gpioComIF;
|
||||
resetArgsGnss0.waitPeriodMs = 100;
|
||||
auto gpsHandler0 =
|
||||
new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
|
||||
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
|
||||
AcsBoardHelper acsBoardHelper = AcsBoardHelper(
|
||||
objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
|
||||
objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
|
||||
objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
|
||||
auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
|
||||
acsBoardHelper, gpioComIF);
|
||||
static_cast<void>(acsAss);
|
||||
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
|
||||
}
|
||||
|
||||
void ObjectFactory::createHeaterComponents() {
|
||||
using namespace gpio;
|
||||
GpioCookie* heaterGpiosCookie = new GpioCookie;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
|
||||
std::stringstream consumer;
|
||||
consumer << "0x" << std::hex << objects::HEATER_HANDLER;
|
||||
/* Pin H2-11 on stack connector */
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpio);
|
||||
/* Pin H2-12 on stack connector */
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpio);
|
||||
|
||||
/* Pin H2-13 on stack connector */
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
|
||||
|
||||
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
|
||||
objects::PCDU_HANDLER, pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
|
||||
}
|
||||
|
||||
void ObjectFactory::createSolarArrayDeploymentComponents() {
|
||||
using namespace gpio;
|
||||
GpioCookie* solarArrayDeplCookie = new GpioCookie;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
|
||||
std::stringstream consumer;
|
||||
consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
|
||||
|
||||
// TODO: Find out burn time. For now set to 1000 ms.
|
||||
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
|
||||
solarArrayDeplCookie, objects::PCDU_HANDLER,
|
||||
pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
|
||||
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
|
||||
}
|
||||
|
||||
void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
|
||||
UartCookie* syrlinksUartCookie =
|
||||
new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
|
||||
syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
|
||||
syrlinksUartCookie->setParityEven();
|
||||
|
||||
auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
|
||||
auto syrlinksHandler =
|
||||
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
|
||||
pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
|
||||
syrlinksHandler->setPowerSwitcher(pwrSwitcher);
|
||||
#if OBSW_DEBUG_SYRLINKS == 1
|
||||
syrlinksHandler->setDebugMode(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
using namespace gpio;
|
||||
std::stringstream consumer;
|
||||
#if OBSW_ADD_PLOC_MPSOC == 1
|
||||
consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
|
||||
auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
|
||||
consumer.str(), Direction::OUT, Levels::LOW);
|
||||
auto mpsocGpioCookie = new GpioCookie;
|
||||
mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
|
||||
gpioComIF->addGpios(mpsocGpioCookie);
|
||||
auto mpsocCookie =
|
||||
new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
|
||||
mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
|
||||
mpsocCookie->setNoFixedSizeReply();
|
||||
auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
|
||||
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
|
||||
plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
|
||||
objects::PLOC_SUPERVISOR_HANDLER);
|
||||
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
|
||||
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
||||
consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
|
||||
auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(),
|
||||
Direction::OUT, Levels::LOW);
|
||||
auto supvGpioCookie = new GpioCookie;
|
||||
supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
|
||||
gpioComIF->addGpios(supvGpioCookie);
|
||||
auto supervisorCookie =
|
||||
new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
|
||||
uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
|
||||
supervisorCookie->setNoFixedSizeReply();
|
||||
auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
|
||||
new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
|
||||
supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
|
||||
pcdu::PDU1_CH6_PLOC_12V, supvHelper);
|
||||
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
|
||||
static_cast<void>(consumer);
|
||||
}
|
||||
|
||||
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
using namespace gpio;
|
||||
GpioCookie* gpioCookieRw = new GpioCookie;
|
||||
GpioCallback* csRw1 =
|
||||
new GpioCallback("Chip select reaction wheel 1", Direction::OUT, Levels::HIGH,
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
|
||||
GpioCallback* csRw2 =
|
||||
new GpioCallback("Chip select reaction wheel 2", Direction::OUT, Levels::HIGH,
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
|
||||
GpioCallback* csRw3 =
|
||||
new GpioCallback("Chip select reaction wheel 3", Direction::OUT, Levels::HIGH,
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
|
||||
GpioCallback* csRw4 =
|
||||
new GpioCallback("Chip select reaction wheel 4", Direction::OUT, Levels::HIGH,
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
|
||||
|
||||
std::stringstream consumer;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
consumer << "0x" << std::hex << objects::RW1;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::RW2;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::RW3;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::RW4;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookieRw);
|
||||
|
||||
#if OBSW_ADD_RW == 1
|
||||
auto rw1SpiCookie =
|
||||
new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw2SpiCookie =
|
||||
new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw3SpiCookie =
|
||||
new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw4SpiCookie =
|
||||
new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
|
||||
auto rwHandler1 =
|
||||
new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
|
||||
rw1SpiCookie->setCallbackArgs(rwHandler1);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler1->setStartUpImmediately();
|
||||
rwHandler1->setDebugMode(true);
|
||||
#endif
|
||||
auto rwHandler2 =
|
||||
new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
|
||||
rw2SpiCookie->setCallbackArgs(rwHandler2);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler2->setStartUpImmediately();
|
||||
rwHandler2->setDebugMode(true);
|
||||
#endif
|
||||
auto rwHandler3 =
|
||||
new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
|
||||
rw3SpiCookie->setCallbackArgs(rwHandler3);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler3->setStartUpImmediately();
|
||||
rwHandler3->setDebugMode(true);
|
||||
#endif
|
||||
auto rwHandler4 =
|
||||
new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
|
||||
rw4SpiCookie->setCallbackArgs(rwHandler4);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler4->setStartUpImmediately();
|
||||
rwHandler4->setDebugMode(true);
|
||||
#endif
|
||||
#endif /* OBSW_ADD_RW == 1 */
|
||||
}
|
||||
|
||||
void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
using namespace gpio;
|
||||
// GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
|
||||
GpioCookie* gpioCookiePtmeIp = new GpioCookie;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
std::stringstream consumer;
|
||||
consumer.str("PAPB VC0");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
|
||||
consumer.str("PAPB VC0");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
|
||||
consumer.str("PAPB VC 1");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 1");
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 2");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 2");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 3");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 3");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookiePtmeIp);
|
||||
|
||||
// Creating virtual channel interfaces
|
||||
VcInterfaceIF* vc0 =
|
||||
new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
|
||||
q7s::uiomapids::PTME_VC0);
|
||||
VcInterfaceIF* vc1 =
|
||||
new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
|
||||
q7s::uiomapids::PTME_VC1);
|
||||
VcInterfaceIF* vc2 =
|
||||
new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
|
||||
q7s::uiomapids::PTME_VC2);
|
||||
VcInterfaceIF* vc3 =
|
||||
new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
|
||||
q7s::uiomapids::PTME_VC3);
|
||||
|
||||
// Creating ptme object and adding virtual channel interfaces
|
||||
Ptme* ptme = new Ptme(objects::PTME);
|
||||
ptme->addVcInterface(ccsds::VC0, vc0);
|
||||
ptme->addVcInterface(ccsds::VC1, vc1);
|
||||
ptme->addVcInterface(ccsds::VC2, vc2);
|
||||
ptme->addVcInterface(ccsds::VC3, vc3);
|
||||
|
||||
AxiPtmeConfig* axiPtmeConfig =
|
||||
new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
|
||||
PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
|
||||
#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
|
||||
// Set to high value when not sending via syrlinks
|
||||
static const uint32_t TRANSMITTER_TIMEOUT = 86400000; // 1 day
|
||||
#else
|
||||
static const uint32_t TRANSMITTER_TIMEOUT = 900000; // 15 minutes
|
||||
#endif
|
||||
CCSDSHandler* ccsdsHandler = new CCSDSHandler(
|
||||
objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
|
||||
gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
|
||||
|
||||
VirtualChannel* vc = nullptr;
|
||||
vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
||||
ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
|
||||
vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
||||
ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
|
||||
vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
||||
ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
|
||||
vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
||||
ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);
|
||||
|
||||
GpioCookie* gpioCookiePdec = new GpioCookie;
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::PDEC_HANDLER;
|
||||
// GPIO also low after linux boot (specified by device-tree)
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookiePdec);
|
||||
|
||||
new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
|
||||
q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
|
||||
|
||||
GpioCookie* gpioRS485Chip = new GpioCookie;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
|
||||
|
||||
// Default configuration enables RX channels (RXEN = LOW)
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioRS485Chip);
|
||||
}
|
||||
|
||||
void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
|
||||
PowerSwitchIF* pwrSwitcher) {
|
||||
using namespace gpio;
|
||||
// Create all GPIO components first
|
||||
GpioCookie* plPcduGpios = new GpioCookie;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
std::string consumer;
|
||||
// Switch pins are active high
|
||||
consumer = "PLPCDU_ENB_VBAT_0";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT0, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT0, gpio);
|
||||
consumer = "PLPCDU_ENB_VBAT_1";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT1, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT1, gpio);
|
||||
consumer = "PLPCDU_ENB_DRO";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_DRO, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_DRO, gpio);
|
||||
consumer = "PLPCDU_ENB_X8";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_X8, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_X8, gpio);
|
||||
consumer = "PLPCDU_ENB_TX";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_TX, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_TX, gpio);
|
||||
consumer = "PLPCDU_ENB_MPA";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_MPA, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_MPA, gpio);
|
||||
consumer = "PLPCDU_ENB_HPA";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_HPA, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_HPA, gpio);
|
||||
|
||||
// Chip select pin is active low
|
||||
consumer = "PLPCDU_ADC_CS";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, Direction::OUT,
|
||||
gpio::Levels::HIGH);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
|
||||
gpioComIF->addGpios(plPcduGpios);
|
||||
SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS,
|
||||
q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
|
||||
spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
|
||||
// Create device handler components
|
||||
auto plPcduHandler = new PayloadPcduHandler(
|
||||
objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF, SdCardManager::instance(),
|
||||
pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
|
||||
pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
|
||||
spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
|
||||
// plPcduHandler->enablePeriodicPrintout(true, 5);
|
||||
// static_cast<void>(plPcduHandler);
|
||||
#if OBSW_TEST_PL_PCDU == 1
|
||||
plPcduHandler->setStartUpImmediately();
|
||||
#endif
|
||||
#if OBSW_DEBUG_PL_PCDU == 1
|
||||
plPcduHandler->setToGoToNormalModeImmediately(true);
|
||||
plPcduHandler->enablePeriodicPrintout(true, 10);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
new Q7STestTask(objects::TEST_TASK);
|
||||
#if OBSW_ADD_SPI_TEST_CODE == 1
|
||||
new SpiTestClass(objects::SPI_TEST, gpioComIF);
|
||||
#endif
|
||||
#if OBSW_ADD_I2C_TEST_CODE == 1
|
||||
new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
|
||||
#endif
|
||||
#if OBSW_ADD_UART_TEST_CODE == 1
|
||||
new UartTestClass(objects::UART_TEST);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
|
||||
CommandMessage msg;
|
||||
ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
|
||||
duallane::A_SIDE);
|
||||
ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "Sending mode command failed" << std::endl;
|
||||
}
|
||||
|
||||
createMiscComponents();
|
||||
}
|
||||
|
||||
@ -1,3 +0,0 @@
|
||||
target_sources(${OBSW_NAME} PRIVATE
|
||||
fmObjectFactory.cpp
|
||||
)
|
||||
64
bsp_q7s/fmObjectFactory.cpp
Normal file
64
bsp_q7s/fmObjectFactory.cpp
Normal file
@ -0,0 +1,64 @@
|
||||
#include "OBSWConfig.h"
|
||||
#include "bsp_q7s/core/CoreController.h"
|
||||
#include "bsp_q7s/core/ObjectFactory.h"
|
||||
#include "busConf.h"
|
||||
#include "commonObjects.h"
|
||||
#include "devConf.h"
|
||||
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
|
||||
#include "linux/ObjectFactory.h"
|
||||
#include "linux/callbacks/gpioCallbacks.h"
|
||||
#include "mission/core/GenericFactory.h"
|
||||
|
||||
void ObjectFactory::produce(void* args) {
|
||||
ObjectFactory::setStatics();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
UartComIF* uartComIF = nullptr;
|
||||
SpiComIF* spiMainComIF = nullptr;
|
||||
I2cComIF* i2cComIF = nullptr;
|
||||
PowerSwitchIF* pwrSwitcher = nullptr;
|
||||
SpiComIF* spiRwComIF = nullptr;
|
||||
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
|
||||
createTmpComponents();
|
||||
new CoreController(objects::CORE_CONTROLLER);
|
||||
|
||||
gpioCallbacks::disableAllDecoder(gpioComIF);
|
||||
createPcduComponents(gpioComIF, &pwrSwitcher);
|
||||
createRadSensorComponent(gpioComIF);
|
||||
createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
|
||||
#endif
|
||||
createHeaterComponents();
|
||||
createSolarArrayDeploymentComponents();
|
||||
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
|
||||
#if OBSW_ADD_SYRLINKS == 1
|
||||
createSyrlinksComponents(pwrSwitcher);
|
||||
#endif /* OBSW_ADD_SYRLINKS == 1 */
|
||||
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
|
||||
createPayloadComponents(gpioComIF);
|
||||
|
||||
#if OBSW_ADD_MGT == 1
|
||||
createImtqComponents(pwrSwitcher);
|
||||
#endif
|
||||
createReactionWheelComponents(gpioComIF, pwrSwitcher);
|
||||
|
||||
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
|
||||
createBpxBatteryComponent();
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_STAR_TRACKER == 1
|
||||
createStrComponents(pwrSwitcher);
|
||||
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
|
||||
#if OBSW_USE_CCSDS_IP_CORE == 1
|
||||
createCcsdsComponents(gpioComIF);
|
||||
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
|
||||
/* Test Task */
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
createTestComponents(gpioComIF);
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
|
||||
createMiscComponents();
|
||||
}
|
||||
@ -33,6 +33,10 @@ add_compile_options(
|
||||
set(STRIPPED_OBSW_NAME ${OBSW_BIN_NAME}-stripped)
|
||||
set(STRIPPED_WATCHDOG_NAME eive-watchdog-stripped)
|
||||
|
||||
if(EIVE_CREATE_UNIQUE_OBSW_BIN)
|
||||
set(UNIQUE_OBSW_BIN_NAME ${OBSW_BIN_NAME}-$ENV{USERNAME})
|
||||
endif()
|
||||
|
||||
add_custom_command(
|
||||
TARGET ${OBSW_NAME}
|
||||
POST_BUILD
|
||||
@ -41,6 +45,16 @@ add_custom_command(
|
||||
COMMENT "Generating stripped executable ${STRIPPED_OBSW_NAME}.."
|
||||
)
|
||||
|
||||
if(UNIQUE_OBSW_BIN_NAME)
|
||||
add_custom_command(
|
||||
TARGET ${OBSW_NAME}
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} -E copy
|
||||
${CMAKE_CURRENT_BINARY_DIR}/${OBSW_BIN_NAME}
|
||||
${CMAKE_CURRENT_BINARY_DIR}/${UNIQUE_OBSW_BIN_NAME}
|
||||
COMMENT "Generating unique EIVE OBSW binary ${UNIQUE_OBSW_BIN_NAME}")
|
||||
endif()
|
||||
|
||||
add_custom_command(
|
||||
TARGET ${WATCHDOG_NAME}
|
||||
POST_BUILD
|
||||
|
||||
@ -20,7 +20,7 @@ else
|
||||
cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
|
||||
fi
|
||||
|
||||
if [[ -z "${EIVE_Q7S_EM}" ]]; then
|
||||
if [ ! -z "${EIVE_Q7S_EM}" ]; then
|
||||
build_defs="EIVE_Q7S_EM=ON"
|
||||
fi
|
||||
|
||||
|
||||
@ -20,7 +20,7 @@ else
|
||||
cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
|
||||
fi
|
||||
|
||||
if [[ -z "${EIVE_Q7S_EM}" ]]; then
|
||||
if [ ! -z "${EIVE_Q7S_EM}" ]; then
|
||||
build_defs="EIVE_Q7S_EM=ON"
|
||||
fi
|
||||
|
||||
|
||||
@ -20,7 +20,7 @@ else
|
||||
cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
|
||||
fi
|
||||
|
||||
if [[ -z "${EIVE_Q7S_EM}" ]]; then
|
||||
if [ ! -z "${EIVE_Q7S_EM}" ]; then
|
||||
build_defs="EIVE_Q7S_EM=ON"
|
||||
fi
|
||||
|
||||
|
||||
@ -120,7 +120,8 @@ enum commonObjects: uint32_t {
|
||||
// 0x73 ('s') for assemblies and system/subsystem components
|
||||
ACS_BOARD_ASS = 0x73000001,
|
||||
SUS_BOARD_ASS = 0x73000002,
|
||||
TCS_BOARD_ASS = 0x73000003
|
||||
TCS_BOARD_ASS = 0x73000003,
|
||||
RW_ASS = 0x73000004
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
2
fsfw
2
fsfw
@ -1 +1 @@
|
||||
Subproject commit d72b212fa629029924d9862e3e862d0388911f8e
|
||||
Subproject commit dafcaa60079ba8e57753d389e6a569ee3eb0b7cb
|
||||
@ -78,7 +78,7 @@
|
||||
9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
|
||||
10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
|
||||
11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
|
||||
11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a swithc state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
|
||||
11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
|
||||
11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
|
||||
11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
|
||||
11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;;mission/devices/HeaterHandler.h
|
||||
@ -107,7 +107,8 @@
|
||||
11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
|
||||
11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
|
||||
11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/IMTQHandler.h
|
||||
11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/RwHandler.h
|
||||
11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/devicedefinitions/RwDefinitions.h
|
||||
11802;0x2e1a;RESET_OCCURED;LOW;;mission/devices/devicedefinitions/RwDefinitions.h
|
||||
11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
|
||||
11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
|
||||
12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
|
||||
|
||||
|
@ -69,7 +69,8 @@
|
||||
0x445300A3;SYRLINKS_HK_HANDLER
|
||||
0x49000000;ARDUINO_COM_IF
|
||||
0x49010005;GPIO_IF
|
||||
0x49020004;SPI_COM_IF
|
||||
0x49020004;SPI_MAIN_COM_IF
|
||||
0x49020005;SPI_RW_COM_IF
|
||||
0x49030003;UART_COM_IF
|
||||
0x49040002;I2C_COM_IF
|
||||
0x49050001;CSP_COM_IF
|
||||
@ -111,10 +112,10 @@
|
||||
0x5400CAFE;DUMMY_INTERFACE
|
||||
0x54123456;LIBGPIOD_TEST
|
||||
0x54694269;TEST_TASK
|
||||
0x60000000;HEATER_0_OBC_BRD
|
||||
0x60000001;HEATER_1_PLOC_PROC_BRD
|
||||
0x60000000;HEATER_0_PLOC_PROC_BRD
|
||||
0x60000001;HEATER_1_PCDU_BRD
|
||||
0x60000002;HEATER_2_ACS_BRD
|
||||
0x60000003;HEATER_3_PCDU_BRD
|
||||
0x60000003;HEATER_3_OBC_BRD
|
||||
0x60000004;HEATER_4_CAMERA
|
||||
0x60000005;HEATER_5_STR
|
||||
0x60000006;HEATER_6_DRO
|
||||
@ -122,6 +123,7 @@
|
||||
0x73000001;ACS_BOARD_ASS
|
||||
0x73000002;SUS_BOARD_ASS
|
||||
0x73000003;TCS_BOARD_ASS
|
||||
0x73000004;RW_ASS
|
||||
0x73000100;TM_FUNNEL
|
||||
0x73500000;CCSDS_IP_CORE_BRIDGE
|
||||
0xFFFFFFFF;NO_OBJECT
|
||||
|
||||
|
@ -1,7 +1,7 @@
|
||||
/**
|
||||
* @brief Auto-generated event translation file. Contains 201 translations.
|
||||
* @brief Auto-generated event translation file. Contains 202 translations.
|
||||
* @details
|
||||
* Generated on: 2022-05-08 13:04:56
|
||||
* Generated on: 2022-05-12 14:08:08
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
@ -115,6 +115,7 @@ const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
|
||||
const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
|
||||
const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
|
||||
const char *ERROR_STATE_STRING = "ERROR_STATE";
|
||||
const char *RESET_OCCURED_STRING = "RESET_OCCURED";
|
||||
const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
|
||||
const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
|
||||
const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
|
||||
@ -425,6 +426,8 @@ const char *translateEvents(Event event) {
|
||||
return INVALID_ERROR_BYTE_STRING;
|
||||
case (11801):
|
||||
return ERROR_STATE_STRING;
|
||||
case (11802):
|
||||
return RESET_OCCURED_STRING;
|
||||
case (11901):
|
||||
return BOOTING_FIRMWARE_FAILED_STRING;
|
||||
case (11902):
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
/**
|
||||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 127 translations.
|
||||
* Generated on: 2022-05-08 13:04:56
|
||||
* Contains 129 translations.
|
||||
* Generated on: 2022-05-12 14:08:08
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
@ -77,7 +77,8 @@ const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
|
||||
const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
|
||||
const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
|
||||
const char *GPIO_IF_STRING = "GPIO_IF";
|
||||
const char *SPI_COM_IF_STRING = "SPI_COM_IF";
|
||||
const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
|
||||
const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
|
||||
const char *UART_COM_IF_STRING = "UART_COM_IF";
|
||||
const char *I2C_COM_IF_STRING = "I2C_COM_IF";
|
||||
const char *CSP_COM_IF_STRING = "CSP_COM_IF";
|
||||
@ -119,10 +120,10 @@ const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
|
||||
const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
|
||||
const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
|
||||
const char *TEST_TASK_STRING = "TEST_TASK";
|
||||
const char *HEATER_0_OBC_BRD_STRING = "HEATER_0_OBC_BRD";
|
||||
const char *HEATER_1_PLOC_PROC_BRD_STRING = "HEATER_1_PLOC_PROC_BRD";
|
||||
const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
|
||||
const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
|
||||
const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
|
||||
const char *HEATER_3_PCDU_BRD_STRING = "HEATER_3_PCDU_BRD";
|
||||
const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
|
||||
const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
|
||||
const char *HEATER_5_STR_STRING = "HEATER_5_STR";
|
||||
const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
|
||||
@ -130,6 +131,7 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
|
||||
const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
|
||||
const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
|
||||
const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
|
||||
const char *RW_ASS_STRING = "RW_ASS";
|
||||
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
|
||||
const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
|
||||
const char *NO_OBJECT_STRING = "NO_OBJECT";
|
||||
@ -279,7 +281,9 @@ const char *translateObject(object_id_t object) {
|
||||
case 0x49010005:
|
||||
return GPIO_IF_STRING;
|
||||
case 0x49020004:
|
||||
return SPI_COM_IF_STRING;
|
||||
return SPI_MAIN_COM_IF_STRING;
|
||||
case 0x49020005:
|
||||
return SPI_RW_COM_IF_STRING;
|
||||
case 0x49030003:
|
||||
return UART_COM_IF_STRING;
|
||||
case 0x49040002:
|
||||
@ -363,13 +367,13 @@ const char *translateObject(object_id_t object) {
|
||||
case 0x54694269:
|
||||
return TEST_TASK_STRING;
|
||||
case 0x60000000:
|
||||
return HEATER_0_OBC_BRD_STRING;
|
||||
return HEATER_0_PLOC_PROC_BRD_STRING;
|
||||
case 0x60000001:
|
||||
return HEATER_1_PLOC_PROC_BRD_STRING;
|
||||
return HEATER_1_PCDU_BRD_STRING;
|
||||
case 0x60000002:
|
||||
return HEATER_2_ACS_BRD_STRING;
|
||||
case 0x60000003:
|
||||
return HEATER_3_PCDU_BRD_STRING;
|
||||
return HEATER_3_OBC_BRD_STRING;
|
||||
case 0x60000004:
|
||||
return HEATER_4_CAMERA_STRING;
|
||||
case 0x60000005:
|
||||
@ -384,6 +388,8 @@ const char *translateObject(object_id_t object) {
|
||||
return SUS_BOARD_ASS_STRING;
|
||||
case 0x73000003:
|
||||
return TCS_BOARD_ASS_STRING;
|
||||
case 0x73000004:
|
||||
return RW_ASS_STRING;
|
||||
case 0x73000100:
|
||||
return TM_FUNNEL_STRING;
|
||||
case 0x73500000:
|
||||
|
||||
@ -62,104 +62,103 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookieSus);
|
||||
gpioChecker(gpioComIF->addGpios(gpioCookieSus), "Sun Sensors");
|
||||
|
||||
#if OBSW_ADD_SUN_SENSORS == 1
|
||||
SusFdir* fdir = nullptr;
|
||||
std::array<SusHandler*, 12> susHandlers = {};
|
||||
SpiCookie* spiCookie =
|
||||
new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, spiDev, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[0] =
|
||||
new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_COM_IF, spiCookie);
|
||||
new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
|
||||
susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
|
||||
susHandlers[0]->setCustomFdir(fdir);
|
||||
|
||||
spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, spiDev, SUS::MAX_CMD_SIZE,
|
||||
spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[1] =
|
||||
new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_COM_IF, spiCookie);
|
||||
new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
|
||||
susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
|
||||
susHandlers[1]->setCustomFdir(fdir);
|
||||
|
||||
spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, spiDev, SUS::MAX_CMD_SIZE,
|
||||
spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[2] =
|
||||
new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_COM_IF, spiCookie);
|
||||
new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
|
||||
susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
|
||||
susHandlers[2]->setCustomFdir(fdir);
|
||||
|
||||
spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, spiDev, SUS::MAX_CMD_SIZE,
|
||||
spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[3] =
|
||||
new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_COM_IF, spiCookie);
|
||||
new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
|
||||
susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
|
||||
susHandlers[3]->setCustomFdir(fdir);
|
||||
|
||||
spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, spiDev, SUS::MAX_CMD_SIZE,
|
||||
spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[4] =
|
||||
new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_COM_IF, spiCookie);
|
||||
new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
|
||||
susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
|
||||
susHandlers[4]->setCustomFdir(fdir);
|
||||
|
||||
spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, spiDev, SUS::MAX_CMD_SIZE,
|
||||
spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[5] =
|
||||
new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_COM_IF, spiCookie);
|
||||
new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
|
||||
susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
|
||||
susHandlers[5]->setCustomFdir(fdir);
|
||||
|
||||
spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, spiDev, SUS::MAX_CMD_SIZE,
|
||||
spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[6] =
|
||||
new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_COM_IF, spiCookie);
|
||||
new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
|
||||
susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
|
||||
susHandlers[6]->setCustomFdir(fdir);
|
||||
|
||||
spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, spiDev, SUS::MAX_CMD_SIZE,
|
||||
spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[7] =
|
||||
new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_COM_IF, spiCookie);
|
||||
new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
|
||||
susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
|
||||
susHandlers[7]->setCustomFdir(fdir);
|
||||
|
||||
spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, spiDev, SUS::MAX_CMD_SIZE,
|
||||
spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[8] =
|
||||
new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_COM_IF, spiCookie);
|
||||
new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
|
||||
susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
|
||||
susHandlers[8]->setCustomFdir(fdir);
|
||||
|
||||
spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, spiDev, SUS::MAX_CMD_SIZE,
|
||||
spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[9] =
|
||||
new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_COM_IF, spiCookie);
|
||||
new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
|
||||
susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
|
||||
susHandlers[9]->setCustomFdir(fdir);
|
||||
|
||||
spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, spiDev, SUS::MAX_CMD_SIZE,
|
||||
spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[10] =
|
||||
new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_COM_IF, spiCookie);
|
||||
new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
|
||||
susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
|
||||
susHandlers[10]->setCustomFdir(fdir);
|
||||
|
||||
spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, spiDev, SUS::MAX_CMD_SIZE,
|
||||
spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[11] =
|
||||
new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_COM_IF, spiCookie);
|
||||
new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
|
||||
susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
|
||||
susHandlers[11]->setCustomFdir(fdir);
|
||||
@ -243,7 +242,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
|
||||
|
||||
gpioComIF->addGpios(rtdGpioCookie);
|
||||
gpioChecker(gpioComIF->addGpios(rtdGpioCookie), "RTDs");
|
||||
|
||||
#if OBSW_ADD_RTD_DEVICES == 1
|
||||
static constexpr uint8_t NUMBER_RTDS = 16;
|
||||
@ -286,9 +285,9 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
|
||||
RtdFdir* rtdFdir = nullptr;
|
||||
for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
|
||||
rtdCookies[idx] =
|
||||
new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, spiDev,
|
||||
new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second,
|
||||
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
||||
rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_COM_IF, rtdCookies[idx]);
|
||||
rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_MAIN_COM_IF, rtdCookies[idx]);
|
||||
rtds[idx]->setParent(objects::TCS_BOARD_ASS);
|
||||
rtdFdir = new RtdFdir(rtdIds[idx]);
|
||||
rtds[idx]->setCustomFdir(rtdFdir);
|
||||
@ -313,3 +312,9 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
|
||||
static_cast<void>(tcsBoardAss);
|
||||
#endif // OBSW_ADD_RTD_DEVICES == 1
|
||||
}
|
||||
|
||||
void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "ObjectFactory: Adding GPIOs failed for " << output << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,5 +1,7 @@
|
||||
#pragma once
|
||||
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
#include <string>
|
||||
|
||||
class GpioIF;
|
||||
@ -12,4 +14,6 @@ void createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitc
|
||||
std::string spiDev);
|
||||
void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
|
||||
|
||||
void gpioChecker(ReturnValue_t result, std::string output);
|
||||
|
||||
} // namespace ObjectFactory
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
/**
|
||||
* @brief Auto-generated event translation file. Contains 201 translations.
|
||||
* @brief Auto-generated event translation file. Contains 202 translations.
|
||||
* @details
|
||||
* Generated on: 2022-05-08 13:04:56
|
||||
* Generated on: 2022-05-12 14:08:08
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
@ -115,6 +115,7 @@ const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
|
||||
const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
|
||||
const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
|
||||
const char *ERROR_STATE_STRING = "ERROR_STATE";
|
||||
const char *RESET_OCCURED_STRING = "RESET_OCCURED";
|
||||
const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
|
||||
const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
|
||||
const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
|
||||
@ -425,6 +426,8 @@ const char *translateEvents(Event event) {
|
||||
return INVALID_ERROR_BYTE_STRING;
|
||||
case (11801):
|
||||
return ERROR_STATE_STRING;
|
||||
case (11802):
|
||||
return RESET_OCCURED_STRING;
|
||||
case (11901):
|
||||
return BOOTING_FIRMWARE_FAILED_STRING;
|
||||
case (11902):
|
||||
|
||||
@ -47,8 +47,9 @@ enum sourceObjects : uint32_t {
|
||||
CSP_COM_IF = 0x49050001,
|
||||
I2C_COM_IF = 0x49040002,
|
||||
UART_COM_IF = 0x49030003,
|
||||
SPI_COM_IF = 0x49020004,
|
||||
SPI_MAIN_COM_IF = 0x49020004,
|
||||
GPIO_IF = 0x49010005,
|
||||
SPI_RW_COM_IF = 0x49020005,
|
||||
|
||||
/* 0x54 ('T') for test handlers */
|
||||
TEST_TASK = 0x54694269,
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
/**
|
||||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 127 translations.
|
||||
* Generated on: 2022-05-08 13:04:56
|
||||
* Contains 129 translations.
|
||||
* Generated on: 2022-05-12 14:08:08
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
@ -77,7 +77,8 @@ const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
|
||||
const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
|
||||
const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
|
||||
const char *GPIO_IF_STRING = "GPIO_IF";
|
||||
const char *SPI_COM_IF_STRING = "SPI_COM_IF";
|
||||
const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
|
||||
const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
|
||||
const char *UART_COM_IF_STRING = "UART_COM_IF";
|
||||
const char *I2C_COM_IF_STRING = "I2C_COM_IF";
|
||||
const char *CSP_COM_IF_STRING = "CSP_COM_IF";
|
||||
@ -119,10 +120,10 @@ const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
|
||||
const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
|
||||
const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
|
||||
const char *TEST_TASK_STRING = "TEST_TASK";
|
||||
const char *HEATER_0_OBC_BRD_STRING = "HEATER_0_OBC_BRD";
|
||||
const char *HEATER_1_PLOC_PROC_BRD_STRING = "HEATER_1_PLOC_PROC_BRD";
|
||||
const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
|
||||
const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
|
||||
const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
|
||||
const char *HEATER_3_PCDU_BRD_STRING = "HEATER_3_PCDU_BRD";
|
||||
const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
|
||||
const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
|
||||
const char *HEATER_5_STR_STRING = "HEATER_5_STR";
|
||||
const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
|
||||
@ -130,6 +131,7 @@ const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
|
||||
const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
|
||||
const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
|
||||
const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
|
||||
const char *RW_ASS_STRING = "RW_ASS";
|
||||
const char *TM_FUNNEL_STRING = "TM_FUNNEL";
|
||||
const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
|
||||
const char *NO_OBJECT_STRING = "NO_OBJECT";
|
||||
@ -279,7 +281,9 @@ const char *translateObject(object_id_t object) {
|
||||
case 0x49010005:
|
||||
return GPIO_IF_STRING;
|
||||
case 0x49020004:
|
||||
return SPI_COM_IF_STRING;
|
||||
return SPI_MAIN_COM_IF_STRING;
|
||||
case 0x49020005:
|
||||
return SPI_RW_COM_IF_STRING;
|
||||
case 0x49030003:
|
||||
return UART_COM_IF_STRING;
|
||||
case 0x49040002:
|
||||
@ -363,13 +367,13 @@ const char *translateObject(object_id_t object) {
|
||||
case 0x54694269:
|
||||
return TEST_TASK_STRING;
|
||||
case 0x60000000:
|
||||
return HEATER_0_OBC_BRD_STRING;
|
||||
return HEATER_0_PLOC_PROC_BRD_STRING;
|
||||
case 0x60000001:
|
||||
return HEATER_1_PLOC_PROC_BRD_STRING;
|
||||
return HEATER_1_PCDU_BRD_STRING;
|
||||
case 0x60000002:
|
||||
return HEATER_2_ACS_BRD_STRING;
|
||||
case 0x60000003:
|
||||
return HEATER_3_PCDU_BRD_STRING;
|
||||
return HEATER_3_OBC_BRD_STRING;
|
||||
case 0x60000004:
|
||||
return HEATER_4_CAMERA_STRING;
|
||||
case 0x60000005:
|
||||
@ -384,6 +388,8 @@ const char *translateObject(object_id_t object) {
|
||||
return SUS_BOARD_ASS_STRING;
|
||||
case 0x73000003:
|
||||
return TCS_BOARD_ASS_STRING;
|
||||
case 0x73000004:
|
||||
return RW_ASS_STRING;
|
||||
case 0x73000100:
|
||||
return TM_FUNNEL_STRING;
|
||||
case 0x73500000:
|
||||
|
||||
@ -29,6 +29,36 @@ ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t pst::pstSpiRw(FixedTimeslotTaskIF *thisSequence) {
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
static_cast<void>(length);
|
||||
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
|
||||
thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
|
||||
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_WRITE);
|
||||
|
||||
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::SEND_READ);
|
||||
|
||||
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
return thisSequence->checkSequence();
|
||||
}
|
||||
|
||||
ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
static_cast<void>(length);
|
||||
@ -452,32 +482,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
|
||||
}
|
||||
#endif /* OBSW_ADD_SUN_SENSORS == 1 */
|
||||
|
||||
#if OBSW_ADD_RW == 1
|
||||
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW1, length * 0.5, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW1, length * 0.65, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW2, length * 0.5, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW2, length * 0.65, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW3, length * 0.5, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW3, length * 0.65, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.5, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.65, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1
|
||||
bool enableAside = true;
|
||||
bool enableBside = true;
|
||||
|
||||
@ -46,6 +46,8 @@ ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence);
|
||||
|
||||
ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence);
|
||||
|
||||
ReturnValue_t pstSpiRw(FixedTimeslotTaskIF* thisSequence);
|
||||
|
||||
ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
|
||||
|
||||
/**
|
||||
|
||||
@ -6,7 +6,6 @@
|
||||
#include <cstring>
|
||||
#include <sstream>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "fsfw/objectmanager/ObjectManager.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
|
||||
@ -57,7 +57,7 @@
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
|
||||
<entry excluding="fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
<entry excluding="bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
@ -119,7 +119,7 @@
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
|
||||
<entry excluding="fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
<entry excluding="bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
@ -187,7 +187,7 @@
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
|
||||
<entry excluding="fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
<entry excluding="bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
@ -255,7 +255,7 @@
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
|
||||
<entry excluding="fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
<entry excluding="bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
@ -418,7 +418,7 @@
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
|
||||
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
<entry excluding="bsp_hosted|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
@ -580,7 +580,7 @@
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
|
||||
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
<entry excluding="bsp_hosted|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
@ -687,7 +687,8 @@
|
||||
<listOptionValue builtIn="false" value=""${Q7S_SYSROOT_UNIX}/usr/include""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/hal/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/cmake-build-debug-q7s}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/cmake-build-debug-q7s/fsfw}""/>
|
||||
</option>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.1331264991" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
|
||||
</tool>
|
||||
@ -699,7 +700,8 @@
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/linux/fsfwconfig}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/hal/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/cmake-build-debug-q7s}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/cmake-build-debug-q7s/fsfw}""/>
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1143219558" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="LINUX=1"/>
|
||||
@ -713,10 +715,10 @@
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/linux/fsfwconfig}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/common/config}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/build-Debug-Q7S}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/hal/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/cmake-build-debug-q7s}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/cmake-build-debug-q7s/fsfw}""/>
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1199844227" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="LINUX=1"/>
|
||||
@ -748,7 +750,7 @@
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
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||||
<entry excluding="build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
<entry excluding="bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
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</sourceEntries>
|
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</configuration>
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</storageModule>
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@ -858,6 +860,7 @@
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/linux/fsfwconfig}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/hal/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/cmake-build-release-q7s}""/>
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</option>
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<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.2127363958" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
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</tool>
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@ -868,6 +871,7 @@
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<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/hal/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/cmake-build-release-q7s}""/>
|
||||
</option>
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<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1774225921" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
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<listOptionValue builtIn="false" value="LINUX=1"/>
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@ -881,6 +885,7 @@
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/hal/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/cmake-build-release-q7s}""/>
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</option>
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<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.41651526" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
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<listOptionValue builtIn="false" value="LINUX=1"/>
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@ -912,7 +917,7 @@
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</toolChain>
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</folderInfo>
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<sourceEntries>
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<entry excluding="build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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<entry excluding="bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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</sourceEntries>
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</configuration>
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</storageModule>
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@ -1079,344 +1084,12 @@
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</toolChain>
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</folderInfo>
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<sourceEntries>
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<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
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<entry excluding="bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
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</sourceEntries>
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<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
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</cconfiguration>
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<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1631077874">
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<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1631077874" moduleId="org.eclipse.cdt.core.settings" name="q7s-watchdog-debug">
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<macros>
|
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<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/home/rmueller/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
|
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<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
|
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</macros>
|
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<externalSettings/>
|
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<extensions>
|
||||
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
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<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
|
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</extensions>
|
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</storageModule>
|
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<storageModule moduleId="cdtBuildSystem" version="4.0.0">
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<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1631077874" name="q7s-watchdog-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
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<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1631077874." name="/" resourcePath="">
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<option id="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.printsize.1749727653" name="Print size" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.printsize" value="true" valueType="boolean"/>
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<option id="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.fpu.abi.239262593" name="Float ABI" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.fpu.abi"/>
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@ -1476,7 +1149,7 @@
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@ -1644,7 +1317,7 @@
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@ -1713,7 +1386,7 @@
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|
||||
<entry excluding="bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
|
||||
@ -20,7 +20,7 @@
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="cmake-build-debug/eive-unittest"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive-obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.775472168"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.758550634"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/eive-obsw"/>
|
||||
</listAttribute>
|
||||
|
||||
@ -408,7 +408,7 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
|
||||
int retval = 0;
|
||||
// Prepare transfer
|
||||
int fileDescriptor = 0;
|
||||
std::string device = cookie->getSpiDevice();
|
||||
std::string device = comIf->getSpiDev();
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
|
||||
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return SpiComIF::OPENING_FILE_FAILED;
|
||||
|
||||
@ -697,8 +697,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
|
||||
int retval = 0;
|
||||
// Prepare transfer
|
||||
int fileDescriptor = 0;
|
||||
std::string device = cookie->getSpiDevice();
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
|
||||
UnixFileGuard fileHelper(comIf->getSpiDev(), &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
|
||||
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return SpiComIF::OPENING_FILE_FAILED;
|
||||
}
|
||||
|
||||
@ -2,22 +2,22 @@
|
||||
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
#include <fsfw/globalfunctions/CRC.h>
|
||||
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
|
||||
RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
|
||||
LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio)
|
||||
GpioIF* gpioComIF, gpioId_t enableGpio)
|
||||
: DeviceHandlerBase(objectId, comIF, comCookie),
|
||||
gpioComIF(gpioComIF),
|
||||
enableGpio(enableGpio),
|
||||
temperatureSet(this),
|
||||
statusSet(this),
|
||||
lastResetStatusSet(this),
|
||||
tmDataset(this) {
|
||||
if (comCookie == NULL) {
|
||||
if (comCookie == nullptr) {
|
||||
sif::error << "RwHandler: Invalid com cookie" << std::endl;
|
||||
}
|
||||
if (gpioComIF == NULL) {
|
||||
if (gpioComIF == nullptr) {
|
||||
sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
|
||||
}
|
||||
}
|
||||
@ -46,11 +46,6 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
|
||||
*id = RwDefinitions::GET_LAST_RESET_STATUS;
|
||||
internalState = InternalState::READ_TEMPERATURE;
|
||||
break;
|
||||
case InternalState::CLEAR_RESET_STATUS:
|
||||
*id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
|
||||
/** After reset status is cleared, reset status will be polled again for verification */
|
||||
internalState = InternalState::GET_RESET_STATUS;
|
||||
break;
|
||||
case InternalState::READ_TEMPERATURE:
|
||||
*id = RwDefinitions::GET_TEMPERATURE;
|
||||
internalState = InternalState::GET_RW_SATUS;
|
||||
@ -59,6 +54,11 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
|
||||
*id = RwDefinitions::GET_RW_STATUS;
|
||||
internalState = InternalState::GET_RESET_STATUS;
|
||||
break;
|
||||
case InternalState::CLEAR_RESET_STATUS:
|
||||
*id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
|
||||
/** After reset status is cleared, reset status will be polled again for verification */
|
||||
internalState = InternalState::GET_RESET_STATUS;
|
||||
break;
|
||||
default:
|
||||
sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid internal step" << std::endl;
|
||||
break;
|
||||
@ -133,7 +133,7 @@ void RwHandler::fillCommandAndReplyMap() {
|
||||
RwDefinitions::SIZE_GET_RW_STATUS);
|
||||
this->insertInCommandAndReplyMap(RwDefinitions::INIT_RW_CONTROLLER, 1, nullptr,
|
||||
RwDefinitions::SIZE_INIT_RW);
|
||||
this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet,
|
||||
this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, nullptr,
|
||||
RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
|
||||
this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
|
||||
RwDefinitions::SIZE_SET_SPEED_REPLY);
|
||||
@ -239,8 +239,6 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void RwHandler::setNormalDatapoolEntriesInvalid() {}
|
||||
|
||||
uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
|
||||
|
||||
ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
@ -279,7 +277,6 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
|
||||
localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
|
||||
localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
|
||||
localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
|
||||
poolManager.subscribeForPeriodicPacket(temperatureSet.getSid(), false, 30.0, false);
|
||||
poolManager.subscribeForPeriodicPacket(statusSet.getSid(), false, 5.0, true);
|
||||
poolManager.subscribeForPeriodicPacket(tmDataset.getSid(), false, 30.0, false);
|
||||
return RETURN_OK;
|
||||
@ -335,16 +332,18 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t* commandData, size_t commandDat
|
||||
void RwHandler::handleResetStatusReply(const uint8_t* packet) {
|
||||
PoolReadGuard rg(&lastResetStatusSet);
|
||||
uint8_t offset = 2;
|
||||
uint8_t resetStatus = *(packet + offset);
|
||||
if (resetStatus != RwDefinitions::CLEARED) {
|
||||
uint8_t resetStatus = packet[offset];
|
||||
if (resetStatus != 0) {
|
||||
internalState = InternalState::CLEAR_RESET_STATUS;
|
||||
lastResetStatusSet.lastResetStatus = resetStatus;
|
||||
lastResetStatusSet.lastNonClearedResetStatus = resetStatus;
|
||||
triggerEvent(RwDefinitions::RESET_OCCURED, resetStatus, 0);
|
||||
}
|
||||
lastResetStatusSet.currentResetStatus = resetStatus;
|
||||
if (debugMode) {
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
|
||||
<< static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
|
||||
<< static_cast<unsigned int>(lastResetStatusSet.lastNonClearedResetStatus.value)
|
||||
<< std::endl;
|
||||
sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
|
||||
<< static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value)
|
||||
<< std::endl;
|
||||
@ -353,24 +352,33 @@ void RwHandler::handleResetStatusReply(const uint8_t* packet) {
|
||||
}
|
||||
|
||||
void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
|
||||
PoolReadGuard rg(&statusSet);
|
||||
PoolReadGuard rg0(&statusSet);
|
||||
PoolReadGuard rg1(&tmDataset);
|
||||
uint8_t offset = 2;
|
||||
statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
||||
*(packet + offset + 1) << 8 | *(packet + offset);
|
||||
tmDataset.rwCurrSpeed = statusSet.currSpeed;
|
||||
tmDataset.rwCurrSpeed.setValid(true);
|
||||
offset += 4;
|
||||
statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
||||
*(packet + offset + 1) << 8 | *(packet + offset);
|
||||
tmDataset.rwRefSpeed = statusSet.referenceSpeed;
|
||||
tmDataset.rwRefSpeed.setValid(true);
|
||||
offset += 4;
|
||||
statusSet.state = *(packet + offset);
|
||||
tmDataset.rwState = statusSet.state;
|
||||
tmDataset.rwState.setValid(true);
|
||||
offset += 1;
|
||||
statusSet.clcMode = *(packet + offset);
|
||||
tmDataset.rwClcMode = statusSet.clcMode;
|
||||
tmDataset.rwClcMode.setValid(true);
|
||||
|
||||
statusSet.setValidity(true, true);
|
||||
|
||||
if (statusSet.state == RwDefinitions::STATE_ERROR) {
|
||||
/**
|
||||
* This requires the commanding of the init reaction wheel controller command to recover
|
||||
* form error state which must be handled by the FDIR instance.
|
||||
*/
|
||||
triggerEvent(ERROR_STATE);
|
||||
// This requires the commanding of the init reaction wheel controller command to recover
|
||||
// from error state which must be handled by the FDIR instance.
|
||||
triggerEvent(RwDefinitions::ERROR_STATE, statusSet.state.value, 0);
|
||||
sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
|
||||
}
|
||||
|
||||
@ -389,14 +397,14 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
|
||||
}
|
||||
|
||||
void RwHandler::handleTemperatureReply(const uint8_t* packet) {
|
||||
PoolReadGuard rg(&temperatureSet);
|
||||
PoolReadGuard rg(&statusSet);
|
||||
uint8_t offset = 2;
|
||||
temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
||||
*(packet + offset + 1) << 8 | *(packet + offset);
|
||||
statusSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
||||
*(packet + offset + 1) << 8 | *(packet + offset);
|
||||
if (debugMode) {
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
sif::info << "RwHandler::handleTemperatureReply: Temperature: "
|
||||
<< temperatureSet.temperatureCelcius << " °C" << std::endl;
|
||||
sif::info << "RwHandler::handleTemperatureReply: Temperature: " << statusSet.temperatureCelcius
|
||||
<< " °C" << std::endl;
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
@ -2,10 +2,12 @@
|
||||
#define MISSION_DEVICES_RWHANDLER_H_
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
|
||||
#include <mission/devices/devicedefinitions/RwDefinitions.h>
|
||||
#include <string.h>
|
||||
|
||||
class GpioIF;
|
||||
|
||||
/**
|
||||
* @brief This is the device handler for the reaction wheel from nano avionics.
|
||||
*
|
||||
@ -28,7 +30,7 @@ class RwHandler : public DeviceHandlerBase {
|
||||
* @param enablePin GPIO connected to the enable pin of the reaction wheels. Must be pulled
|
||||
* to high to enable the device.
|
||||
*/
|
||||
RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, LinuxLibgpioIF* gpioComIF,
|
||||
RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, GpioIF* gpioComIF,
|
||||
gpioId_t enableGpio);
|
||||
|
||||
void setDebugMode(bool enable);
|
||||
@ -64,14 +66,11 @@ class RwHandler : public DeviceHandlerBase {
|
||||
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
|
||||
size_t* foundLen) override;
|
||||
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
|
||||
void setNormalDatapoolEntriesInvalid() override;
|
||||
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) override;
|
||||
|
||||
private:
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
|
||||
|
||||
//! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in
|
||||
//! the range of [-65000; 1000] or [1000; 65000]
|
||||
static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0);
|
||||
@ -84,14 +83,10 @@ class RwHandler : public DeviceHandlerBase {
|
||||
//! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc
|
||||
static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4);
|
||||
|
||||
//! [EXPORT] : [COMMENT] Reaction wheel signals an error state
|
||||
static const Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
|
||||
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
GpioIF* gpioComIF = nullptr;
|
||||
gpioId_t enableGpio = gpio::NO_GPIO;
|
||||
bool debugMode = false;
|
||||
|
||||
RwDefinitions::TemperatureSet temperatureSet;
|
||||
RwDefinitions::StatusSet statusSet;
|
||||
RwDefinitions::LastResetSatus lastResetStatusSet;
|
||||
RwDefinitions::TmDataset tmDataset;
|
||||
|
||||
@ -9,6 +9,13 @@
|
||||
|
||||
namespace RwDefinitions {
|
||||
|
||||
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
|
||||
|
||||
//! [EXPORT] : [COMMENT] Reaction wheel signals an error state
|
||||
static constexpr Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
|
||||
|
||||
static constexpr Event RESET_OCCURED = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);
|
||||
|
||||
static const uint32_t SPI_REPLY_DELAY = 70000; // us
|
||||
|
||||
enum PoolIds : lp_id_t {
|
||||
@ -48,14 +55,13 @@ enum PoolIds : lp_id_t {
|
||||
|
||||
enum States : uint8_t { STATE_ERROR, IDLE, COASTING, RUNNING_SPEED_STABLE, RUNNING_SPEED_CHANGING };
|
||||
|
||||
enum LastResetStatus : uint8_t {
|
||||
CLEARED = 0,
|
||||
PIN_RESET = 1,
|
||||
POR_PDR_BOR_RESET = 2,
|
||||
SOFTWARE_RESET = 4,
|
||||
INDEPENDENT_WATCHDOG_RESET = 8,
|
||||
WINDOW_WATCHDOG_RESET = 16,
|
||||
LOW_POWER_RESET = 32
|
||||
enum LastResetStatusBitPos : uint8_t {
|
||||
PIN_RESET = 0,
|
||||
POR_PDR_BOR_RESET = 1,
|
||||
SOFTWARE_RESET = 2,
|
||||
INDEPENDENT_WATCHDOG_RESET = 3,
|
||||
WINDOW_WATCHDOG_RESET = 4,
|
||||
LOW_POWER_RESET = 5
|
||||
};
|
||||
|
||||
static const DeviceCommandId_t RESET_MCU = 1;
|
||||
@ -91,25 +97,11 @@ static const size_t MAX_CMD_SIZE = 9;
|
||||
static const size_t MAX_REPLY_SIZE = 2 * SIZE_GET_TELEMETRY_REPLY;
|
||||
|
||||
static const uint8_t LAST_RESET_ENTRIES = 2;
|
||||
static const uint8_t TEMPERATURE_SET_ENTRIES = 1;
|
||||
static const uint8_t STATUS_SET_ENTRIES = 4;
|
||||
static const uint8_t STATUS_SET_ENTRIES = 5;
|
||||
static const uint8_t TM_SET_ENTRIES = 24;
|
||||
|
||||
/**
|
||||
* @brief This dataset can be used to store the temperature of a reaction wheel.
|
||||
*/
|
||||
class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
|
||||
public:
|
||||
TemperatureSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {}
|
||||
|
||||
TemperatureSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {}
|
||||
|
||||
lp_var_t<int32_t> temperatureCelcius =
|
||||
lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief This dataset can be used to store the reaction wheel status.
|
||||
* @brief This dataset can be used to store the data periodically polled from the RW
|
||||
*/
|
||||
class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
|
||||
public:
|
||||
@ -117,6 +109,8 @@ class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
|
||||
|
||||
StatusSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, STATUS_SET_ID)) {}
|
||||
|
||||
lp_var_t<int32_t> temperatureCelcius =
|
||||
lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
|
||||
lp_var_t<int32_t> currSpeed = lp_var_t<int32_t>(sid.objectId, PoolIds::CURR_SPEED, this);
|
||||
lp_var_t<int32_t> referenceSpeed =
|
||||
lp_var_t<int32_t>(sid.objectId, PoolIds::REFERENCE_SPEED, this);
|
||||
@ -133,8 +127,10 @@ class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
|
||||
|
||||
LastResetSatus(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, LAST_RESET_ID)) {}
|
||||
|
||||
lp_var_t<uint8_t> lastResetStatus =
|
||||
// If a reset occurs, the status code will be cached into this variable
|
||||
lp_var_t<uint8_t> lastNonClearedResetStatus =
|
||||
lp_var_t<uint8_t>(sid.objectId, PoolIds::LAST_RESET_STATUS, this);
|
||||
// This will always contain the last polled reset status
|
||||
lp_var_t<uint8_t> currentResetStatus =
|
||||
lp_var_t<uint8_t>(sid.objectId, PoolIds::CURRRENT_RESET_STATUS, this);
|
||||
};
|
||||
|
||||
@ -10,7 +10,7 @@ static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_HANDLER;
|
||||
//! [EXPORT] : [COMMENT] Indicates that a FSFW object requested setting a switch
|
||||
//! P1: 1 if on was requested, 0 for off | P2: Switch Index
|
||||
static constexpr Event SWITCH_CMD_SENT = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
|
||||
//! [EXPORT] : [COMMENT] Indicated that a swithc state has changed
|
||||
//! [EXPORT] : [COMMENT] Indicated that a switch state has changed
|
||||
//! P1: New switch state, 1 for on, 0 for off | P2: Switch Index
|
||||
static constexpr Event SWITCH_HAS_CHANGED = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
|
||||
static constexpr Event SWITCHING_Q7S_DENIED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
|
||||
|
||||
@ -5,6 +5,7 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
|
||||
PayloadSubsystem.cpp
|
||||
|
||||
AcsBoardAssembly.cpp
|
||||
RwAssembly.cpp
|
||||
SusAssembly.cpp
|
||||
DualLanePowerStateMachine.cpp
|
||||
PowerStateMachineBase.cpp
|
||||
|
||||
191
mission/system/RwAssembly.cpp
Normal file
191
mission/system/RwAssembly.cpp
Normal file
@ -0,0 +1,191 @@
|
||||
#include "RwAssembly.h"
|
||||
|
||||
RwAssembly::RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
|
||||
power::Switch_t switcher, RwHelper helper)
|
||||
: AssemblyBase(objectId, parentId), helper(helper), switcher(pwrSwitcher, switcher) {
|
||||
ModeListEntry entry;
|
||||
for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
|
||||
entry.setObject(helper.rwIds[idx]);
|
||||
entry.setMode(MODE_OFF);
|
||||
entry.setSubmode(SUBMODE_NONE);
|
||||
entry.setInheritSubmode(false);
|
||||
modeTable.insert(entry);
|
||||
}
|
||||
}
|
||||
|
||||
void RwAssembly::performChildOperation() {
|
||||
auto state = switcher.getState();
|
||||
if (state != PowerSwitcher::WAIT_OFF and state != PowerSwitcher::WAIT_ON) {
|
||||
AssemblyBase::performChildOperation();
|
||||
return;
|
||||
}
|
||||
switcher.doStateMachine();
|
||||
if (state == PowerSwitcher::WAIT_OFF and switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
|
||||
// Indicator that a transition to off is finished
|
||||
AssemblyBase::handleModeReached();
|
||||
} else if (state == PowerSwitcher::WAIT_ON and
|
||||
switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
|
||||
// Indicator that mode commanding can be performed now
|
||||
AssemblyBase::startTransition(targetMode, targetSubmode);
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t RwAssembly::commandChildren(Mode_t mode, Submode_t submode) {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
modeTransitionFailedSwitch = true;
|
||||
// Initialize the mode table to ensure all devices are in a defined state
|
||||
for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
|
||||
modeTable[idx].setMode(MODE_OFF);
|
||||
modeTable[idx].setSubmode(SUBMODE_NONE);
|
||||
}
|
||||
if (recoveryState != RecoveryState::RECOVERY_STARTED) {
|
||||
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
|
||||
result = handleNormalOrOnModeCmd(mode, submode);
|
||||
}
|
||||
}
|
||||
HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
|
||||
executeTable(tableIter);
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t RwAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
|
||||
int devsInCorrectMode = 0;
|
||||
try {
|
||||
for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
|
||||
if (childrenMap.at(helper.rwIds[idx]).mode == wantedMode) {
|
||||
devsInCorrectMode++;
|
||||
}
|
||||
}
|
||||
} catch (const std::out_of_range& e) {
|
||||
sif::error << "RwAssembly: Invalid children map: " << e.what() << std::endl;
|
||||
}
|
||||
if (devsInCorrectMode < 3) {
|
||||
if (warningSwitch) {
|
||||
sif::warning << "RwAssembly::checkChildrenStateOn: Only " << devsInCorrectMode
|
||||
<< " devices in correct mode" << std::endl;
|
||||
warningSwitch = false;
|
||||
}
|
||||
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t RwAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
|
||||
if (mode == MODE_ON or mode == MODE_OFF or mode == DeviceHandlerIF::MODE_NORMAL) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
return HasModesIF::INVALID_MODE;
|
||||
}
|
||||
|
||||
void RwAssembly::startTransition(Mode_t mode, Submode_t submode) {
|
||||
if (mode != MODE_OFF) {
|
||||
switcher.turnOn(true);
|
||||
switcher.doStateMachine();
|
||||
if (switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
|
||||
AssemblyBase::startTransition(mode, submode);
|
||||
} else {
|
||||
// Need to wait with mode commanding until power switcher is done
|
||||
targetMode = mode;
|
||||
targetSubmode = submode;
|
||||
}
|
||||
} else {
|
||||
// Perform regular mode commanding first
|
||||
AssemblyBase::startTransition(mode, submode);
|
||||
}
|
||||
}
|
||||
|
||||
void RwAssembly::handleModeReached() {
|
||||
if (targetMode == MODE_OFF) {
|
||||
switcher.turnOff(true);
|
||||
switcher.doStateMachine();
|
||||
// Need to wait with call to AssemblyBase::handleModeReached until power switcher is done
|
||||
if (switcher.getState() == PowerSwitcher::SWITCH_IS_OFF) {
|
||||
AssemblyBase::handleModeReached();
|
||||
}
|
||||
} else {
|
||||
AssemblyBase::handleModeReached();
|
||||
}
|
||||
}
|
||||
|
||||
void RwAssembly::handleChildrenLostMode(ReturnValue_t result) {
|
||||
AssemblyBase::handleChildrenLostMode(result);
|
||||
}
|
||||
|
||||
ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
bool needsSecondStep = false;
|
||||
Mode_t devMode = 0;
|
||||
object_id_t objId = 0;
|
||||
try {
|
||||
for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
|
||||
devMode = childrenMap.at(helper.rwIds[idx]).mode;
|
||||
objId = helper.rwIds[idx];
|
||||
if (mode == devMode) {
|
||||
modeTable[idx].setMode(mode);
|
||||
} else if (mode == DeviceHandlerIF::MODE_NORMAL) {
|
||||
if (isUseable(objId, devMode)) {
|
||||
if (devMode == MODE_ON) {
|
||||
modeTable[idx].setMode(mode);
|
||||
modeTable[idx].setSubmode(SUBMODE_NONE);
|
||||
} else {
|
||||
modeTable[idx].setMode(MODE_ON);
|
||||
modeTable[idx].setSubmode(SUBMODE_NONE);
|
||||
if (internalState != STATE_SECOND_STEP) {
|
||||
needsSecondStep = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
} else if (mode == MODE_ON) {
|
||||
if (isUseable(objId, devMode)) {
|
||||
modeTable[idx].setMode(MODE_ON);
|
||||
modeTable[idx].setSubmode(SUBMODE_NONE);
|
||||
}
|
||||
}
|
||||
}
|
||||
} catch (const std::out_of_range& e) {
|
||||
sif::error << "TcsBoardAssembly: Invalid children map: " << e.what() << std::endl;
|
||||
}
|
||||
if (needsSecondStep) {
|
||||
result = NEED_SECOND_STEP;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
|
||||
if (healthHelper.healthTable->isFaulty(object)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Check if device is already in target mode
|
||||
if (childrenMap[object].mode == mode) {
|
||||
return true;
|
||||
}
|
||||
|
||||
if (healthHelper.healthTable->isCommandable(object)) {
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
ReturnValue_t RwAssembly::initialize() {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
for (const auto& obj : helper.rwIds) {
|
||||
result = registerChild(obj);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
}
|
||||
return SubsystemBase::initialize();
|
||||
}
|
||||
|
||||
void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
|
||||
if (targetMode == MODE_OFF) {
|
||||
AssemblyBase::handleModeTransitionFailed(result);
|
||||
} else {
|
||||
if (modeTransitionFailedSwitch) {
|
||||
// To avoid transitioning back to off
|
||||
triggerEvent(MODE_TRANSITION_FAILED, result);
|
||||
modeTransitionFailedSwitch = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
51
mission/system/RwAssembly.h
Normal file
51
mission/system/RwAssembly.h
Normal file
@ -0,0 +1,51 @@
|
||||
#ifndef MISSION_SYSTEM_RWASS_H_
|
||||
#define MISSION_SYSTEM_RWASS_H_
|
||||
|
||||
#include <fsfw/devicehandlers/AssemblyBase.h>
|
||||
#include <fsfw/power/PowerSwitcher.h>
|
||||
|
||||
struct RwHelper {
|
||||
RwHelper(std::array<object_id_t, 4> rwIds) : rwIds(rwIds) {}
|
||||
|
||||
std::array<object_id_t, 4> rwIds = {};
|
||||
};
|
||||
|
||||
class RwAssembly : public AssemblyBase {
|
||||
public:
|
||||
RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
|
||||
power::Switch_t switcher, RwHelper helper);
|
||||
|
||||
private:
|
||||
static constexpr uint8_t NUMBER_RWS = 4;
|
||||
RwHelper helper;
|
||||
PowerSwitcher switcher;
|
||||
bool warningSwitch = true;
|
||||
bool modeTransitionFailedSwitch = true;
|
||||
FixedArrayList<ModeListEntry, NUMBER_RWS> modeTable;
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
|
||||
/**
|
||||
* Check whether it makes sense to send mode commands to the device
|
||||
* @param object
|
||||
* @param mode
|
||||
* @return
|
||||
*/
|
||||
bool isUseable(object_id_t object, Mode_t mode);
|
||||
|
||||
// AssemblyBase implementation
|
||||
void performChildOperation() override;
|
||||
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
|
||||
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
|
||||
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
|
||||
void startTransition(Mode_t mode, Submode_t submode) override;
|
||||
void handleModeReached() override;
|
||||
|
||||
// These two overrides prevent a transition of the whole assembly back to off just because
|
||||
// some devices are not working
|
||||
void handleChildrenLostMode(ReturnValue_t result) override;
|
||||
void handleModeTransitionFailed(ReturnValue_t result) override;
|
||||
};
|
||||
|
||||
#endif /* MISSION_SYSTEM_RWASS_H_ */
|
||||
@ -32,7 +32,6 @@ void TcsBoardAssembly::performChildOperation() {
|
||||
switcher.getState() == PowerSwitcher::SWITCH_IS_ON) {
|
||||
// Indicator that mode commanding can be performed now
|
||||
AssemblyBase::startTransition(targetMode, targetSubmode);
|
||||
// AssemblyBase::performChildOperation();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -21,8 +21,6 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
void performChildOperation() override;
|
||||
|
||||
private:
|
||||
static constexpr uint8_t NUMBER_RTDS = 16;
|
||||
PowerSwitcher switcher;
|
||||
@ -44,6 +42,7 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
|
||||
MessageQueueId_t getEventReceptionQueue() override;
|
||||
|
||||
// AssemblyBase implementation
|
||||
void performChildOperation() override;
|
||||
ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
|
||||
ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
|
||||
ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
|
||||
|
||||
87
scripts/install-obsw-yocto.sh
Executable file
87
scripts/install-obsw-yocto.sh
Executable file
@ -0,0 +1,87 @@
|
||||
#!/bin/bash
|
||||
# This is a helper script to install the compiles EIVE OBSW files
|
||||
# into the yocto repository to re-generate the mission root filesystem
|
||||
|
||||
init_dir=$(pwd)
|
||||
build_dir=cmake-build-release-q7s
|
||||
obsw_root=""
|
||||
q7s_yocto_dir="q7s-yocto"
|
||||
q7s_package_path="q7s-package/${q7s_yocto_dir}"
|
||||
|
||||
obsw_version_filename="obsw_version.txt"
|
||||
yocto_obsw_path="yocto/meta-eive/recipes-core/eive-obsw/files"
|
||||
yocto_watchdog_path="yocto/meta-eive/recipes-support/eive-obsw-watchdog/files"
|
||||
obsw_bin_name="eive-obsw"
|
||||
watchdog_bin_name="eive-watchdog"
|
||||
obsw_target_name="eive-obsw"
|
||||
watchdog_target_name="eive-watchdog"
|
||||
|
||||
if [ ! -z ${EIVE_OBSW_ROOT} ]; then
|
||||
cd ${EIVE_OBSW_ROOT}
|
||||
obsw_root=$(pwd)
|
||||
elif [ -d ${build_dir} ]; then
|
||||
obsw_root=${build_dir}
|
||||
:
|
||||
elif [ -d ../${build_dir} ]; then
|
||||
cd ..
|
||||
obsw_root=$(pwd)
|
||||
else
|
||||
echo "-E- No way into the EIVE OBSW Root folder found. Exiting"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
yocto_root=""
|
||||
if [ -d ../${q7s_package_path} ]; then
|
||||
cd ../${q7s_package_path}
|
||||
yocto_root=$(pwd)
|
||||
elif [ -d ../${q7s_yocto_dir} ]; then
|
||||
cd ../${q7s_yocto_dir}
|
||||
yocto_root=$(pwd)
|
||||
fi
|
||||
if [ -z ${yocto_root} ]; then
|
||||
echo "-E- No yocto directory found. Exiting"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
cd ${obsw_root}
|
||||
|
||||
version_cmd="git describe --tags --always --exclude docker_*"
|
||||
echo "-I- Running ${version_cmd} to retrieve OBSW version and store it into ${obsw_version_filename}"
|
||||
version_tag=$(${version_cmd})
|
||||
echo "-I- Detected version tag ${version_tag}"
|
||||
echo ${version_tag} > ${obsw_version_filename}
|
||||
|
||||
if [ ! -d ${build_dir} ]; then
|
||||
echo "No Q7S Release binary folder ${build_dir} found. Exiting"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [ ! -f ${build_dir}/${obsw_bin_name} ]; then
|
||||
echo "-W- No EIVE OBSW binary found to intall to yocto"
|
||||
else
|
||||
cp_cmd="cp $(pwd)/${build_dir}/${obsw_bin_name} ${yocto_root}/${yocto_obsw_path}/${obsw_target_name}"
|
||||
echo "-I- Executing: ${cp_cmd}"
|
||||
eval ${cp_cmd}
|
||||
cp_ver_cmd="cp $(pwd)/${obsw_version_filename} ${yocto_root}/${yocto_obsw_path}"
|
||||
echo "-I- Executing: ${cp_ver_cmd}"
|
||||
eval ${cp_ver_cmd}
|
||||
echo "-I- Installed EIVE OBSW into yocto repository successfully"
|
||||
fi
|
||||
|
||||
if [ ! -f ${build_dir}/${watchdog_bin_name} ]; then
|
||||
echo "-W- No EIVE Watchdog found to intall to yocto"
|
||||
else
|
||||
cp_cmd="cp $(pwd)/${build_dir}/${watchdog_bin_name} ${yocto_root}/${yocto_watchdog_path}/${watchdog_target_name}"
|
||||
echo "-I- Executing: ${cp_cmd}"
|
||||
eval ${cp_cmd}
|
||||
cp_ver_cmd="cp $(pwd)/${obsw_version_filename} ${yocto_root}/${yocto_watchdog_path}"
|
||||
echo "-I- Executing: ${cp_ver_cmd}"
|
||||
eval ${cp_ver_cmd}
|
||||
echo "-I- Installed EIVE watchdog into yocto repository successfully"
|
||||
fi
|
||||
|
||||
if [ -f $(pwd)/${obsw_version_filename} ]; then
|
||||
rm $(pwd)/${obsw_version_filename}
|
||||
fi
|
||||
|
||||
cd ${init_dir}
|
||||
@ -16,6 +16,7 @@ if [[ -d "eive-obsw" ]]; then
|
||||
export EIVE_OBSW_ROOT="$(pwd)/eive-obsw"
|
||||
echo "Adding $(pwd)/eive-obsw/cmake/scripts/q7s helper script path to PATH"
|
||||
export PATH=$PATH:"$(pwd)/eive-obsw/cmake/scripts/q7s"
|
||||
export PATH=$PATH:"$(pwd)/eive-obsw/scripts"
|
||||
cd "eive-obsw"
|
||||
fi
|
||||
export CONSOLE_PREFIX="[Q7S ENV]"
|
||||
|
||||
@ -16,6 +16,7 @@ if [[ -d "eive-obsw" ]]; then
|
||||
export EIVE_OBSW_ROOT="$(pwd)/eive-obsw"
|
||||
echo "Adding $(pwd)/eive-obsw/cmake/scripts/q7s helper script path to PATH"
|
||||
export PATH=$PATH:"$(pwd)/eive-obsw/cmake/scripts/q7s"
|
||||
export PATH=$PATH:"$(pwd)/eive-obsw/scripts"
|
||||
cd "eive-obsw"
|
||||
fi
|
||||
export CONSOLE_PREFIX="[Q7S ENV]"
|
||||
|
||||
@ -54,5 +54,6 @@ if [ -d "eive-obsw" ]; then
|
||||
export EIVE_OBSW_ROOT="$(pwd)/eive-obsw"
|
||||
echo "Adding $(pwd)/eive-obsw/cmake/scripts/q7s helper script path to PATH"
|
||||
export PATH=$PATH:"$(pwd)/eive-obsw/cmake/scripts/q7s"
|
||||
export PATH=$PATH:"$(pwd)/eive-obsw/scripts"
|
||||
cd "eive-obsw"
|
||||
fi
|
||||
|
||||
@ -54,5 +54,6 @@ if [ -d "eive-obsw" ]; then
|
||||
export EIVE_OBSW_ROOT="$(pwd)/eive-obsw"
|
||||
echo "Adding $(pwd)/eive-obsw/cmake/scripts/q7s helper script path to PATH"
|
||||
export PATH=$PATH:"$(pwd)/eive-obsw/cmake/scripts/q7s"
|
||||
export PATH=$PATH:"$(pwd)/eive-obsw/scripts"
|
||||
cd "eive-obsw"
|
||||
fi
|
||||
|
||||
1
thirdparty/rapidcsv
vendored
Submodule
1
thirdparty/rapidcsv
vendored
Submodule
@ -0,0 +1 @@
|
||||
Subproject commit d4e0bc1047ca3965653463dc63f6d230a043a060
|
||||
2
tmtc
2
tmtc
@ -1 +1 @@
|
||||
Subproject commit 6b7b07c3409fc24a8585c39e308156b3657c655e
|
||||
Subproject commit eb4143e6b5144050abb6dfb965e74174d8bad063
|
||||
@ -1,3 +1,4 @@
|
||||
target_sources(${UNITTEST_NAME} PRIVATE
|
||||
testThermalController.cpp
|
||||
testAcsController.cpp
|
||||
)
|
||||
41
unittest/controller/testAcsController.cpp
Normal file
41
unittest/controller/testAcsController.cpp
Normal file
@ -0,0 +1,41 @@
|
||||
#include <fsfw/ipc/QueueFactory.h>
|
||||
#include <mission/controller/ThermalController.h>
|
||||
|
||||
#include <catch2/catch_test_macros.hpp>
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
#include <stdexcept>
|
||||
|
||||
#include "../testEnvironment.h"
|
||||
#include "rapidcsv.h"
|
||||
|
||||
TEST_CASE("ACS Controller", "[AcsController]") {
|
||||
SECTION("SectionTest") {
|
||||
// acsCtrl.performOperation();
|
||||
CHECK(1 == 1);
|
||||
|
||||
try {
|
||||
{
|
||||
std::ifstream file("unittest/meineTestDaten.txt");
|
||||
if (file.good()) {
|
||||
std::string line;
|
||||
while (std::getline(file, line)) {
|
||||
std::cout << "ACS CTRL Test test file: " << line << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
rapidcsv::Document doc("unittest/meineTestDaten.txt");
|
||||
std::vector<int> col = doc.GetColumn<int>("test0");
|
||||
std::cout << "Read " << col.size() << " values: " << col[0] << ", " << col[1] << std::endl;
|
||||
}
|
||||
} catch (const std::exception& e) {
|
||||
sif::warning << "CSV file test exception occured: " << e.what() << std::endl;
|
||||
}
|
||||
|
||||
REQUIRE(2 == 2);
|
||||
}
|
||||
|
||||
SECTION("SectionTest2") {}
|
||||
}
|
||||
@ -42,4 +42,4 @@ TEST_CASE("Thermal Controller", "[ThermalController]") {
|
||||
componentTemperatures.commit();
|
||||
|
||||
QueueFactory::instance()->deleteMessageQueue(commandQueue);
|
||||
}
|
||||
}
|
||||
|
||||
3
unittest/meineTestDaten.txt
Normal file
3
unittest/meineTestDaten.txt
Normal file
@ -0,0 +1,3 @@
|
||||
test0,test1,test2
|
||||
0,2,3
|
||||
4,5,6
|
||||
Loading…
Reference in New Issue
Block a user