Merge remote-tracking branch 'origin/develop' into mueller/heater-health-if
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Robin Müller 2022-05-12 14:11:46 +02:00
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59 changed files with 1063 additions and 1718 deletions

3
.gitmodules vendored
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@ -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

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@ -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

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@ -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")

117
README.md
View File

@ -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
@ -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 &rarr; Debug As &rarr; Debug Configurations
6. Right click Xilinx C/C++ applicaton (System Debugger) &rarr; New &rarr;
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 &rarr; 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 &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**.
4. Go to Window &rarr; Perspective &rarr; 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

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@ -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) {

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@ -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)

View File

@ -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

View File

@ -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;
}
}

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@ -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

View File

@ -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_ */

View File

@ -1,6 +1,7 @@
target_sources(${OBSW_NAME} PRIVATE
CoreController.cpp
InitMission.cpp
ObjectFactory.cpp
)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE

View File

@ -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) {

View File

@ -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,

View File

@ -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);

View File

@ -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();
}

View File

@ -1,3 +0,0 @@
target_sources(${OBSW_NAME} PRIVATE
fmObjectFactory.cpp
)

View 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();
}

View File

@ -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

View File

@ -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

View File

@ -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

View File

@ -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

View File

@ -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

@ -1 +1 @@
Subproject commit d72b212fa629029924d9862e3e862d0388911f8e
Subproject commit dafcaa60079ba8e57753d389e6a569ee3eb0b7cb

View File

@ -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

1 2200 0x0898 STORE_SEND_WRITE_FAILED LOW fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
78 9700 0x25e4 TEST INFO fsfw/src/fsfw/pus/Service17Test.h
79 10600 0x2968 CHANGE_OF_SETUP_PARAMETER LOW fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
80 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
81 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 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
82 11302 0x2c26 SWITCHING_Q7S_DENIED MEDIUM mission/devices/devicedefinitions/powerDefinitions.h
83 11303 0x2c27 FDIR_REACTION_IGNORED MEDIUM mission/devices/devicedefinitions/powerDefinitions.h
84 11400 0x2c88 GPIO_PULL_HIGH_FAILED LOW mission/devices/HeaterHandler.h
107 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
108 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
109 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
110 11801 0x2e19 ERROR_STATE HIGH Reaction wheel signals an error state mission/devices/RwHandler.h mission/devices/devicedefinitions/RwDefinitions.h
111 11802 0x2e1a RESET_OCCURED LOW mission/devices/devicedefinitions/RwDefinitions.h
112 11901 0x2e7d BOOTING_FIRMWARE_FAILED LOW Failed to boot firmware linux/devices/startracker/StarTrackerHandler.h
113 11902 0x2e7e BOOTING_BOOTLOADER_FAILED LOW Failed to boot star tracker into bootloader mode linux/devices/startracker/StarTrackerHandler.h
114 12001 0x2ee1 SUPV_MEMORY_READ_RPT_CRC_FAILURE LOW PLOC supervisor crc failure in telemetry packet linux/devices/ploc/PlocSupervisorHandler.h

View File

@ -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 0x00005060 P60DOCK_TEST_TASK
69 0x445300A3 SYRLINKS_HK_HANDLER
70 0x49000000 ARDUINO_COM_IF
71 0x49010005 GPIO_IF
72 0x49020004 SPI_COM_IF SPI_MAIN_COM_IF
73 0x49020005 SPI_RW_COM_IF
74 0x49030003 UART_COM_IF
75 0x49040002 I2C_COM_IF
76 0x49050001 CSP_COM_IF
112 0x5400CAFE DUMMY_INTERFACE
113 0x54123456 LIBGPIOD_TEST
114 0x54694269 TEST_TASK
115 0x60000000 HEATER_0_OBC_BRD HEATER_0_PLOC_PROC_BRD
116 0x60000001 HEATER_1_PLOC_PROC_BRD HEATER_1_PCDU_BRD
117 0x60000002 HEATER_2_ACS_BRD
118 0x60000003 HEATER_3_PCDU_BRD HEATER_3_OBC_BRD
119 0x60000004 HEATER_4_CAMERA
120 0x60000005 HEATER_5_STR
121 0x60000006 HEATER_6_DRO
123 0x73000001 ACS_BOARD_ASS
124 0x73000002 SUS_BOARD_ASS
125 0x73000003 TCS_BOARD_ASS
126 0x73000004 RW_ASS
127 0x73000100 TM_FUNNEL
128 0x73500000 CCSDS_IP_CORE_BRIDGE
129 0xFFFFFFFF NO_OBJECT

View File

@ -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):

View File

@ -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:

View File

@ -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;
}
}

View File

@ -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

View File

@ -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):

View File

@ -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,

View File

@ -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:

View File

@ -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;

View File

@ -46,6 +46,8 @@ ReturnValue_t pstUart(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstSpi(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstSpiRw(FixedTimeslotTaskIF* thisSequence);
ReturnValue_t pstI2c(FixedTimeslotTaskIF* thisSequence);
/**

View File

@ -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"

View File

@ -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="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s/fsfw}&quot;"/>
</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="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s/fsfw}&quot;"/>
</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="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/common/config}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s/fsfw}&quot;"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1199844227" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
<listOptionValue builtIn="false" value="LINUX=1"/>
@ -748,7 +750,7 @@
</toolChain>
</folderInfo>
<sourceEntries>
<entry excluding="build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
<entry excluding="bsp_hosted|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug|cmake-build-debug-q7s-em|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
</sourceEntries>
</configuration>
</storageModule>
@ -858,6 +860,7 @@
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-release-q7s}&quot;"/>
</option>
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.2127363958" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
</tool>
@ -868,6 +871,7 @@
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-release-q7s}&quot;"/>
</option>
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1774225921" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
<listOptionValue builtIn="false" value="LINUX=1"/>
@ -881,6 +885,7 @@
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-release-q7s}&quot;"/>
</option>
<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">
<listOptionValue builtIn="false" value="LINUX=1"/>
@ -912,7 +917,7 @@
</toolChain>
</folderInfo>
<sourceEntries>
<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|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=""/>
</sourceEntries>
</configuration>
</storageModule>
@ -1079,344 +1084,12 @@
</toolChain>
</folderInfo>
<sourceEntries>
<entry 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" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
</sourceEntries>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration>
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1631077874">
<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">
<macros>
<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/home/rmueller/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
</macros>
<externalSettings/>
<extensions>
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
</extensions>
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</toolChain>
</folderInfo>
<sourceEntries>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
</sourceEntries>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
<storageModule moduleId="ilg.gnumcueclipse.managedbuild.packs"/>
</cconfiguration>
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.775472168">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.775472168" moduleId="org.eclipse.cdt.core.settings" name="eive-fsfw-unittest">
<externalSettings/>
@ -1476,7 +1149,7 @@
</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>
@ -1644,7 +1317,7 @@
</toolChain>
</folderInfo>
<sourceEntries>
<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|build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
</sourceEntries>
</configuration>
</storageModule>
@ -1713,7 +1386,7 @@
</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>

View File

@ -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>

View File

@ -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;

View File

@ -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;
}

View File

@ -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
}
}

View File

@ -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;

View File

@ -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);
};

View File

@ -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);

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@ -5,6 +5,7 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
PayloadSubsystem.cpp
AcsBoardAssembly.cpp
RwAssembly.cpp
SusAssembly.cpp
DualLanePowerStateMachine.cpp
PowerStateMachineBase.cpp

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@ -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;
}
}
}

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@ -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_ */

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@ -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();
}
}

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@ -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
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@ -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}

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@ -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]"

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@ -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]"

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@ -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

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@ -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

@ -0,0 +1 @@
Subproject commit d4e0bc1047ca3965653463dc63f6d230a043a060

2
tmtc

@ -1 +1 @@
Subproject commit 6b7b07c3409fc24a8585c39e308156b3657c655e
Subproject commit eb4143e6b5144050abb6dfb965e74174d8bad063

View File

@ -1,3 +1,4 @@
target_sources(${UNITTEST_NAME} PRIVATE
testThermalController.cpp
testAcsController.cpp
)

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@ -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") {}
}

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@ -0,0 +1,3 @@
test0,test1,test2
0,2,3
4,5,6