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@ -1,247 +1,244 @@
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#include "InitMission.h"
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#include "ObjectFactory.h"
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#include "objects/systemObjectList.h"
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#include "OBSWConfig.h"
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#include "pollingsequence/pollingSequenceFactory.h"
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#include <mission/utility/InitMission.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw/objectmanager/ObjectManagerIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/serviceinterface/ServiceInterface.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include <fsfw/tasks/PeriodicTaskIF.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <mission/utility/InitMission.h>
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#include <iostream>
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#include "OBSWConfig.h"
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#include "ObjectFactory.h"
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#include "objects/systemObjectList.h"
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#include "pollingsequence/pollingSequenceFactory.h"
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ServiceInterfaceStream sif::debug("DEBUG");
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ServiceInterfaceStream sif::info("INFO");
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ServiceInterfaceStream sif::warning("WARNING");
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ServiceInterfaceStream sif::error("ERROR");
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ObjectManagerIF *objectManager = nullptr;
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ObjectManagerIF* objectManager = nullptr;
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void initmission::initMission() {
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sif::info << "Building global objects.." << std::endl;
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/* Instantiate global object manager and also create all objects */
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ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
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sif::info << "Initializing all objects.." << std::endl;
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ObjectManager::instance()->initialize();
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sif::info << "Building global objects.." << std::endl;
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/* Instantiate global object manager and also create all objects */
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ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
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sif::info << "Initializing all objects.." << std::endl;
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ObjectManager::instance()->initialize();
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/* This function creates and starts all tasks */
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initTasks();
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/* This function creates and starts all tasks */
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initTasks();
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}
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void initmission::initTasks() {
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TaskFactory* factory = TaskFactory::instance();
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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if(factory == nullptr) {
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/* Should never happen ! */
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return;
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}
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TaskFactory* factory = TaskFactory::instance();
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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if (factory == nullptr) {
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/* Should never happen ! */
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return;
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}
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#if OBSW_PRINT_MISSED_DEADLINES == 1
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void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
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void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
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#else
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void (*missedDeadlineFunc) (void) = nullptr;
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void (*missedDeadlineFunc)(void) = nullptr;
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#endif
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/* TMTC Distribution */
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PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
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"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Object add component failed" << std::endl;
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}
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result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Object add component failed" << std::endl;
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}
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result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Object add component failed" << std::endl;
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}
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/* TMTC Distribution */
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PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
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"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
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if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
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if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Object add component failed" << std::endl;
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}
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/* UDP bridge */
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PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
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"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component UDP Unix Bridge failed" << std::endl;
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}
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PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
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"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component UDP Polling failed" << std::endl;
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}
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/* UDP bridge */
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PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
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"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component UDP Unix Bridge failed" << std::endl;
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}
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PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
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"UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Add component UDP Polling failed" << std::endl;
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}
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/* PUS Services */
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std::vector<PeriodicTaskIF*> pusTasks;
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createPusTasks(*factory, missedDeadlineFunc, pusTasks);
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/* PUS Services */
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std::vector<PeriodicTaskIF*> pusTasks;
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createPusTasks(*factory, missedDeadlineFunc, pusTasks);
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std::vector<PeriodicTaskIF*> pstTasks;
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createPstTasks(*factory, missedDeadlineFunc, pstTasks);
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std::vector<PeriodicTaskIF*> pstTasks;
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createPstTasks(*factory, missedDeadlineFunc, pstTasks);
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#if OBSW_ADD_TEST_CODE == 1
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std::vector<PeriodicTaskIF*> testTasks;
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createTestTasks(*factory, missedDeadlineFunc, pstTasks);
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std::vector<PeriodicTaskIF*> testTasks;
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createTestTasks(*factory, missedDeadlineFunc, pstTasks);
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
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for(const auto& task: taskVector) {
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if(task != nullptr) {
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task->startTask();
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}
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else {
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sif::error << "Task in vector " << name << " is invalid!" << std::endl;
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}
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}
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};
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auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
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for (const auto& task : taskVector) {
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if (task != nullptr) {
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task->startTask();
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} else {
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sif::error << "Task in vector " << name << " is invalid!" << std::endl;
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}
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}
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};
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sif::info << "Starting tasks.." << std::endl;
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tmTcDistributor->startTask();
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udpBridgeTask->startTask();
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udpPollingTask->startTask();
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sif::info << "Starting tasks.." << std::endl;
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tmTcDistributor->startTask();
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udpBridgeTask->startTask();
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udpPollingTask->startTask();
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taskStarter(pusTasks, "PUS Tasks");
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taskStarter(pusTasks, "PUS Tasks");
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#if OBSW_ADD_TEST_CODE == 1
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taskStarter(testTasks, "Test Tasks");
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taskStarter(testTasks, "Test Tasks");
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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taskStarter(pstTasks, "PST Tasks");
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taskStarter(pstTasks, "PST Tasks");
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#if OBSW_ADD_TEST_PST == 1
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if(startTestPst) {
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pstTestTask->startTask();
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}
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if (startTestPst) {
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pstTestTask->startTask();
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}
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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sif::info << "Tasks started.." << std::endl;
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sif::info << "Tasks started.." << std::endl;
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}
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void initmission::createPusTasks(TaskFactory& factory,
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TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*>& taskVec) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
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"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
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if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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taskVec.push_back(pusVerification);
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TaskDeadlineMissedFunction missedDeadlineFunc,
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std::vector<PeriodicTaskIF*>& taskVec) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
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"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Object add component failed" << std::endl;
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}
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taskVec.push_back(pusVerification);
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PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
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"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
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}
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result = pusEvents->addComponent(objects::EVENT_MANAGER);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
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}
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taskVec.push_back(pusEvents);
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PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
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"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
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}
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result = pusEvents->addComponent(objects::EVENT_MANAGER);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
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}
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taskVec.push_back(pusEvents);
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PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
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"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
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}
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result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
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}
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taskVec.push_back(pusHighPrio);
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PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
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"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
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}
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result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
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}
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taskVec.push_back(pusHighPrio);
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PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
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"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
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}
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taskVec.push_back(pusMedPrio);
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PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
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"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
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}
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
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}
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taskVec.push_back(pusMedPrio);
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PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
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"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
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result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
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}
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result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("INT_ERR_RPRT",
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objects::INTERNAL_ERROR_REPORTER);
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}
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taskVec.push_back(pusLowPrio);
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PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
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"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
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result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
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}
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result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
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}
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taskVec.push_back(pusLowPrio);
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}
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void initmission::createPstTasks(TaskFactory& factory,
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TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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||||
TaskDeadlineMissedFunction missedDeadlineFunc,
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std::vector<PeriodicTaskIF*>& taskVec) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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#if OBSW_ADD_SPI_TEST_CODE == 0
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FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
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"SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
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missedDeadlineFunc);
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result = pst::pstSpi(spiPst);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
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}
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taskVec.push_back(spiPst);
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FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
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"SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
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result = pst::pstSpi(spiPst);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
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}
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taskVec.push_back(spiPst);
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||||
#endif
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||||
}
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||||
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||||
void initmission::createTestTasks(TaskFactory& factory,
|
||||
TaskDeadlineMissedFunction missedDeadlineFunc,
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||||
std::vector<PeriodicTaskIF*> &taskVec) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
PeriodicTaskIF* testTask = factory.createPeriodicTask(
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||||
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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||||
result = testTask->addComponent(objects::TEST_TASK);
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||||
if(result != HasReturnvaluesIF::RETURN_OK) {
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||||
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
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||||
}
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||||
TaskDeadlineMissedFunction missedDeadlineFunc,
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||||
std::vector<PeriodicTaskIF*>& taskVec) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
PeriodicTaskIF* testTask = factory.createPeriodicTask(
|
||||
"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
|
||||
result = testTask->addComponent(objects::TEST_TASK);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
|
||||
}
|
||||
#if RPI_ADD_SPI_TEST == 1
|
||||
result = testTask->addComponent(objects::SPI_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
|
||||
}
|
||||
result = testTask->addComponent(objects::SPI_TEST);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
|
||||
}
|
||||
#endif /* RPI_ADD_SPI_TEST == 1 */
|
||||
#if RPI_ADD_GPIO_TEST == 1
|
||||
result = testTask->addComponent(objects::LIBGPIOD_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
|
||||
}
|
||||
result = testTask->addComponent(objects::LIBGPIOD_TEST);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
|
||||
}
|
||||
#endif /* RPI_ADD_GPIO_TEST == 1 */
|
||||
#if RPI_ADD_UART_TEST == 1
|
||||
result = testTask->addComponent(objects::UART_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
|
||||
}
|
||||
result = testTask->addComponent(objects::UART_TEST);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
|
||||
}
|
||||
#endif /* RPI_ADD_GPIO_TEST == 1 */
|
||||
|
||||
bool startTestPst = true;
|
||||
static_cast<void>(startTestPst);
|
||||
bool startTestPst = true;
|
||||
static_cast<void>(startTestPst);
|
||||
#if OBSW_ADD_TEST_PST == 1
|
||||
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("TEST_PST", 50,
|
||||
PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
|
||||
result = pst::pstTest(pstTestTask);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
|
||||
startTestPst = false;
|
||||
}
|
||||
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
|
||||
"TEST_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
|
||||
result = pst::pstTest(pstTestTask);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
|
||||
startTestPst = false;
|
||||
}
|
||||
#endif /* RPI_TEST_ACS_BOARD == 1 */
|
||||
|
||||
}
|
||||
|
||||
@ -1,9 +1,10 @@
|
||||
#ifndef BSP_LINUX_INITMISSION_H_
|
||||
#define BSP_LINUX_INITMISSION_H_
|
||||
|
||||
#include "fsfw/tasks/Typedef.h"
|
||||
#include <vector>
|
||||
|
||||
#include "fsfw/tasks/Typedef.h"
|
||||
|
||||
class PeriodicTaskIF;
|
||||
class TaskFactory;
|
||||
|
||||
@ -11,14 +12,12 @@ namespace initmission {
|
||||
void initMission();
|
||||
void initTasks();
|
||||
|
||||
void createPstTasks(TaskFactory& factory,
|
||||
TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*> &taskVec);
|
||||
void createTestTasks(TaskFactory& factory,
|
||||
TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*> &taskVec);
|
||||
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
};
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
}; // namespace initmission
|
||||
|
||||
#endif /* BSP_LINUX_INITMISSION_H_ */
|
||||
|
||||
@ -1,236 +1,241 @@
|
||||
#include <devConf.h>
|
||||
#include "ObjectFactory.h"
|
||||
|
||||
#include "objects/systemObjectList.h"
|
||||
#include <devConf.h>
|
||||
#include <mission/devices/GPSHyperionHandler.h>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "devices/addresses.h"
|
||||
#include "devices/gpioIds.h"
|
||||
#include "OBSWConfig.h"
|
||||
#include "tmtc/apid.h"
|
||||
#include "tmtc/pusIds.h"
|
||||
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
#include "fsfw/tmtcpacket/pus/tm.h"
|
||||
#include "fsfw/tmtcservices/CommandingServiceBase.h"
|
||||
#include "fsfw/tmtcservices/PusServiceBase.h"
|
||||
#include "linux/boardtest/LibgpiodTest.h"
|
||||
#include "linux/boardtest/SpiTestClass.h"
|
||||
#include "linux/boardtest/UartTestClass.h"
|
||||
|
||||
#include "mission/core/GenericFactory.h"
|
||||
#include "mission/utility/TmFunnel.h"
|
||||
#include <mission/devices/GPSHyperionHandler.h>
|
||||
#include "mission/devices/GyroADIS1650XHandler.h"
|
||||
|
||||
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
|
||||
#include "fsfw/tmtcservices/CommandingServiceBase.h"
|
||||
#include "fsfw/tmtcservices/PusServiceBase.h"
|
||||
#include "fsfw/tmtcpacket/pus/tm.h"
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
#include "mission/utility/TmFunnel.h"
|
||||
#include "objects/systemObjectList.h"
|
||||
#include "tmtc/apid.h"
|
||||
#include "tmtc/pusIds.h"
|
||||
|
||||
/* UDP server includes */
|
||||
#if OBSW_USE_TMTC_TCP_BRIDGE == 1
|
||||
#include <fsfw/src/fsfw/osal/common/TcpTmTcBridge.h>
|
||||
#include <fsfw/src/fsfw/osal/common/TcpTmTcServer.h>
|
||||
#else
|
||||
#include "fsfw/osal/common/UdpTmTcBridge.h"
|
||||
#include "fsfw/osal/common/UdpTcPollingTask.h"
|
||||
#include "fsfw/osal/common/UdpTmTcBridge.h"
|
||||
#endif
|
||||
|
||||
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
|
||||
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
|
||||
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
|
||||
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
|
||||
#include "fsfw_hal/linux/rpi/GpioRPi.h"
|
||||
#include "fsfw_hal/common/gpio/GpioCookie.h"
|
||||
#include "fsfw_hal/linux/spi/SpiCookie.h"
|
||||
#include "fsfw_hal/linux/spi/SpiComIF.h"
|
||||
#include <fsfw_hal/linux/uart/UartComIF.h>
|
||||
#include <fsfw_hal/linux/uart/UartCookie.h>
|
||||
|
||||
#include "fsfw_hal/common/gpio/GpioCookie.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/rpi/GpioRPi.h"
|
||||
#include "fsfw_hal/linux/spi/SpiComIF.h"
|
||||
#include "fsfw_hal/linux/spi/SpiCookie.h"
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
|
||||
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
|
||||
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
|
||||
|
||||
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
|
||||
// No storage object for now.
|
||||
TmFunnel::storageDestination = objects::NO_OBJECT;
|
||||
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
|
||||
// No storage object for now.
|
||||
TmFunnel::storageDestination = objects::NO_OBJECT;
|
||||
|
||||
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
|
||||
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
|
||||
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
|
||||
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ObjectFactory::produce(void* args){
|
||||
Factory::setStaticFrameworkObjectIds();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
void ObjectFactory::produce(void* args) {
|
||||
Factory::setStaticFrameworkObjectIds();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
|
||||
#if OBSW_USE_TMTC_TCP_BRIDGE == 1
|
||||
auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
tmtcBridge->setMaxNumberOfPacketsStored(50);
|
||||
new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
|
||||
auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
tmtcBridge->setMaxNumberOfPacketsStored(50);
|
||||
new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
|
||||
#else
|
||||
auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
tmtcBridge->setMaxNumberOfPacketsStored(50);
|
||||
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
|
||||
auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
tmtcBridge->setMaxNumberOfPacketsStored(50);
|
||||
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
|
||||
#endif
|
||||
|
||||
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
||||
GpioCookie* gpioCookie = nullptr;
|
||||
static_cast<void>(gpioCookie);
|
||||
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
||||
GpioCookie* gpioCookie = nullptr;
|
||||
static_cast<void>(gpioCookie);
|
||||
|
||||
new SpiComIF(objects::SPI_COM_IF, gpioIF);
|
||||
new SpiComIF(objects::SPI_COM_IF, gpioIF);
|
||||
|
||||
std::string spiDev;
|
||||
SpiCookie* spiCookie = nullptr;
|
||||
static_cast<void>(spiCookie);
|
||||
std::string spiDev;
|
||||
SpiCookie* spiCookie = nullptr;
|
||||
static_cast<void>(spiCookie);
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
if(gpioCookie == nullptr) {
|
||||
gpioCookie = new GpioCookie();
|
||||
}
|
||||
// TODO: Missing pin for Gyro 2
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
|
||||
"MGM_0_LIS3", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
|
||||
"MGM_1_RM3100", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
|
||||
"MGM_2_LIS3", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
|
||||
"MGM_3_RM3100", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
|
||||
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
|
||||
"GYRO_1_L3G", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
|
||||
"GYRO_2_ADIS", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN,
|
||||
"GYRO_3_L3G", gpio::Direction::OUT, 1);
|
||||
gpioIF->addGpios(gpioCookie);
|
||||
if (gpioCookie == nullptr) {
|
||||
gpioCookie = new GpioCookie();
|
||||
}
|
||||
// TODO: Missing pin for Gyro 2
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3",
|
||||
gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
|
||||
"MGM_1_RM3100", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
|
||||
gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
|
||||
"MGM_3_RM3100", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
|
||||
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
|
||||
gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
|
||||
"GYRO_2_ADIS", gpio::Direction::OUT, 1);
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
|
||||
gpio::Direction::OUT, 1);
|
||||
gpioIF->addGpios(gpioCookie);
|
||||
|
||||
spiDev = "/dev/spidev0.1";
|
||||
spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
|
||||
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
|
||||
objects::SPI_COM_IF, spiCookie, 0);
|
||||
mgmLis3Handler->setStartUpImmediately();
|
||||
spiDev = "/dev/spidev0.1";
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
|
||||
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
auto mgmLis3Handler =
|
||||
new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
|
||||
mgmLis3Handler->setStartUpImmediately();
|
||||
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||
mgmLis3Handler->setToGoToNormalMode(true);
|
||||
mgmLis3Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
|
||||
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
|
||||
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
|
||||
objects::SPI_COM_IF, spiCookie, 0);
|
||||
mgmRm3100Handler->setStartUpImmediately();
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
|
||||
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
auto mgmRm3100Handler =
|
||||
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
|
||||
mgmRm3100Handler->setStartUpImmediately();
|
||||
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
|
||||
mgmRm3100Handler->setToGoToNormalMode(true);
|
||||
mgmRm3100Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
|
||||
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
|
||||
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
|
||||
objects::SPI_COM_IF, spiCookie, 0);
|
||||
mgmLis3Handler->setStartUpImmediately();
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
|
||||
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
mgmLis3Handler =
|
||||
new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
|
||||
mgmLis3Handler->setStartUpImmediately();
|
||||
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||
mgmLis3Handler->setToGoToNormalMode(true);
|
||||
mgmLis3Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
|
||||
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
|
||||
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
|
||||
objects::SPI_COM_IF, spiCookie, 0);
|
||||
mgmRm3100Handler->setStartUpImmediately();
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
|
||||
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
mgmRm3100Handler =
|
||||
new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
|
||||
mgmRm3100Handler->setStartUpImmediately();
|
||||
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
|
||||
mgmRm3100Handler->setToGoToNormalMode(true);
|
||||
mgmRm3100Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
|
||||
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
|
||||
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie);
|
||||
adisHandler->setStartUpImmediately();
|
||||
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
|
||||
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, 0);
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
|
||||
gyroL3gHandler->setToGoToNormalMode(true);
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
|
||||
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
auto adisHandler =
|
||||
new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
|
||||
adisHandler->setStartUpImmediately();
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
auto gyroL3gHandler =
|
||||
new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
|
||||
gyroL3gHandler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
|
||||
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
|
||||
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie);
|
||||
adisHandler->setStartUpImmediately();
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
|
||||
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
adisHandler =
|
||||
new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
|
||||
adisHandler->setStartUpImmediately();
|
||||
|
||||
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
|
||||
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, 0);
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
|
||||
gyroL3gHandler->setToGoToNormalMode(true);
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
gyroL3gHandler =
|
||||
new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
|
||||
gyroL3gHandler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
|
||||
#endif /* RPI_TEST_ACS_BOARD == 1 */
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
createTestTasks();
|
||||
createTestTasks();
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
}
|
||||
|
||||
void ObjectFactory::createTestTasks() {
|
||||
|
||||
new TestTask(objects::TEST_TASK);
|
||||
new TestTask(objects::TEST_TASK);
|
||||
|
||||
#if RPI_ADD_SPI_TEST == 1
|
||||
new SpiTestClass(objects::SPI_TEST, gpioIF);
|
||||
new SpiTestClass(objects::SPI_TEST, gpioIF);
|
||||
#endif
|
||||
|
||||
#if RPI_ADD_UART_TEST == 1
|
||||
new UartTestClass(objects::UART_TEST);
|
||||
new UartTestClass(objects::UART_TEST);
|
||||
#else
|
||||
new UartComIF(objects::UART_COM_IF);
|
||||
new UartComIF(objects::UART_COM_IF);
|
||||
#endif
|
||||
|
||||
#if RPI_LOOPBACK_TEST_GPIO == 1
|
||||
GpioCookie* gpioCookieLoopback = new GpioCookie();
|
||||
/* Loopback pins. Adapt according to setup */
|
||||
gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
|
||||
int bcmPinSender = 26;
|
||||
gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
|
||||
int bcmPinReader = 16;
|
||||
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
|
||||
gpio::Direction::OUT, 0);
|
||||
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
|
||||
gpio::Direction::IN, 0);
|
||||
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
|
||||
GpioCookie* gpioCookieLoopback = new GpioCookie();
|
||||
/* Loopback pins. Adapt according to setup */
|
||||
gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
|
||||
int bcmPinSender = 26;
|
||||
gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
|
||||
int bcmPinReader = 16;
|
||||
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
|
||||
gpio::Direction::OUT, 0);
|
||||
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
|
||||
gpio::Direction::IN, 0);
|
||||
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
|
||||
#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
|
||||
|
||||
#if RPI_TEST_ADIS16507 == 1
|
||||
if(gpioCookie == nullptr) {
|
||||
gpioCookie = new GpioCookie();
|
||||
}
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
|
||||
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
|
||||
gpioIF->addGpios(gpioCookie);
|
||||
if (gpioCookie == nullptr) {
|
||||
gpioCookie = new GpioCookie();
|
||||
}
|
||||
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
|
||||
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
|
||||
gpioIF->addGpios(gpioCookie);
|
||||
|
||||
spiDev = "/dev/spidev0.1";
|
||||
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
|
||||
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
|
||||
nullptr, nullptr);
|
||||
auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
|
||||
adisGyroHandler->setStartUpImmediately();
|
||||
spiDev = "/dev/spidev0.1";
|
||||
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
|
||||
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
||||
spi::DEFAULT_ADIS16507_SPEED, nullptr, nullptr);
|
||||
auto adisGyroHandler =
|
||||
new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
|
||||
adisGyroHandler->setStartUpImmediately();
|
||||
#endif /* RPI_TEST_ADIS16507 == 1 */
|
||||
|
||||
#if RPI_TEST_GPS_HANDLER == 1
|
||||
UartCookie* uartCookie = new UartCookie(objects::GPS0_HANDLER, "/dev/serial0",
|
||||
UartModes::CANONICAL, 9600, 1024);
|
||||
uartCookie->setToFlushInput(true);
|
||||
uartCookie->setReadCycles(6);
|
||||
GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER,
|
||||
objects::UART_COM_IF, uartCookie, false);
|
||||
gpsHandler->setStartUpImmediately();
|
||||
UartCookie* uartCookie =
|
||||
new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", UartModes::CANONICAL, 9600, 1024);
|
||||
uartCookie->setToFlushInput(true);
|
||||
uartCookie->setReadCycles(6);
|
||||
GPSHyperionHandler* gpsHandler =
|
||||
new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookie, false);
|
||||
gpsHandler->setStartUpImmediately();
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
@ -1,12 +1,11 @@
|
||||
#ifndef BSP_LINUX_OBJECTFACTORY_H_
|
||||
#define BSP_LINUX_OBJECTFACTORY_H_
|
||||
|
||||
|
||||
namespace ObjectFactory {
|
||||
void setStatics();
|
||||
void produce(void* args);
|
||||
void setStatics();
|
||||
void produce(void* args);
|
||||
|
||||
void createTestTasks();
|
||||
};
|
||||
void createTestTasks();
|
||||
}; // namespace ObjectFactory
|
||||
|
||||
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */
|
||||
|
||||
@ -32,7 +32,7 @@ SOFTWARE.
|
||||
|
||||
#define ETL_CHECK_PUSH_POP
|
||||
|
||||
#define ETL_CPP11_SUPPORTED 1
|
||||
#define ETL_NO_NULLPTR_SUPPORT 0
|
||||
#define ETL_CPP11_SUPPORTED 1
|
||||
#define ETL_NO_NULLPTR_SUPPORT 0
|
||||
|
||||
#endif
|
||||
|
||||
@ -6,8 +6,9 @@
|
||||
extern "C" void __gcov_flush();
|
||||
#else
|
||||
void __gcov_flush() {
|
||||
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
|
||||
"coverage information is desired.\n" << std::flush;
|
||||
sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
|
||||
"coverage information is desired.\n"
|
||||
<< std::flush;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
@ -2,13 +2,9 @@
|
||||
#include <stdio.h>
|
||||
|
||||
void printChar(const char* character, bool errStream) {
|
||||
if(errStream) {
|
||||
putc(*character, stderr);
|
||||
return;
|
||||
}
|
||||
putc(*character, stdout);
|
||||
if (errStream) {
|
||||
putc(*character, stderr);
|
||||
return;
|
||||
}
|
||||
putc(*character, stdout);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -1,12 +1,11 @@
|
||||
#include <iostream>
|
||||
|
||||
#include "InitMission.h"
|
||||
#include "OBSWConfig.h"
|
||||
#include "OBSWVersion.h"
|
||||
|
||||
#include "fsfw/FSFWVersion.h"
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#ifdef RASPBERRY_PI
|
||||
static const char* const BOARD_NAME = "Raspberry Pi";
|
||||
#elif defined(BEAGLEBONEBLACK)
|
||||
@ -19,21 +18,18 @@ static const char* const BOARD_NAME = "Unknown Board";
|
||||
* @brief This is the main program and entry point for the Raspberry Pi.
|
||||
* @return
|
||||
*/
|
||||
int main(void)
|
||||
{
|
||||
std::cout << "-- EIVE OBSW --" << std::endl;
|
||||
std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
|
||||
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
|
||||
"." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION <<
|
||||
FSFW_REVISION << "--" << std::endl;
|
||||
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
|
||||
int main(void) {
|
||||
std::cout << "-- EIVE OBSW --" << std::endl;
|
||||
std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
|
||||
std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
|
||||
<< SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << FSFW_REVISION
|
||||
<< "--" << std::endl;
|
||||
std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
|
||||
|
||||
initmission::initMission();
|
||||
initmission::initMission();
|
||||
|
||||
for(;;) {
|
||||
/* Suspend main thread by sleeping it. */
|
||||
TaskFactory::delayTask(5000);
|
||||
}
|
||||
for (;;) {
|
||||
/* Suspend main thread by sleeping it. */
|
||||
TaskFactory::delayTask(5000);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user