diff --git a/.gitignore b/.gitignore index c337ab89..a5065673 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,5 @@ /build* +/cmake-build* # Eclipse .settings diff --git a/CHANGELOG.md b/CHANGELOG.md index cde62562..c7fce0a5 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -3,30 +3,78 @@ Change Log All notable changes to this project will be documented in this file. -The format is based on [Keep a Changelog](http://keepachangelog.com/) -and this project adheres to [Semantic Versioning](http://semver.org/). +The format is based on [Keep a Changelog](http://keepachangelog.com/). The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones) list yields a list of all related PRs for each release. # [unreleased] +# [v1.12.0] + +## Changed + +- Build unittest as default side product of hosted builds + PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/244 +- Let CI/CD build host build and run unittest side product in same step +- Catch2 pre-installed in CI/CD docker container, Xiphos SDK installed in CI/CD docker + PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/247 +- Sun Sensors have names denoting their location and poiting in the satellite now + PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/245 +- Better RTD names denoting their purpose (and location consequently) + PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/246 + # [v1.11.0] +## Fixed + +- Host build working again + ## Added - - Custom Syrlinks FDIR which disabled most of the default FDIR functionality - + PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/232 +- Custom Gomspace FDIR which disabled most of the default FDIR functionality +- Custom Syrlinks FDIR which disabled most of the default FDIR functionality ## Changed - PCDU handler only called once in PST, but can handle multiple messages now + PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/221 + Bugfix: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/235 - Update rootfs base of Linux, all related OBSW changes -- Use gpsd version 3.17 now. Includes API changes - Add `/usr/local/bin` to PATH. All shell scripts are there now -- Rename GPS device to `/dev/gps0` - Add Syrlinks and TMP devices to Software by default +- Update GPS Linux Hyperion Handler to use socket interface. Still allows switching + back to SHM interface, but the SHM interface is a possible cause of SW crashes +- Updated code for changed FSFW HAL GPIO API: `readGpio` prototype has changed + PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/240 and + https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/76 + +### GPS + +PRs: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/239 + +- Rename GPS device to `/dev/gps0` +- Use gpsd version 3.17 now. Includes API changes + +### EM and FM splitup & Build Workflow improvements + +PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/238 + +- Split up `bsp_q7s` in separate EM and FM build with module loading set to different + default values. The EM object factory is unique which allows building a parallel setup + with dummy components +- All major BSPs have an own `OBSWConfig.h.in` file which simplifies the file significantly +- Renamed Q7S primary build folders: + - `cmake-build-debug-q7s` for primary development build + - `cmake-build-release-q7s` for primary release build + - `cmake-build-debug-q7s-em` for primary development build of the EM software + - `cmake-build-release-q7s-em` for primary release build of the EM software +- Refactored Q7S helper script handling. It is now intended and preferred to copy the environment + script to the same folder level as the `eive-obsw` and source it. This will also + add the path containing the shell helper scripts to `PATH` +- The actual helper shell scripts were renamed as well to `q7s--.sh` # [v1.10.1] diff --git a/CMakeLists.txt b/CMakeLists.txt index ff73e3f9..c96070b3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -25,10 +25,13 @@ if(NOT FSFW_OSAL) endif() if(TGT_BSP) - if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack") + if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack") option(LINUX_CROSS_COMPILE ON) + endif() + if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack") option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF) elseif(TGT_BSP MATCHES "arm/q7s") + option(EIVE_Q7S_EM "Build configuration for the EM" OFF) option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON) endif() option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON) @@ -53,8 +56,27 @@ include(EiveHelpers) option(EIVE_ADD_ETL_LIB "Add ETL library" ON) option(EIVE_ADD_JSON_LIB "Add JSON library" ON) -set(OBSW_ADD_STAR_TRACKER 0) -set(OBSW_DEBUG_STARTRACKER 0) +if(EIVE_Q7S_EM) + set(OBSW_Q7S_EM 1 CACHE STRING "Q7S EM configuration") + set(INIT_VAL 0) +else() + set(OBSW_Q7S_EM 0 CACHE STRING "Q7S EM configuration") + set(INIT_VAL 1) +endif() +set(OBSW_ADD_MGT ${INIT_VAL} CACHE STRING "Add MGT module" ) +set(OBSW_ADD_BPX_BATTERY_HANDLER ${INIT_VAL} CACHE STRING "Add MGT module") +set(OBSW_ADD_STAR_TRACKER ${INIT_VAL} CACHE STRING "Add Startracker module") +set(OBSW_ADD_SUN_SENSORS ${INIT_VAL} CACHE STRING "Add sun sensor module") +set(OBSW_ADD_SUS_BOARD_ASS ${INIT_VAL} CACHE STRING "Add sun sensor board assembly") +set(OBSW_ADD_ACS_BOARD ${INIT_VAL} CACHE STRING "Add ACS board module") +set(OBSW_ADD_ACS_HANDLERS ${INIT_VAL} CACHE STRING "Add ACS handlers") +set(OBSW_ADD_RTD_DEVICES ${INIT_VAL} CACHE STRING "Add RTD devices") +set(OBSW_ADD_RAD_SENSORS ${INIT_VAL} CACHE STRING "Add Rad Sensor module") +set(OBSW_ADD_PL_PCDU ${INIT_VAL} CACHE STRING "Add Payload PCDU modukle") +set(OBSW_ADD_SYRLINKS ${INIT_VAL} CACHE STRING "Add Syrlinks module") +set(OBSW_ADD_TMP_DEVICES ${INIT_VAL} CACHE STRING "Add TMP devices") +set(OBSW_ADD_GOMSPACE_PCDU ${INIT_VAL} CACHE STRING "Add GomSpace PCDU modules") +set(OBSW_ADD_RW ${INIT_VAL} CACHE STRING "Add RW modules") ################################################################################ # Pre-Sources preparation @@ -98,7 +120,7 @@ set(SIMPLE_OBSW_NAME eive-simple) set(UNITTEST_NAME eive-unittest) set(LIB_FSFW_NAME fsfw) set(LIB_EIVE_MISSION eive-mission) -set(LIB_ETL_NAME etl) +set(LIB_ETL_TARGET etl::etl) set(LIB_CSP_NAME libcsp) set(LIB_LWGPS_NAME lwgps) set(LIB_ARCSEC wire) @@ -188,7 +210,7 @@ endif() # Configuration files configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h) configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h) -configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h) +configure_file(${BSP_PATH}/OBSWConfig.h.in OBSWConfig.h) if(TGT_BSP MATCHES "arm/q7s") configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h) elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse") @@ -276,7 +298,11 @@ target_include_directories(${WATCHDOG_NAME} PUBLIC ) # unittests -add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL) +if(NOT TGT_BSP) + add_executable(${UNITTEST_NAME}) +else() + add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL) +endif() if(EIVE_ADD_ETL_LIB) endif() @@ -305,16 +331,25 @@ add_subdirectory(${UNITTEST_PATH}) # This should have already been downloaded by the FSFW # Still include it to be safe -include(FetchContent) -FetchContent_Declare( - etl - GIT_REPOSITORY https://github.com/ETLCPP/etl - GIT_TAG ${FSFW_ETL_LIB_VERSION} -) -FetchContent_MakeAvailable(etl) +find_package(etl ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET) +# Not installed, so use FetchContent to download and provide etl +if(NOT etl_FOUND) + message(STATUS + "No ETL installation was found with find_package. Installing and providing " + "etl with FindPackage" + ) + include(FetchContent) + FetchContent_Declare( + etl + GIT_REPOSITORY https://github.com/ETLCPP/etl + GIT_TAG ${FSFW_ETL_LIB_VERSION} + ) + list(APPEND FSFW_FETCH_CONTENT_TARGETS etl) +endif() # Use same Catch2 version as framework -if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s")) +if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s") + AND NOT (TGT_BSP MATCHES "arm/raspberrypi")) # Check whether the user has already installed Catch2 first find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET) # Not installed, so use FetchContent to download and provide Catch2 @@ -328,8 +363,21 @@ if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s")) GIT_TAG ${FSFW_CATCH2_LIB_VERSION} ) - FetchContent_MakeAvailable(Catch2) - #fixes regression -preview4, to be confirmed in later releases + list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2) + endif() +endif() + +# The documentation for FetchContent recommends declaring all the dependencies +# before making them available. We make all declared dependency available here +# after their declaration +if(FSFW_FETCH_CONTENT_TARGETS) + FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS}) + if(TARGET etl) + add_library(${LIB_ETL_TARGET} ALIAS etl) + endif() + if(TARGET Catch2) + # Fixes regression -preview4, to be confirmed in later releases + # Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417 set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "") set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true") set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true") @@ -378,7 +426,7 @@ endif() if(EIVE_ADD_ETL_LIB) target_link_libraries(${LIB_EIVE_MISSION} PUBLIC - etl + ${LIB_ETL_TARGET} ) endif() diff --git a/README.md b/README.md index 70ef57a5..97fe4056 100644 --- a/README.md +++ b/README.md @@ -107,28 +107,47 @@ When using Windows, run theses steps in MSYS2. Add `-G "MinGW Makefiles` in MinGW64 on Windows. ```sh - mkdir build-Debug-Q7S && cd build-Debug-Q7S + mkdir cmake-build-debug-q7s && cd cmake-build-debug-q7s cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug .. cmake --build . -j ``` - You can also use provided shell scripts to perform these commands - + You can also use provided shell scripts to perform these commands. ```sh - cd cmake/scripts/Q7S - ./make_debug_cfg.sh - cd ../../.. + cp scripts/q7s-env.sh .. + cp scripts/q7s-env-em.sh .. ``` - This will invoke a Python script which in turn invokes CMake with the correct - arguments to configure CMake for Q7S cross-compilation. + Adapt these scripts for your needs by editing the `CROSS_COMPILE_BIN_PATH` + and `ZYNQ_7020_SYSROOT`. After that, you can run the following commands to set up + the FM build + + ```sh + cd .. + ./q7s-env.sh + q7s-make-debug.sh + ``` + + You can build the EM setup by running + + ```sh + export EIVE_Q7S_EM=1 + ``` + + or by running the `q7s-env-em.sh` script instead before setting up the build + configuration. + + The shell scripts will invoke a Python script which in turn invokes CMake with the correct + arguments to configure CMake for Q7S cross-compilation. You can look into the command + output to see which commands were run exactly. There are also different values for `-DTGT_BSP` to build for the Raspberry Pi or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`. 5. Build the software with + ```sh - cd build-Debug-Q7S + cd cmake-build-debug-q7s cmake --build . -j ``` @@ -167,7 +186,7 @@ The EIVE OBSW is the default target if no target is specified. **Debug** ```sh -mkdir build-Debug-Q7S && cd build-Debug-Q7S +mkdir cmake-build-debug-q7s && cd cmake-build-debug-q7s cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug .. cmake --build . -j ``` @@ -175,7 +194,7 @@ cmake --build . -j **Release** ```sh -mkdir build-Release-Q7S && cd build-Release-Q7S +mkdir cmake-build-release-q7s && cd cmake-build-release-q7s cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Release .. cmake --build . -j ``` @@ -190,7 +209,7 @@ You can also use the FSFW OSAL `host` to build on Windows or for generic OSes. Note: Currently this is not supported. ```sh -mkdir build-Debug-Host && cd build-Debug-Host +mkdir cmake-build-debug && cd cmake-build-debug cmake -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug .. cmake --build . -j ``` @@ -201,7 +220,7 @@ To build the unittests, the corresponding target must be specified in the build The configure steps do not need to be repeated if the folder has already been configured. ```sh -mkdir build-Debug-Unittest && cd build-Debug-Unittest +mkdir cmake-build-debug && cd cmake-build-debug cmake .. cmake --build . --target eive-unittests -j ``` diff --git a/automation/Dockerfile b/automation/Dockerfile index 32d7240f..73275ffb 100644 --- a/automation/Dockerfile +++ b/automation/Dockerfile @@ -4,17 +4,24 @@ RUN apt-get update RUN apt-get --yes upgrade #tzdata is a dependency, won't install otherwise ARG DEBIAN_FRONTEND=noninteractive -RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind libgps-dev +RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind libgps-dev python3 -# Q7S root filesystem, required for cross-compilation. -RUN mkdir -p /usr/rootfs; \ -curl https://buggy.irs.uni-stuttgart.de/eive/tools/eive-compile-rootfs-v0.1.0-7-gae69838.tar.xz \ - | tar -xJ -C /usr/rootfs +ARG XIPHOS_SDK_NAME=sdk-xiphos-eive-v0.2.0 +# Install Xiphos ARK SDK, which also installs Q7S root filesystem, required for cross-compilation. +RUN curl https://buggy.irs.uni-stuttgart.de/eive/tools/${XIPHOS_SDK_NAME}.tar | tar -x && \ + cd ${XIPHOS_SDK_NAME} && \ + ./ark-glibc-x86_64-eive-image-cortexa9hf-neon-toolchain-nodistro.0.sh -y # Cross compiler RUN mkdir -p /usr/tools; \ curl https://buggy.irs.uni-stuttgart.de/eive/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.gz \ | tar -xz -C /usr/tools -ENV ZYNQ_7020_SYSROOT="/usr/rootfs/eive-compile-rootfs" +RUN git clone https://github.com/catchorg/Catch2.git && \ + cd Catch2 && \ + git checkout v3.0.0-preview5 && \ + cmake -Bbuild -H. -DBUILD_TESTING=OFF && \ + cmake --build build/ --target install + +ENV ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi" ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin" diff --git a/automation/Jenkinsfile b/automation/Jenkinsfile index f8b180a1..6504bd1d 100644 --- a/automation/Jenkinsfile +++ b/automation/Jenkinsfile @@ -5,7 +5,7 @@ pipeline { } agent { docker { - image 'eive-obsw-ci:d4' + image 'eive-obsw-ci:d5' args '--sysctl fs.mqueue.msg_max=100' } } @@ -24,11 +24,11 @@ pipeline { } } } - stage('Unittests') { + stage('Build Host and Tests') { steps { dir(BUILDDIR_LINUX) { sh 'cmake ..' - sh 'cmake --build . -t eive-unittest -j4' + sh 'cmake --build . -j4' sh './eive-unittest' } } diff --git a/bsp_hosted/OBSWConfig.h.in b/bsp_hosted/OBSWConfig.h.in new file mode 100644 index 00000000..9c7a3f03 --- /dev/null +++ b/bsp_hosted/OBSWConfig.h.in @@ -0,0 +1,122 @@ +/** + * @brief This file can be used to add preprocessor define for conditional + * code inclusion exclusion or various other project constants and + * properties in one place. + */ +#ifndef FSFWCONFIG_OBSWCONFIG_H_ +#define FSFWCONFIG_OBSWCONFIG_H_ + +#include "commonConfig.h" +#include "OBSWVersion.h" + +/*******************************************************************/ +/** All of the following flags should be enabled for mission code */ +/*******************************************************************/ + +#define OBSW_ENABLE_TIMERS 1 +#define OBSW_ADD_STAR_TRACKER 0 +#define OBSW_ADD_PLOC_SUPERVISOR 0 +#define OBSW_ADD_PLOC_MPSOC 0 +#define OBSW_ADD_SUN_SENSORS 0 +#define OBSW_ADD_MGT 0 +#define OBSW_ADD_ACS_BOARD 0 +#define OBSW_ADD_ACS_HANDLERS 0 +#define OBSW_ADD_GPS_0 0 +#define OBSW_ADD_GPS_1 0 +#define OBSW_ADD_RW 0 +#define OBSW_ADD_BPX_BATTERY_HANDLER 0 +#define OBSW_ADD_RTD_DEVICES 0 +#define OBSW_ADD_PL_PCDU 0 +#define OBSW_ADD_TMP_DEVICES 0 +#define OBSW_ADD_RAD_SENSORS 0 +#define OBSW_ADD_SYRLINKS 0 +#define OBSW_STAR_TRACKER_GROUND_CONFIG 1 + +// This is a really tricky switch.. It initializes the PCDU switches to their default states +// at powerup. I think it would be better +// to leave it off for now. It makes testing a lot more difficult and it might mess with +// something the operators might want to do by giving the software too much intelligence +// at the wrong place. The system component might command all the Switches accordingly anyway +#define OBSW_INITIALIZE_SWITCHES 0 +#define OBSW_ENABLE_PERIODIC_HK 0 + +/*******************************************************************/ +/** All of the following flags should be disabled for mission code */ +/*******************************************************************/ + +// Can be used to switch device to NORMAL mode immediately +#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1 +#define OBSW_PRINT_MISSED_DEADLINES 1 + +#define OBSW_SYRLINKS_SIMULATED 1 +#define OBSW_ADD_TEST_CODE 0 +#define OBSW_ADD_TEST_TASK 0 +#define OBSW_ADD_TEST_PST 0 +// If this is enabled, all other SPI code should be disabled +#define OBSW_ADD_SPI_TEST_CODE 0 +// If this is enabled, all other I2C code should be disabled +#define OBSW_ADD_I2C_TEST_CODE 0 +#define OBSW_ADD_UART_TEST_CODE 0 + +#define OBSW_TEST_ACS 0 +#define OBSW_DEBUG_ACS 0 +#define OBSW_TEST_SUS 0 +#define OBSW_DEBUG_SUS 0 +#define OBSW_TEST_RTD 0 +#define OBSW_DEBUG_RTD 0 +#define OBSW_TEST_RAD_SENSOR 0 +#define OBSW_DEBUG_RAD_SENSOR 0 +#define OBSW_TEST_PL_PCDU 0 +#define OBSW_DEBUG_PL_PCDU 0 +#define OBSW_TEST_BPX_BATT 0 +#define OBSW_DEBUG_BPX_BATT 0 +#define OBSW_TEST_IMTQ 0 +#define OBSW_DEBUG_IMTQ 0 +#define OBSW_TEST_RW 0 +#define OBSW_DEBUG_RW 0 + +#define OBSW_TEST_LIBGPIOD 0 +#define OBSW_TEST_PLOC_HANDLER 0 +#define OBSW_TEST_CCSDS_BRIDGE 0 +#define OBSW_TEST_CCSDS_PTME 0 +#define OBSW_TEST_TE7020_HEATER 0 +#define OBSW_TEST_GPIO_OPEN_BY_LABEL 0 +#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME 0 +#define OBSW_DEBUG_P60DOCK 0 + +#define OBSW_PRINT_CORE_HK 0 +#define OBSW_DEBUG_PDU1 0 +#define OBSW_DEBUG_PDU2 0 +#define OBSW_DEBUG_GPS 0 +#define OBSW_DEBUG_ACU 0 +#define OBSW_DEBUG_SYRLINKS 0 + +#define OBSW_DEBUG_PDEC_HANDLER 0 +#define OBSW_DEBUG_PLOC_SUPERVISOR 0 +#define OBSW_DEBUG_PLOC_MPSOC 0 +#define OBSW_DEBUG_STARTRACKER 0 +#define OBSW_TCP_SERVER_WIRETAPPING 0 + +/*******************************************************************/ +/** CMake Defines */ +/*******************************************************************/ +#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER + +#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@ +#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@ + +#ifdef RASPBERRY_PI +#include "rpiConfig.h" +#elif defined(XIPHOS_Q7S) +#include "q7sConfig.h" +#endif + +#ifdef __cplusplus + +#include "objects/systemObjectList.h" +#include "events/subsystemIdRanges.h" +#include "returnvalues/classIds.h" + +#endif + +#endif /* FSFWCONFIG_OBSWCONFIG_H_ */ diff --git a/bsp_hosted/ObjectFactory.cpp b/bsp_hosted/ObjectFactory.cpp index e1be7588..55ebda0f 100644 --- a/bsp_hosted/ObjectFactory.cpp +++ b/bsp_hosted/ObjectFactory.cpp @@ -9,6 +9,7 @@ #include #include "OBSWConfig.h" +#include "fsfw_tests/integration/task/TestTask.h" #if OBSW_USE_TMTC_TCP_BRIDGE == 0 #include "fsfw/osal/common/UdpTcPollingTask.h" diff --git a/bsp_hosted/bsp_hosted.mk b/bsp_hosted/bsp_hosted.mk deleted file mode 100644 index 9595ffbf..00000000 --- a/bsp_hosted/bsp_hosted.mk +++ /dev/null @@ -1,11 +0,0 @@ -# add main and others -CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp) -CSRC += $(wildcard $(CURRENTPATH)/*.c) - -CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c) - -CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp) -CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c) - -INCLUDES += $(CURRENTPATH)/boardconfig -INCLUDES += $(CURRENTPATH)/fsfwconfig \ No newline at end of file diff --git a/bsp_hosted/main.cpp b/bsp_hosted/main.cpp index 938adb76..a652aebc 100644 --- a/bsp_hosted/main.cpp +++ b/bsp_hosted/main.cpp @@ -20,7 +20,7 @@ int main(void) { std::cout << "-- EIVE OBSW --" << std::endl; std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl; std::cout << "-- OBSW " - << " v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --" + << "v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --" << std::endl; std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl; diff --git a/bsp_linux_board/OBSWConfig.h.in b/bsp_linux_board/OBSWConfig.h.in new file mode 100644 index 00000000..d8a981bd --- /dev/null +++ b/bsp_linux_board/OBSWConfig.h.in @@ -0,0 +1,122 @@ +/** + * @brief This file can be used to add preprocessor define for conditional + * code inclusion exclusion or various other project constants and + * properties in one place. + */ +#ifndef FSFWCONFIG_OBSWCONFIG_H_ +#define FSFWCONFIG_OBSWCONFIG_H_ + +#include "commonConfig.h" +#include "OBSWVersion.h" + +/*******************************************************************/ +/** All of the following flags should be enabled for mission code */ +/*******************************************************************/ + +#define OBSW_ENABLE_TIMERS 1 +#define OBSW_ADD_STAR_TRACKER 0 +#define OBSW_ADD_PLOC_SUPERVISOR 0 +#define OBSW_ADD_PLOC_MPSOC 0 +#define OBSW_ADD_SUN_SENSORS 0 +#define OBSW_ADD_MGT 0 +#define OBSW_ADD_ACS_BOARD 0 +#define OBSW_ADD_ACS_HANDLERS 0 +#define OBSW_ADD_GPS_0 0 +#define OBSW_ADD_GPS_1 0 +#define OBSW_ADD_RW 0 +#define OBSW_ADD_BPX_BATTERY_HANDLER 0 +#define OBSW_ADD_RTD_DEVICES 0 +#define OBSW_ADD_PL_PCDU 0 +#define OBSW_ADD_TMP_DEVICES 0 +#define OBSW_ADD_RAD_SENSORS 0 +#define OBSW_ADD_SYRLINKS 0 +#define OBSW_STAR_TRACKER_GROUND_CONFIG 1 + +// This is a really tricky switch.. It initializes the PCDU switches to their default states +// at powerup. I think it would be better +// to leave it off for now. It makes testing a lot more difficult and it might mess with +// something the operators might want to do by giving the software too much intelligence +// at the wrong place. The system component might command all the Switches accordingly anyway +#define OBSW_INITIALIZE_SWITCHES 0 +#define OBSW_ENABLE_PERIODIC_HK 0 + +/*******************************************************************/ +/** All of the following flags should be disabled for mission code */ +/*******************************************************************/ + +// Can be used to switch device to NORMAL mode immediately +#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1 +#define OBSW_PRINT_MISSED_DEADLINES 1 + +#define OBSW_SYRLINKS_SIMULATED 1 +#define OBSW_ADD_TEST_CODE 0 +#define OBSW_ADD_TEST_TASK 0 +#define OBSW_ADD_TEST_PST 0 +// If this is enabled, all other SPI code should be disabled +#define OBSW_ADD_SPI_TEST_CODE 0 +// If this is enabled, all other I2C code should be disabled +#define OBSW_ADD_I2C_TEST_CODE 0 +#define OBSW_ADD_UART_TEST_CODE 0 + +#define OBSW_TEST_ACS 0 +#define OBSW_DEBUG_ACS 0 +#define OBSW_TEST_SUS 0 +#define OBSW_DEBUG_SUS 0 +#define OBSW_TEST_RTD 0 +#define OBSW_DEBUG_RTD 0 +#define OBSW_TEST_RAD_SENSOR 0 +#define OBSW_DEBUG_RAD_SENSOR 0 +#define OBSW_TEST_PL_PCDU 0 +#define OBSW_DEBUG_PL_PCDU 0 +#define OBSW_TEST_BPX_BATT 0 +#define OBSW_DEBUG_BPX_BATT 0 +#define OBSW_TEST_IMTQ 0 +#define OBSW_DEBUG_IMTQ 0 +#define OBSW_TEST_RW 0 +#define OBSW_DEBUG_RW 0 + +#define OBSW_TEST_LIBGPIOD 0 +#define OBSW_TEST_PLOC_HANDLER 0 +#define OBSW_TEST_CCSDS_BRIDGE 0 +#define OBSW_TEST_CCSDS_PTME 0 +#define OBSW_TEST_TE7020_HEATER 0 +#define OBSW_TEST_GPIO_OPEN_BY_LABEL 0 +#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME 0 +#define OBSW_DEBUG_P60DOCK 0 + +#define OBSW_PRINT_CORE_HK 0 +#define OBSW_DEBUG_PDU1 0 +#define OBSW_DEBUG_PDU2 0 +#define OBSW_DEBUG_GPS 0 +#define OBSW_DEBUG_ACU 0 +#define OBSW_DEBUG_SYRLINKS 0 + +#define OBSW_DEBUG_PDEC_HANDLER 0 +#define OBSW_DEBUG_PLOC_SUPERVISOR 0 +#define OBSW_DEBUG_PLOC_MPSOC 0 +#define OBSW_DEBUG_STARTRACKER 0 +#define OBSW_TCP_SERVER_WIRETAPPING 0 + +/*******************************************************************/ +/** CMake Defines */ +/*******************************************************************/ +#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER + +#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@ +#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@ + +#ifdef RASPBERRY_PI +#include "rpiConfig.h" +#elif defined(XIPHOS_Q7S) +#include "q7sConfig.h" +#endif + +#ifdef __cplusplus + +#include "objects/systemObjectList.h" +#include "events/subsystemIdRanges.h" +#include "returnvalues/classIds.h" + +#endif + +#endif /* FSFWCONFIG_OBSWCONFIG_H_ */ diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp index b1ae6005..93a7e96a 100644 --- a/bsp_linux_board/ObjectFactory.cpp +++ b/bsp_linux_board/ObjectFactory.cpp @@ -121,7 +121,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) { auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0); mgmLis3Handler->setStartUpImmediately(); -#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 +#if OBSW_TEST_ACS == 1 mgmLis3Handler->setToGoToNormalMode(true); #endif @@ -131,7 +131,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) { auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0); mgmRm3100Handler->setStartUpImmediately(); -#if FSFW_HAL_RM3100_MGM_DEBUG == 1 +#if OBSW_TEST_ACS == 1 mgmRm3100Handler->setToGoToNormalMode(true); #endif @@ -141,7 +141,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) { mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0); mgmLis3Handler->setStartUpImmediately(); -#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 +#if OBSW_TEST_ACS == 1 mgmLis3Handler->setToGoToNormalMode(true); #endif @@ -151,7 +151,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) { mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0); mgmRm3100Handler->setStartUpImmediately(); -#if FSFW_HAL_RM3100_MGM_DEBUG == 1 +#if OBSW_TEST_ACS == 1 mgmRm3100Handler->setToGoToNormalMode(true); #endif @@ -167,7 +167,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) { auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0); gyroL3gHandler->setStartUpImmediately(); -#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 +#if OBSW_TEST_ACS == 1 gyroL3gHandler->setToGoToNormalMode(true); #endif @@ -184,7 +184,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) { gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0); gyroL3gHandler->setStartUpImmediately(); -#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 +#if OBSW_TEST_ACS == 1 gyroL3gHandler->setToGoToNormalMode(true); #endif } diff --git a/bsp_q7s/CMakeLists.txt b/bsp_q7s/CMakeLists.txt index 459ead8a..34ee8e2a 100644 --- a/bsp_q7s/CMakeLists.txt +++ b/bsp_q7s/CMakeLists.txt @@ -13,6 +13,7 @@ add_subdirectory(simple) target_sources(${OBSW_NAME} PUBLIC main.cpp + obsw.cpp ) add_subdirectory(boardtest) @@ -20,6 +21,13 @@ add_subdirectory(boardtest) add_subdirectory(boardconfig) add_subdirectory(comIF) add_subdirectory(core) + +if(EIVE_Q7S_EM) + add_subdirectory(em) +else() + add_subdirectory(fm) +endif() + add_subdirectory(memory) add_subdirectory(callbacks) add_subdirectory(xadc) diff --git a/bsp_q7s/OBSWConfig.h.in b/bsp_q7s/OBSWConfig.h.in new file mode 100644 index 00000000..36fa046f --- /dev/null +++ b/bsp_q7s/OBSWConfig.h.in @@ -0,0 +1,126 @@ +/** + * @brief This file can be used to add preprocessor define for conditional + * code inclusion exclusion or various other project constants and + * properties in one place. + */ +#ifndef FSFWCONFIG_OBSWCONFIG_H_ +#define FSFWCONFIG_OBSWCONFIG_H_ + +#include "commonConfig.h" +#include "q7sConfig.h" +#include "OBSWVersion.h" + +/*******************************************************************/ +/** All of the following flags should be enabled for mission code */ +/*******************************************************************/ + +#define OBSW_USE_CCSDS_IP_CORE 1 +// Set to 1 if all telemetry should be sent to the PTME IP Core +#define OBSW_TM_TO_PTME 0 +// Set to 1 if telecommands are received via the PDEC IP Core +#define OBSW_TC_FROM_PDEC 0 + +#define OBSW_ENABLE_TIMERS 1 +#define OBSW_ADD_GOMSPACE_PCDU @OBSW_ADD_GOMSPACE_PCDU@ +#define OBSW_ADD_MGT @OBSW_ADD_MGT@ +#define OBSW_ADD_BPX_BATTERY_HANDLER @OBSW_ADD_BPX_BATTERY_HANDLER@ +#define OBSW_ADD_STAR_TRACKER @OBSW_ADD_STAR_TRACKER@ +#define OBSW_ADD_PLOC_SUPERVISOR 0 +#define OBSW_ADD_PLOC_MPSOC 0 +#define OBSW_ADD_SUN_SENSORS @OBSW_ADD_SUN_SENSORS@ +#define OBSW_ADD_SUS_BOARD_ASS @OBSW_ADD_SUS_BOARD_ASS@ +#define OBSW_ADD_ACS_BOARD @OBSW_ADD_ACS_BOARD@ +#define OBSW_ADD_ACS_HANDLERS @OBSW_ADD_ACS_HANDLERS@ +#define OBSW_ADD_RW @OBSW_ADD_RW@ +#define OBSW_ADD_RTD_DEVICES @OBSW_ADD_RTD_DEVICES@ +#define OBSW_ADD_TMP_DEVICES @OBSW_ADD_TMP_DEVICES@ +#define OBSW_ADD_RAD_SENSORS @OBSW_ADD_RAD_SENSORS@ +#define OBSW_ADD_PL_PCDU @OBSW_ADD_PL_PCDU@ +#define OBSW_ADD_SYRLINKS @OBSW_ADD_SYRLINKS@ +#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT 0 + +// This is a really tricky switch.. It initializes the PCDU switches to their default states +// at powerup. I think it would be better +// to leave it off for now. It makes testing a lot more difficult and it might mess with +// something the operators might want to do by giving the software too much intelligence +// at the wrong place. The system component might command all the Switches accordingly anyway +#define OBSW_INITIALIZE_SWITCHES 0 +#define OBSW_ENABLE_PERIODIC_HK 0 + +/*******************************************************************/ +/** All of the following flags should be disabled for mission code */ +/*******************************************************************/ + +// Can be used to switch device to NORMAL mode immediately +#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1 +#define OBSW_PRINT_MISSED_DEADLINES 1 + +#define OBSW_STAR_TRACKER_GROUND_CONFIG 1 +#define OBSW_SYRLINKS_SIMULATED 1 +#define OBSW_ADD_TEST_CODE 0 +#define OBSW_ADD_TEST_TASK 0 +#define OBSW_ADD_TEST_PST 0 +// If this is enabled, all other SPI code should be disabled +#define OBSW_ADD_SPI_TEST_CODE 0 +// If this is enabled, all other I2C code should be disabled +#define OBSW_ADD_I2C_TEST_CODE 0 +#define OBSW_ADD_UART_TEST_CODE 0 + +#define OBSW_TEST_ACS 0 +#define OBSW_DEBUG_ACS 0 +#define OBSW_TEST_SUS 0 +#define OBSW_DEBUG_SUS 0 +#define OBSW_TEST_RTD 0 +#define OBSW_DEBUG_RTD 0 +#define OBSW_TEST_RAD_SENSOR 0 +#define OBSW_DEBUG_RAD_SENSOR 0 +#define OBSW_TEST_PL_PCDU 0 +#define OBSW_DEBUG_PL_PCDU 0 +#define OBSW_TEST_BPX_BATT 0 +#define OBSW_DEBUG_BPX_BATT 0 +#define OBSW_TEST_IMTQ 0 +#define OBSW_DEBUG_IMTQ 0 +#define OBSW_TEST_RW 0 +#define OBSW_DEBUG_RW 0 + +#define OBSW_TEST_LIBGPIOD 0 +#define OBSW_TEST_PLOC_HANDLER 0 +#define OBSW_TEST_CCSDS_BRIDGE 0 +#define OBSW_TEST_CCSDS_PTME 0 +#define OBSW_TEST_TE7020_HEATER 0 +#define OBSW_TEST_GPIO_OPEN_BY_LABEL 0 +#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME 0 +#define OBSW_DEBUG_P60DOCK 0 + +#define OBSW_PRINT_CORE_HK 0 +#define OBSW_DEBUG_PDU1 0 +#define OBSW_DEBUG_PDU2 0 +#define OBSW_DEBUG_GPS 0 +#define OBSW_DEBUG_ACU 0 +#define OBSW_DEBUG_SYRLINKS 0 + +#define OBSW_DEBUG_PDEC_HANDLER 0 +#define OBSW_DEBUG_PLOC_SUPERVISOR 0 +#define OBSW_DEBUG_PLOC_MPSOC 0 +#define OBSW_DEBUG_STARTRACKER 0 + +#define OBSW_TCP_SERVER_WIRETAPPING 0 + +/*******************************************************************/ +/** CMake Defines */ +/*******************************************************************/ +#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER + +#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@ +#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@ + + +#ifdef __cplusplus + +#include "objects/systemObjectList.h" +#include "events/subsystemIdRanges.h" +#include "returnvalues/classIds.h" + +#endif + +#endif /* FSFWCONFIG_OBSWCONFIG_H_ */ diff --git a/bsp_q7s/boardconfig/q7sConfig.h.in b/bsp_q7s/boardconfig/q7sConfig.h.in index 1dd1d85a..a678764a 100644 --- a/bsp_q7s/boardconfig/q7sConfig.h.in +++ b/bsp_q7s/boardconfig/q7sConfig.h.in @@ -3,6 +3,8 @@ #include +#define OBSW_Q7S_EM @OBSW_Q7S_EM@ + /*******************************************************************/ /** All of the following flags should be enabled for mission code */ /*******************************************************************/ diff --git a/bsp_q7s/boardtest/Q7STestTask.cpp b/bsp_q7s/boardtest/Q7STestTask.cpp index c3eb37ca..6cf4e734 100644 --- a/bsp_q7s/boardtest/Q7STestTask.cpp +++ b/bsp_q7s/boardtest/Q7STestTask.cpp @@ -23,8 +23,9 @@ Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) { doTestSdCard = false; doTestScratchApi = false; - doTestGps = false; - doTestXadc = true; + doTestGpsShm = false; + doTestGpsSocket = false; + doTestXadc = false; } ReturnValue_t Q7STestTask::performOneShotAction() { @@ -36,15 +37,20 @@ ReturnValue_t Q7STestTask::performOneShotAction() { } // testJsonLibDirect(); // testDummyParams(); - // testProtHandler(); + if (doTestProtHandler) { + testProtHandler(); + } FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE; testFileSystemHandlerDirect(opCode); return TestTask::performOneShotAction(); } ReturnValue_t Q7STestTask::performPeriodicAction() { - if (doTestGps) { - testGpsDaemon(); + if (doTestGpsShm) { + testGpsDaemonShm(); + } + if (doTestGpsSocket) { + testGpsDaemonSocket(); } if (doTestXadc) { xadcTest(); @@ -238,8 +244,8 @@ void Q7STestTask::testProtHandler() { } } -void Q7STestTask::testGpsDaemon() { - gpsmm gpsmm(GPSD_SHARED_MEMORY, 0); +void Q7STestTask::testGpsDaemonShm() { + gpsmm gpsmm(GPSD_SHARED_MEMORY, ""); gps_data_t* gps; gps = gpsmm.read(); if (gps == nullptr) { @@ -266,6 +272,68 @@ void Q7STestTask::testGpsDaemon() { sif::info << "Speed(m/s): " << gps->fix.speed << std::endl; } +void Q7STestTask::testGpsDaemonSocket() { + if (gpsmmShmPtr == nullptr) { + gpsmmShmPtr = new gpsmm("localhost", DEFAULT_GPSD_PORT); + } + // The data from the device will generally be read all at once. Therefore, we + // can set all field here + if (not gpsmmShmPtr->is_open()) { + if (gpsNotOpenSwitch) { + // Opening failed +#if FSFW_VERBOSE_LEVEL >= 1 + sif::warning << "Q7STestTask::testGpsDaemonSocket: Opening GPSMM failed | " + << "Error " << errno << " | " << gps_errstr(errno) << std::endl; +#endif + + gpsNotOpenSwitch = false; + } + return; + } + // Stopwatch watch; + gps_data_t* gps = nullptr; + gpsmmShmPtr->stream(WATCH_ENABLE | WATCH_JSON); + if (not gpsmmShmPtr->waiting(50000000)) { + return; + } + gps = gpsmmShmPtr->read(); + if (gps == nullptr) { + if (gpsReadFailedSwitch) { + gpsReadFailedSwitch = false; + sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed" << std::endl; + } + return; + } + if (MODE_SET != (MODE_SET & gps->set)) { + if (noModeSetCntr >= 0) { + noModeSetCntr++; + } + if (noModeSetCntr == 10) { + // TODO: Trigger event here + sif::warning << "Q7STestTask::testGpsDaemonSocket: No mode could be " + "read for 10 consecutive reads" + << std::endl; + noModeSetCntr = -1; + } + return; + } else { + noModeSetCntr = 0; + } + sif::info << "-- Q7STestTask: GPS socket read test --" << std::endl; +#if LIBGPS_VERSION_MINOR <= 17 + time_t timeRaw = gps->fix.time; +#else + time_t timeRaw = gps->fix.time.tv_sec; +#endif + std::tm* time = gmtime(&timeRaw); + sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl; + sif::info << "Visible satellites: " << gps->satellites_visible << std::endl; + sif::info << "Satellites used: " << gps->satellites_used << std::endl; + sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl; + sif::info << "Latitude: " << gps->fix.latitude << std::endl; + sif::info << "Longitude: " << gps->fix.longitude << std::endl; +} + void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) { auto fsHandler = ObjectManager::instance()->get(objects::FILE_SYSTEM_HANDLER); if (fsHandler == nullptr) { diff --git a/bsp_q7s/boardtest/Q7STestTask.h b/bsp_q7s/boardtest/Q7STestTask.h index ebef1fad..7fadbe6b 100644 --- a/bsp_q7s/boardtest/Q7STestTask.h +++ b/bsp_q7s/boardtest/Q7STestTask.h @@ -1,6 +1,8 @@ #ifndef BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ #define BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ +#include + #include "test/testtasks/TestTask.h" class CoreController; @@ -14,14 +16,22 @@ class Q7STestTask : public TestTask { private: bool doTestSdCard = false; bool doTestScratchApi = false; - bool doTestGps = false; + bool doTestGpsShm = false; + bool doTestGpsSocket = false; + bool doTestProtHandler = false; bool doTestXadc = false; + bool gpsNotOpenSwitch = false; + bool gpsReadFailedSwitch = false; + int32_t noModeSetCntr = 0; + gpsmm* gpsmmShmPtr = nullptr; + CoreController* coreController = nullptr; ReturnValue_t performOneShotAction() override; ReturnValue_t performPeriodicAction() override; - void testGpsDaemon(); + void testGpsDaemonShm(); + void testGpsDaemonSocket(); void testSdCard(); void fileTests(); diff --git a/bsp_q7s/core/CMakeLists.txt b/bsp_q7s/core/CMakeLists.txt index 8731b7a3..e5668acc 100644 --- a/bsp_q7s/core/CMakeLists.txt +++ b/bsp_q7s/core/CMakeLists.txt @@ -1,8 +1,6 @@ target_sources(${OBSW_NAME} PRIVATE CoreController.cpp - obsw.cpp InitMission.cpp - ObjectFactory.cpp ) target_sources(${SIMPLE_OBSW_NAME} PRIVATE diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp index 56146446..97473521 100644 --- a/bsp_q7s/core/InitMission.cpp +++ b/bsp_q7s/core/InitMission.cpp @@ -1,10 +1,10 @@ -#include "InitMission.h" +#include "bsp_q7s/core/InitMission.h" #include #include #include "OBSWConfig.h" -#include "ObjectFactory.h" +#include "bsp_q7s/core/ObjectFactory.h" #include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/objectmanager/ObjectManagerIF.h" #include "fsfw/platform.h" @@ -311,6 +311,7 @@ void initmission::createPstTasks(TaskFactory& factory, } #endif +#if OBSW_ADD_GOMSPACE_PCDU == 1 FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask( "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc); result = pst::pstGompaceCan(gomSpacePstTask); @@ -320,6 +321,7 @@ void initmission::createPstTasks(TaskFactory& factory, } } taskVec.push_back(gomSpacePstTask); +#endif } void initmission::createPusTasks(TaskFactory& factory, diff --git a/bsp_q7s/core/ParameterHandler.cpp b/bsp_q7s/core/ParameterHandler.cpp deleted file mode 100644 index 8cee046e..00000000 --- a/bsp_q7s/core/ParameterHandler.cpp +++ /dev/null @@ -1,5 +0,0 @@ -#include "ParameterHandler.h" - -ParameterHandler::ParameterHandler(std::string mountPrefix) : mountPrefix(mountPrefix) {} - -void ParameterHandler::setMountPrefix(std::string prefix) { mountPrefix = prefix; } diff --git a/bsp_q7s/core/ParameterHandler.h b/bsp_q7s/core/ParameterHandler.h deleted file mode 100644 index 4a108586..00000000 --- a/bsp_q7s/core/ParameterHandler.h +++ /dev/null @@ -1,20 +0,0 @@ -#ifndef BSP_Q7S_CORE_PARAMETERHANDLER_H_ -#define BSP_Q7S_CORE_PARAMETERHANDLER_H_ - -#include -#include - -class ParameterHandler { - public: - ParameterHandler(std::string mountPrefix); - - void setMountPrefix(std::string prefix); - - void setUpDummyParameter(); - - private: - std::string mountPrefix; - DummyParameter dummyParam; -}; - -#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */ diff --git a/bsp_q7s/em/CMakeLists.txt b/bsp_q7s/em/CMakeLists.txt new file mode 100644 index 00000000..066b807f --- /dev/null +++ b/bsp_q7s/em/CMakeLists.txt @@ -0,0 +1,3 @@ +target_sources(${OBSW_NAME} PRIVATE + emObjectFactory.cpp +) diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/em/emObjectFactory.cpp similarity index 99% rename from bsp_q7s/core/ObjectFactory.cpp rename to bsp_q7s/em/emObjectFactory.cpp index 192fcb87..3f2e9750 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/em/emObjectFactory.cpp @@ -1,5 +1,3 @@ -#include "ObjectFactory.h" - #include #include @@ -10,6 +8,7 @@ #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" @@ -47,11 +46,9 @@ #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 #include "fsfw/datapoollocal/LocalDataPoolManager.h" @@ -99,7 +96,6 @@ #include "mission/tmtc/CCSDSHandler.h" #include "mission/tmtc/VirtualChannel.h" #include "mission/utility/TmFunnel.h" - ResetArgs resetArgsGnss0; ResetArgs resetArgsGnss1; @@ -114,7 +110,6 @@ void Factory::setStaticFrameworkObjectIds() { DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER; // DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT; - #if OBSW_TM_TO_PTME == 1 TmFunnel::downlinkDestination = objects::CCSDS_HANDLER; #else @@ -150,7 +145,6 @@ void ObjectFactory::produce(void* args) { #if OBSW_ADD_ACS_BOARD == 1 createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher); #endif - createHeaterComponents(); createSolarArrayDeploymentComponents(); createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher); @@ -187,7 +181,6 @@ void ObjectFactory::produce(void* args) { bpxHandler->setDebugMode(true); #endif #endif - new FileSystemHandler(objects::FILE_SYSTEM_HANDLER); #if OBSW_ADD_STAR_TRACKER == 1 @@ -202,16 +195,13 @@ void ObjectFactory::produce(void* args) { 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); } @@ -438,7 +428,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI #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); @@ -455,7 +444,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI #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); @@ -487,7 +475,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI #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, @@ -506,7 +493,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI #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, @@ -524,7 +510,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI #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, @@ -678,7 +663,6 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) { 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(), @@ -763,7 +747,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) { rwHandler1->setStartUpImmediately(); rwHandler1->setDebugMode(true); #endif - auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2); rw2SpiCookie->setCallbackArgs(rwHandler2); @@ -771,7 +754,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) { rwHandler2->setStartUpImmediately(); rwHandler2->setDebugMode(true); #endif - auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3); rw3SpiCookie->setCallbackArgs(rwHandler3); @@ -779,7 +761,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) { rwHandler3->setStartUpImmediately(); rwHandler3->setDebugMode(true); #endif - auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4); rw4SpiCookie->setCallbackArgs(rwHandler4); @@ -787,7 +768,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) { rwHandler4->setStartUpImmediately(); rwHandler4->setDebugMode(true); #endif - #endif /* OBSW_ADD_RW == 1 */ } diff --git a/bsp_q7s/fm/CMakeLists.txt b/bsp_q7s/fm/CMakeLists.txt new file mode 100644 index 00000000..5d20a118 --- /dev/null +++ b/bsp_q7s/fm/CMakeLists.txt @@ -0,0 +1,3 @@ +target_sources(${OBSW_NAME} PRIVATE + fmObjectFactory.cpp +) diff --git a/bsp_q7s/fm/fmObjectFactory.cpp b/bsp_q7s/fm/fmObjectFactory.cpp new file mode 100644 index 00000000..226be660 --- /dev/null +++ b/bsp_q7s/fm/fmObjectFactory.cpp @@ -0,0 +1,972 @@ +#include +#include + +#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 "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/PlocUpdater.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 + +#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 "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/SusHandler.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/SusDefinitions.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(); + ObjectFactory::produceGenericObjects(); + + 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(); + 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(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 PlocUpdater(objects::PLOC_UPDATER); + 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(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(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(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(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(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(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(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(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::HIGH); + 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::HIGH); + 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_SUPERVISOR_BAUD, + supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL); + supervisorCookie->setNoFixedSizeReply(); + new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, + supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF), + pcdu::PDU1_CH6_PLOC_12V); +#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */ + static_cast(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(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; + } +} diff --git a/bsp_q7s/main.cpp b/bsp_q7s/main.cpp index dfcaebf0..56327005 100644 --- a/bsp_q7s/main.cpp +++ b/bsp_q7s/main.cpp @@ -1,7 +1,7 @@ #include "q7sConfig.h" #if Q7S_SIMPLE_MODE == 0 -#include "core/obsw.h" +#include "obsw.h" #else #include "simple/simple.h" #endif diff --git a/bsp_q7s/core/obsw.cpp b/bsp_q7s/obsw.cpp similarity index 97% rename from bsp_q7s/core/obsw.cpp rename to bsp_q7s/obsw.cpp index a2888875..74a1b300 100644 --- a/bsp_q7s/core/obsw.cpp +++ b/bsp_q7s/obsw.cpp @@ -3,9 +3,9 @@ #include #include -#include "InitMission.h" #include "OBSWConfig.h" #include "commonConfig.h" +#include "core/InitMission.h" #include "fsfw/tasks/TaskFactory.h" #include "fsfw/version.h" #include "watchdog/definitions.h" diff --git a/bsp_q7s/core/obsw.h b/bsp_q7s/obsw.h similarity index 100% rename from bsp_q7s/core/obsw.h rename to bsp_q7s/obsw.h diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/bsp_te0720_1cfa/OBSWConfig.h.in similarity index 94% rename from linux/fsfwconfig/OBSWConfig.h.in rename to bsp_te0720_1cfa/OBSWConfig.h.in index 3e799424..e7af42ad 100644 --- a/linux/fsfwconfig/OBSWConfig.h.in +++ b/bsp_te0720_1cfa/OBSWConfig.h.in @@ -6,17 +6,9 @@ #ifndef FSFWCONFIG_OBSWCONFIG_H_ #define FSFWCONFIG_OBSWCONFIG_H_ -#cmakedefine RASPBERRY_PI -#cmakedefine XIPHOS_Q7S -#cmakedefine BEAGLEBONEBLACK -#cmakedefine EGSE -#cmakedefine TE0720_1CFA - #include "commonConfig.h" #include "OBSWVersion.h" - -#define Q7S_EM 0 - + /*******************************************************************/ /** All of the following flags should be enabled for mission code */ /*******************************************************************/ @@ -71,6 +63,7 @@ #define OBSW_TM_TO_PTME 0 // Set to 1 if telecommands are received via the PDEC IP Core #define OBSW_TC_FROM_PDEC 0 + #define OBSW_ENABLE_TIMERS 1 #define OBSW_ADD_MGT 0 #define OBSW_ADD_BPX_BATTERY_HANDLER 0 @@ -93,7 +86,13 @@ #define OBSW_PRINT_CORE_HK 0 #define OBSW_INITIALIZE_SWITCHES 0 -#endif +// This is a really tricky switch.. It initializes the PCDU switches to their default states +// at powerup. I think it would be better +// to leave it off for now. It makes testing a lot more difficult and it might mess with +// something the operators might want to do by giving the software too much intelligence +// at the wrong place. The system component might command all the Switches accordingly anyway +#define OBSW_INITIALIZE_SWITCHES 0 +#define OBSW_ENABLE_PERIODIC_HK 0 /*******************************************************************/ /** All of the following flags should be disabled for mission code */ @@ -148,9 +147,9 @@ #define OBSW_DEBUG_PDEC_HANDLER 0 -#ifdef TE0720_1CFA #define OBSW_DEBUG_PLOC_SUPERVISOR 1 #define OBSW_DEBUG_PLOC_MPSOC 1 + #else #define OBSW_DEBUG_PLOC_SUPERVISOR 1 #define OBSW_DEBUG_PLOC_MPSOC 1 @@ -195,12 +194,6 @@ #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@ #cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@ -#ifdef RASPBERRY_PI -#include "rpiConfig.h" -#elif defined(XIPHOS_Q7S) -#include "q7sConfig.h" -#endif - #ifdef __cplusplus #include "objects/systemObjectList.h" diff --git a/cmake/PreProjectConfig.cmake b/cmake/PreProjectConfig.cmake index df1d92b4..1c998e83 100644 --- a/cmake/PreProjectConfig.cmake +++ b/cmake/PreProjectConfig.cmake @@ -1,3 +1,6 @@ +function(obsw_module_config) +endfunction() + function(pre_source_hw_os_config) # FreeRTOS diff --git a/cmake/scripts/Host/make-debug-cfg.sh b/cmake/scripts/Host/make-debug-cfg.sh deleted file mode 100755 index de0487ea..00000000 --- a/cmake/scripts/Host/make-debug-cfg.sh +++ /dev/null @@ -1,32 +0,0 @@ -#!/bin/sh -counter=0 -cfg_script_name="cmake-build-cfg.py" -while [ ${counter} -lt 5 ] -do - cd .. - if [ -f ${cfg_script_name} ];then - break - fi - counter=$((counter=counter + 1)) -done - -if [ "${counter}" -ge 5 ];then - echo "${cfg_script_name} not found in upper directories!" - exit 1 -fi - -build_generator="make" -os_fsfw="host" -builddir="build-Debug-Host" -if [ "${OS}" = "Windows_NT" ]; then - python="py" -# Could be other OS but this works for now. -else - python="python3" -fi - -echo "Running command (without the leading +):" -set -x # Print command -${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}" -# Use this if commands are added which should not be printed -# set +x diff --git a/cmake/scripts/Host/make-release-cfg.sh b/cmake/scripts/Host/make-release-cfg.sh deleted file mode 100755 index 5114f490..00000000 --- a/cmake/scripts/Host/make-release-cfg.sh +++ /dev/null @@ -1,32 +0,0 @@ -#!/bin/sh -counter=0 -cfg_script_name="cmake-build-cfg.py" -while [ ${counter} -lt 5 ] -do - cd .. - if [ -f ${cfg_script_name} ];then - break - fi - counter=$((counter=counter + 1)) -done - -if [ "${counter}" -ge 5 ];then - echo "${cfg_script_name} not found in upper directories!" - exit 1 -fi - -build_generator="make" -os_fsfw="host" -builddir="build-Release-Host" -if [ "${OS}" = "Windows_NT" ]; then - python="py" -# Could be other OS but this works for now. -else - python="python3" -fi - -echo "Running command (without the leading +):" -set -x # Print command -${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}" -# Use this if commands are added which should not be printed -# set +x diff --git a/cmake/scripts/Host/ninja-debug-cfg.sh b/cmake/scripts/Host/ninja-debug-cfg.sh deleted file mode 100755 index 80a5687f..00000000 --- a/cmake/scripts/Host/ninja-debug-cfg.sh +++ /dev/null @@ -1,32 +0,0 @@ -#!/bin/sh -counter=0 -cfg_script_name="cmake-build-cfg.py" -while [ ${counter} -lt 5 ] -do - cd .. - if [ -f ${cfg_script_name} ];then - break - fi - counter=$((counter=counter + 1)) -done - -if [ "${counter}" -ge 5 ];then - echo "${cfg_script_name} not found in upper directories!" - exit 1 -fi - -build_generator="ninja" -os_fsfw="host" -builddir="build-Debug-Host" -if [ "${OS}" = "Windows_NT" ]; then - python="py" -# Could be other OS but this works for now. -else - python="python3" -fi - -echo "Running command (without the leading +):" -set -x # Print command -${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}" -# Use this if commands are added which should not be printed -# set +x diff --git a/cmake/scripts/Linux/make-debug-cfg.sh b/cmake/scripts/Linux/make-debug-cfg.sh deleted file mode 100755 index 2207a2e8..00000000 --- a/cmake/scripts/Linux/make-debug-cfg.sh +++ /dev/null @@ -1,32 +0,0 @@ -#!/bin/sh -counter=0 -cfg_script_name="cmake-build-cfg.py" -while [ ${counter} -lt 5 ] -do - cd .. - if [ -f ${cfg_script_name} ];then - break - fi - counter=$((counter=counter + 1)) -done - -if [ "${counter}" -ge 5 ];then - echo "${cfg_script_name} not found in upper directories!" - exit 1 -fi - -build_generator="make" -os_fsfw="linux" -builddir="build-Debug-Host" -if [ "${OS}" = "Windows_NT" ]; then - python="py" -# Could be other OS but this works for now. -else - python="python3" -fi - -echo "Running command (without the leading +):" -set -x # Print command -${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}" -# Use this if commands are added which should not be printed -# set +x diff --git a/cmake/scripts/Linux/make-release-cfg.sh b/cmake/scripts/Linux/make-release-cfg.sh deleted file mode 100755 index 0426967b..00000000 --- a/cmake/scripts/Linux/make-release-cfg.sh +++ /dev/null @@ -1,32 +0,0 @@ -#!/bin/sh -counter=0 -cfg_script_name="cmake-build-cfg.py" -while [ ${counter} -lt 5 ] -do - cd .. - if [ -f ${cfg_script_name} ];then - break - fi - counter=$((counter=counter + 1)) -done - -if [ "${counter}" -ge 5 ];then - echo "${cfg_script_name} not found in upper directories!" - exit 1 -fi - -build_generator="Unix Makefiles" -os_fsfw="linux" -builddir="build-Release-Host" -if [ "${OS}" = "Windows_NT" ]; then - python="py" -# Could be other OS but this works for now. -else - python="python3" -fi - -echo "Running command (without the leading +):" -set -x # Print command -${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}" -# Use this if commands are added which should not be printed -# set +x diff --git a/cmake/scripts/Linux/ninja-debug-cfg.sh b/cmake/scripts/Linux/ninja-debug-cfg.sh deleted file mode 100755 index 23ebc25d..00000000 --- a/cmake/scripts/Linux/ninja-debug-cfg.sh +++ /dev/null @@ -1,33 +0,0 @@ -#!/bin/sh -counter=0 -cfg_script_name="cmake-build-cfg.py" -while [ ${counter} -lt 5 ] -do - cd .. - if [ -f ${cfg_script_name} ];then - break - fi - counter=$((counter=counter + 1)) -done - -if [ "${counter}" -ge 5 ];then - echo "${cfg_script_name} not found in upper directories!" - exit 1 -fi - -build_generator="ninja" -os_fsfw="linux" -builddir="build-Debug-Host" -if [ "${OS}" = "Windows_NT" ]; then - python="py" -# Could be other OS but this works for now. -else - python="python3" -fi - -echo "Running command (without the leading +):" -set -x # Print command -${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}" -# Use this if commands are added which should not be printed -# set +x - diff --git a/cmake/scripts/Q7S/make-debug-cfg.sh b/cmake/scripts/Q7S/make-debug-cfg.sh deleted file mode 100755 index f3cfd81c..00000000 --- a/cmake/scripts/Q7S/make-debug-cfg.sh +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/sh -counter=0 -cfg_script_name="cmake-build-cfg.py" -while [ ${counter} -lt 5 ] -do - cd .. - if [ -f ${cfg_script_name} ];then - break - fi - counter=$((counter=counter + 1)) -done - -if [ "${counter}" -ge 5 ];then - echo "${cfg_script_name} not found in upper directories!" - exit 1 -fi - -os_fsfw="linux" -tgt_bsp="arm/q7s" -build_dir="build-Debug-Q7S" -build_generator="make" -if [ "${OS}" = "Windows_NT" ]; then - python="py" -# Could be other OS but this works for now. -else - python="python3" -fi - -echo "Running command (without the leading +):" -set -x # Print command -${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \ - -l"${build_dir}" -# set +x - diff --git a/cmake/scripts/Q7S/make-release-cfg.sh b/cmake/scripts/Q7S/make-release-cfg.sh deleted file mode 100755 index 233bf263..00000000 --- a/cmake/scripts/Q7S/make-release-cfg.sh +++ /dev/null @@ -1,33 +0,0 @@ -#!/bin/sh -counter=0 -cfg_script_name="cmake-build-cfg.py" -while [ ${counter} -lt 5 ] -do - cd .. - if [ -f ${cfg_script_name} ];then - break - fi - counter=$((counter=counter + 1)) -done - -if [ "${counter}" -ge 5 ];then - echo "${cfg_script_name} not found in upper directories!" - exit 1 -fi - -os_fsfw="linux" -tgt_bsp="arm/q7s" -build_dir="build-Release-Q7S" -build_generator="make" -if [ "${OS}" = "Windows_NT" ]; then - python="py" -# Could be other OS but this works for now. -else - python="python3" -fi - -echo "Running command (without the leading +):" -set -x # Print command -${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \ - -l"${build_dir}" -# set +x diff --git a/cmake/scripts/Q7S/ninja-debug-cfg.sh b/cmake/scripts/Q7S/ninja-debug-cfg.sh deleted file mode 100755 index bd9ebb4e..00000000 --- a/cmake/scripts/Q7S/ninja-debug-cfg.sh +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/sh -counter=0 -cfg_script_name="cmake-build-cfg.py" -while [ ${counter} -lt 5 ] -do - cd .. - if [ -f ${cfg_script_name} ];then - break - fi - counter=$((counter=counter + 1)) -done - -if [ "${counter}" -ge 5 ];then - echo "${cfg_script_name} not found in upper directories!" - exit 1 -fi - -os_fsfw="linux" -tgt_bsp="arm/q7s" -build_dir="build-Debug-Q7S" -build_generator="ninja" -if [ "${OS}" = "Windows_NT" ]; then - python="py" -# Could be other OS but this works for now. -else - python="python3" -fi - -echo "Running command (without the leading +):" -set -x # Print command -${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \ - -l "${build_dir}" -# set +x - diff --git a/cmake/scripts/Q7S/ninja-release-cfg.sh b/cmake/scripts/Q7S/ninja-release-cfg.sh deleted file mode 100755 index c9972c89..00000000 --- a/cmake/scripts/Q7S/ninja-release-cfg.sh +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/sh -counter=0 -cfg_script_name="cmake-build-cfg.py" -while [ ${counter} -lt 5 ] -do - cd .. - if [ -f ${cfg_script_name} ];then - break - fi - counter=$((counter=counter + 1)) -done - -if [ "${counter}" -ge 5 ];then - echo "${cfg_script_name} not found in upper directories!" - exit 1 -fi - -os_fsfw="linux" -tgt_bsp="arm/q7s" -build_dir="build-Release-Q7S" -build_generator="ninja" -if [ "${OS}" = "Windows_NT" ]; then - python="py" -# Could be other OS but this works for now. -else - python="python3" -fi - -echo "Running command (without the leading +):" -set -x # Print command -${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \ - -l"${build_dir}" -# set +x - diff --git a/cmake/scripts/Q7S/q7s-env.sh b/cmake/scripts/Q7S/q7s-env.sh deleted file mode 100755 index 27cc4c73..00000000 --- a/cmake/scripts/Q7S/q7s-env.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/bash -i -export PATH=$PATH:"$HOME/EIVE/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin" -export CROSS_COMPILE="arm-linux-gnueabihf" - -export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi" -export CONSOLE_PREFIX="[Q7S ENV]" -/bin/bash diff --git a/cmake/scripts/BeagleBoneBlack/crosscompile/bbb_path_helper.sh b/cmake/scripts/beagleboneb/crosscompile/bbb_path_helper.sh similarity index 100% rename from cmake/scripts/BeagleBoneBlack/crosscompile/bbb_path_helper.sh rename to cmake/scripts/beagleboneb/crosscompile/bbb_path_helper.sh diff --git a/cmake/scripts/BeagleBoneBlack/crosscompile/make-debug-cfg.sh b/cmake/scripts/beagleboneb/crosscompile/make-debug-cfg.sh similarity index 100% rename from cmake/scripts/BeagleBoneBlack/crosscompile/make-debug-cfg.sh rename to cmake/scripts/beagleboneb/crosscompile/make-debug-cfg.sh diff --git a/cmake/scripts/BeagleBoneBlack/crosscompile/make-release-cfg.sh b/cmake/scripts/beagleboneb/crosscompile/make-release-cfg.sh similarity index 100% rename from cmake/scripts/BeagleBoneBlack/crosscompile/make-release-cfg.sh rename to cmake/scripts/beagleboneb/crosscompile/make-release-cfg.sh diff --git a/cmake/scripts/BeagleBoneBlack/make-debug-cfg.sh b/cmake/scripts/beagleboneb/make-debug-cfg.sh similarity index 100% rename from cmake/scripts/BeagleBoneBlack/make-debug-cfg.sh rename to cmake/scripts/beagleboneb/make-debug-cfg.sh diff --git a/cmake/scripts/host/host-make-debug.sh b/cmake/scripts/host/host-make-debug.sh new file mode 100755 index 00000000..412bf68f --- /dev/null +++ b/cmake/scripts/host/host-make-debug.sh @@ -0,0 +1,37 @@ +#!/bin/bash +cfg_script_name="cmake-build-cfg.py" +init_dir=$(pwd) +if [ -z "${EIVE_OBSW_ROOT}" ]; then + counter=0 + while [ ${counter} -lt 5 ] + do + cd .. + if [ -f ${cfg_script_name} ];then + break + fi + counter=$((counter=counter + 1)) + done + + if [ "${counter}" -ge 5 ];then + echo "${cfg_script_name} not found in upper directories!" + exit 1 + fi +else + cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}" +fi + +build_generator="make" +os_fsfw="host" +builddir="cmake-build-debug" +if [ "${OS}" = "Windows_NT" ]; then + python="py" +# Could be other OS but this works for now. +else + python="python3" +fi + +echo "Running command (without the leading +):" +set -x # Print command +${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}" +# Use this if commands are added which should not be printed +# set +x diff --git a/cmake/scripts/host/host-make-release.sh b/cmake/scripts/host/host-make-release.sh new file mode 100755 index 00000000..d564c8aa --- /dev/null +++ b/cmake/scripts/host/host-make-release.sh @@ -0,0 +1,37 @@ +#!/bin/bash +cfg_script_name="cmake-build-cfg.py" +init_dir=$(pwd) +if [ -z "${EIVE_OBSW_ROOT}" ]; then + counter=0 + while [ ${counter} -lt 5 ] + do + cd .. + if [ -f ${cfg_script_name} ];then + break + fi + counter=$((counter=counter + 1)) + done + + if [ "${counter}" -ge 5 ];then + echo "${cfg_script_name} not found in upper directories!" + exit 1 + fi +else + cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}" +fi + +build_generator="Unix Makefiles" +os_fsfw="host" +builddir="cmake-build-release" +if [ "${OS}" = "Windows_NT" ]; then + python="py" +# Could be other OS but this works for now. +else + python="python3" +fi + +echo "Running command (without the leading +):" +set -x # Print command +${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}" +# Use this if commands are added which should not be printed +# set +x diff --git a/cmake/scripts/host/host-ninja-debug.sh b/cmake/scripts/host/host-ninja-debug.sh new file mode 100755 index 00000000..5b5c68f5 --- /dev/null +++ b/cmake/scripts/host/host-ninja-debug.sh @@ -0,0 +1,38 @@ +#!/bin/bash +cfg_script_name="cmake-build-cfg.py" +init_dir=$(pwd) +if [ -z "${EIVE_OBSW_ROOT}" ]; then + counter=0 + while [ ${counter} -lt 5 ] + do + cd .. + if [ -f ${cfg_script_name} ];then + break + fi + counter=$((counter=counter + 1)) + done + + if [ "${counter}" -ge 5 ];then + echo "${cfg_script_name} not found in upper directories!" + exit 1 + fi +else + cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}" +fi + +build_generator="ninja" +os_fsfw="host" +builddir="cmake-build-debug" +if [ "${OS}" = "Windows_NT" ]; then + python="py" +# Could be other OS but this works for now. +else + python="python3" +fi + +echo "Running command (without the leading +):" +set -x # Print command +${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}" +# Use this if commands are added which should not be printed +# set +x + diff --git a/cmake/scripts/linux/host-make-debug.sh b/cmake/scripts/linux/host-make-debug.sh new file mode 100755 index 00000000..0ea1d765 --- /dev/null +++ b/cmake/scripts/linux/host-make-debug.sh @@ -0,0 +1,37 @@ +#!/bin/bash +cfg_script_name="cmake-build-cfg.py" +init_dir=$(pwd) +if [ -z "${EIVE_OBSW_ROOT}" ]; then + counter=0 + while [ ${counter} -lt 5 ] + do + cd .. + if [ -f ${cfg_script_name} ];then + break + fi + counter=$((counter=counter + 1)) + done + + if [ "${counter}" -ge 5 ];then + echo "${cfg_script_name} not found in upper directories!" + exit 1 + fi +else + cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}" +fi + +build_generator="make" +os_fsfw="linux" +builddir="cmake-build-debug" +if [ "${OS}" = "Windows_NT" ]; then + python="py" +# Could be other OS but this works for now. +else + python="python3" +fi + +echo "Running command (without the leading +):" +set -x # Print command +${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}" +# Use this if commands are added which should not be printed +# set +x diff --git a/cmake/scripts/linux/host-make-release.sh b/cmake/scripts/linux/host-make-release.sh new file mode 100755 index 00000000..89cb0f4a --- /dev/null +++ b/cmake/scripts/linux/host-make-release.sh @@ -0,0 +1,37 @@ +#!/bin/bash +cfg_script_name="cmake-build-cfg.py" +init_dir=$(pwd) +if [ -z "${EIVE_OBSW_ROOT}" ]; then + counter=0 + while [ ${counter} -lt 5 ] + do + cd .. + if [ -f ${cfg_script_name} ];then + break + fi + counter=$((counter=counter + 1)) + done + + if [ "${counter}" -ge 5 ];then + echo "${cfg_script_name} not found in upper directories!" + exit 1 + fi +else + cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}" +fi + +build_generator="Unix Makefiles" +os_fsfw="linux" +builddir="cmake-build-release" +if [ "${OS}" = "Windows_NT" ]; then + python="py" +# Could be other OS but this works for now. +else + python="python3" +fi + +echo "Running command (without the leading +):" +set -x # Print command +${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}" +# Use this if commands are added which should not be printed +# set +x diff --git a/cmake/scripts/linux/host-ninja-debug.sh b/cmake/scripts/linux/host-ninja-debug.sh new file mode 100755 index 00000000..2514635f --- /dev/null +++ b/cmake/scripts/linux/host-ninja-debug.sh @@ -0,0 +1,38 @@ +#!/bin/bash +cfg_script_name="cmake-build-cfg.py" +init_dir=$(pwd) +if [ -z "${EIVE_OBSW_ROOT}" ]; then + counter=0 + while [ ${counter} -lt 5 ] + do + cd .. + if [ -f ${cfg_script_name} ];then + break + fi + counter=$((counter=counter + 1)) + done + + if [ "${counter}" -ge 5 ];then + echo "${cfg_script_name} not found in upper directories!" + exit 1 + fi +else + cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}" +fi + +build_generator="ninja" +os_fsfw="linux" +builddir="cmake-build-debug" +if [ "${OS}" = "Windows_NT" ]; then + python="py" +# Could be other OS but this works for now. +else + python="python3" +fi + +echo "Running command (without the leading +):" +set -x # Print command +${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}" +# Use this if commands are added which should not be printed +# set +x + diff --git a/cmake/scripts/q7s/q7s-make-debug.sh b/cmake/scripts/q7s/q7s-make-debug.sh new file mode 100755 index 00000000..0abbc3cb --- /dev/null +++ b/cmake/scripts/q7s/q7s-make-debug.sh @@ -0,0 +1,48 @@ +#!/bin/bash +cfg_script_name="cmake-build-cfg.py" +init_dir=$(pwd) +if [ -z "${EIVE_OBSW_ROOT}" ]; then + counter=0 + while [ ${counter} -lt 5 ] + do + cd .. + if [ -f ${cfg_script_name} ];then + break + fi + counter=$((counter=counter + 1)) + done + + if [ "${counter}" -ge 5 ];then + echo "${cfg_script_name} not found in upper directories!" + exit 1 + fi +else + cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}" +fi + +if [ ! -z "${EIVE_Q7S_EM}" ]; then + build_defs="EIVE_Q7S_EM=ON" +fi + +os_fsfw="linux" +tgt_bsp="arm/q7s" +build_dir="cmake-build-debug-q7s" +if [ ! -z "${EIVE_Q7S_EM}" ]; then + build_dir="${build_dir}-em" +fi + +build_generator="make" +if [ "${OS}" = "Windows_NT" ]; then + python="py" +# Could be other OS but this works for now. +else + python="python3" +fi + +echo "Running command (without the leading +):" +set -x # Print command +${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \ + -l"${build_dir}" -d "${build_defs}" +set +x + +cd ${init_dir} diff --git a/cmake/scripts/q7s/q7s-make-release.sh b/cmake/scripts/q7s/q7s-make-release.sh new file mode 100755 index 00000000..d9b74bc3 --- /dev/null +++ b/cmake/scripts/q7s/q7s-make-release.sh @@ -0,0 +1,48 @@ +#!/bin/bash +cfg_script_name="cmake-build-cfg.py" +init_dir=$(pwd) +if [[ -z ${EIVE_OBSW_ROOT} ]]; then + counter=0 + while [ ${counter} -lt 5 ] + do + cd .. + if [ -f ${cfg_script_name} ];then + break + fi + counter=$((counter=counter + 1)) + done + + if [ "${counter}" -ge 5 ];then + echo "${cfg_script_name} not found in upper directories!" + exit 1 + fi +else + cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}" +fi + +if [[ -z "${EIVE_Q7S_EM}" ]]; then + build_defs="EIVE_Q7S_EM=ON" +fi + +os_fsfw="linux" +tgt_bsp="arm/q7s" +build_dir="cmake-build-release-q7s" +if [ ! -z "${EIVE_Q7S_EM}" ]; then + build_dir="${build_dir}-em" +fi +build_generator="make" + +if [ "${OS}" = "Windows_NT" ]; then + python="py" +# Could be other OS but this works for now. +else + python="python3" +fi + +echo "Running command (without the leading +):" +set -x # Print command +${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \ + -l"${build_dir}" -d "${build_defs}" +set +x + +cd ${init_dir} diff --git a/cmake/scripts/Q7S/make-size-cfg.sh b/cmake/scripts/q7s/q7s-make-size.sh similarity index 100% rename from cmake/scripts/Q7S/make-size-cfg.sh rename to cmake/scripts/q7s/q7s-make-size.sh diff --git a/cmake/scripts/q7s/q7s-ninja-debug.sh b/cmake/scripts/q7s/q7s-ninja-debug.sh new file mode 100755 index 00000000..bf880a28 --- /dev/null +++ b/cmake/scripts/q7s/q7s-ninja-debug.sh @@ -0,0 +1,48 @@ +#!/bin/bash +cfg_script_name="cmake-build-cfg.py" +init_dir=$(pwd) +if [[ -z ${EIVE_OBSW_ROOT} ]]; then + counter=0 + while [ ${counter} -lt 5 ] + do + cd .. + if [ -f ${cfg_script_name} ];then + break + fi + counter=$((counter=counter + 1)) + done + + if [ "${counter}" -ge 5 ];then + echo "${cfg_script_name} not found in upper directories!" + exit 1 + fi +else + cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}" +fi + +if [[ -z "${EIVE_Q7S_EM}" ]]; then + build_defs="EIVE_Q7S_EM=ON" +fi + +os_fsfw="linux" +tgt_bsp="arm/q7s" +build_dir="cmake-build-debug-q7s" +if [ ! -z "${EIVE_Q7S_EM}" ]; then + build_dir="${build_dir}-em" +fi + +build_generator="ninja" +if [ "${OS}" = "Windows_NT" ]; then + python="py" +# Could be other OS but this works for now. +else + python="python3" +fi + +echo "Running command (without the leading +):" +set -x # Print command +${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \ + -l "${build_dir}" -d "${build_defs}" +set +x + +cd ${init_dir} diff --git a/cmake/scripts/q7s/q7s-ninja-release.sh b/cmake/scripts/q7s/q7s-ninja-release.sh new file mode 100755 index 00000000..4dfaa210 --- /dev/null +++ b/cmake/scripts/q7s/q7s-ninja-release.sh @@ -0,0 +1,48 @@ +#!/bin/bash +cfg_script_name="cmake-build-cfg.py" +init_dir=$(pwd) +if [[ -z ${EIVE_OBSW_ROOT} ]]; then + counter=0 + while [ ${counter} -lt 5 ] + do + cd .. + if [ -f ${cfg_script_name} ];then + break + fi + counter=$((counter=counter + 1)) + done + + if [ "${counter}" -ge 5 ];then + echo "${cfg_script_name} not found in upper directories!" + exit 1 + fi +else + cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}" +fi + +if [[ -z "${EIVE_Q7S_EM}" ]]; then + build_defs="EIVE_Q7S_EM=ON" +fi + +os_fsfw="linux" +tgt_bsp="arm/q7s" +build_dir="cmake-build-release-q7s" +if [ ! -z "${EIVE_Q7S_EM}" ]; then + build_dir="${build_dir}-em" +fi + +build_generator="ninja" +if [ "${OS}" = "Windows_NT" ]; then + python="py" +# Could be other OS but this works for now. +else + python="python3" +fi + +echo "Running command (without the leading +):" +set -x # Print command +${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \ + -l"${build_dir}" -d "${build_defs}" +set +x + +cd ${init_dir} diff --git a/cmake/scripts/RPi/make-debug-cfg.sh b/cmake/scripts/rpi/make-debug-cfg.sh similarity index 100% rename from cmake/scripts/RPi/make-debug-cfg.sh rename to cmake/scripts/rpi/make-debug-cfg.sh diff --git a/cmake/scripts/RPi/make-release-cfg.sh b/cmake/scripts/rpi/make-release-cfg.sh similarity index 100% rename from cmake/scripts/RPi/make-release-cfg.sh rename to cmake/scripts/rpi/make-release-cfg.sh diff --git a/cmake/scripts/RPi/ninja-debug-cfg.sh b/cmake/scripts/rpi/ninja-debug-cfg.sh similarity index 100% rename from cmake/scripts/RPi/ninja-debug-cfg.sh rename to cmake/scripts/rpi/ninja-debug-cfg.sh diff --git a/cmake/scripts/RPi/rpi_path_helper.sh b/cmake/scripts/rpi/rpi_path_helper.sh similarity index 100% rename from cmake/scripts/RPi/rpi_path_helper.sh rename to cmake/scripts/rpi/rpi_path_helper.sh diff --git a/cmake/scripts/RPi/rpi_path_helper_win.sh b/cmake/scripts/rpi/rpi_path_helper_win.sh similarity index 100% rename from cmake/scripts/RPi/rpi_path_helper_win.sh rename to cmake/scripts/rpi/rpi_path_helper_win.sh diff --git a/common/config/commonConfig.h.in b/common/config/commonConfig.h.in index 528342b1..ebd6563b 100644 --- a/common/config/commonConfig.h.in +++ b/common/config/commonConfig.h.in @@ -4,6 +4,12 @@ #include #include "fsfw/version.h" +#cmakedefine RASPBERRY_PI +#cmakedefine XIPHOS_Q7S +#cmakedefine BEAGLEBONEBLACK +#cmakedefine EGSE +#cmakedefine TE0720_1CFA + /* These defines should be disabled for mission code but are useful for debugging. */ #define OBSW_VERBOSE_LEVEL 1 diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h index 8223a87f..0ba1d05b 100644 --- a/common/config/commonObjects.h +++ b/common/config/commonObjects.h @@ -48,35 +48,46 @@ enum commonObjects: uint32_t { * Not yet specified which pt1000 will measure which device/location in the satellite. * Therefore object ids are named according to the IC naming of the RTDs in the schematic. */ - RTD_IC_3 = 0x44420016, - RTD_IC_4 = 0x44420017, - RTD_IC_5 = 0x44420018, - RTD_IC_6 = 0x44420019, - RTD_IC_7 = 0x44420020, - RTD_IC_8 = 0x44420021, - RTD_IC_9 = 0x44420022, - RTD_IC_10 = 0x44420023, - RTD_IC_11 = 0x44420024, - RTD_IC_12 = 0x44420025, - RTD_IC_13 = 0x44420026, - RTD_IC_14 = 0x44420027, - RTD_IC_15 = 0x44420028, - RTD_IC_16 = 0x44420029, - RTD_IC_17 = 0x44420030, - RTD_IC_18 = 0x44420031, + RTD_0_IC3_PLOC_HEATSPREADER = 0x44420016, + RTD_1_IC4_PLOC_MISSIONBOARD = 0x44420017, + RTD_2_IC5_4K_CAMERA = 0x44420018, + RTD_3_IC6_DAC_HEATSPREADER = 0x44420019, + RTD_4_IC7_STARTRACKER = 0x44420020, + RTD_5_IC8_RW1_MX_MY = 0x44420021, + RTD_6_IC9_DRO = 0x44420022, + RTD_7_IC10_SCEX = 0x44420023, + RTD_8_IC11_X8 = 0x44420024, + RTD_9_IC12_HPA = 0x44420025, + RTD_10_IC13_PL_TX = 0x44420026, + RTD_11_IC14_MPA = 0x44420027, + RTD_12_IC15_ACU = 0x44420028, + RTD_13_IC16_PLPCDU_HEATSPREADER = 0x44420029, + RTD_14_IC17_TCS_BOARD = 0x44420030, + RTD_15_IC18_IMTQ = 0x44420031, - SUS_0 = 0x44120032, - SUS_1 = 0x44120033, - SUS_2 = 0x44120034, - SUS_3 = 0x44120035, - SUS_4 = 0x44120036, - SUS_5 = 0x44120037, - SUS_6 = 0x44120038, - SUS_7 = 0x44120039, - SUS_8 = 0x44120040, - SUS_9 = 0x44120041, - SUS_10 = 0x44120042, - SUS_11 = 0x44120043, + // Name convention for SUS devices + // SUS___LOC_XYZ_PT_ + // LOC: Location + // PT: Pointing + // N/R: Nominal/Redundant + // F/M/B: Forward/Middle/Backwards + SUS_0_N_LOC_XFYFZM_PT_XF = 0x44120032, + SUS_6_R_LOC_XFYBZM_PT_XF = 0x44120038, + + SUS_1_N_LOC_XBYFZM_PT_XB = 0x44120033, + SUS_7_R_LOC_XBYBZM_PT_XB = 0x44120039, + + SUS_2_N_LOC_XFYBZB_PT_YB = 0x44120034, + SUS_8_R_LOC_XBYBZB_PT_YB = 0x44120040, + + SUS_3_N_LOC_XFYBZF_PT_YF = 0x44120035, + SUS_9_R_LOC_XBYBZB_PT_YF = 0x44120041, + + SUS_4_N_LOC_XMYFZF_PT_ZF = 0x44120036, + SUS_10_N_LOC_XMYBZF_PT_ZF = 0x44120042, + + SUS_5_N_LOC_XFYMZB_PT_ZB = 0x44120037, + SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043, GPS_CONTROLLER = 0x44130045, diff --git a/fsfw b/fsfw index 19bd26d9..d72b212f 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 19bd26d9983d97c8daf010649e9142afac7e2650 +Subproject commit d72b212fa629029924d9862e3e862d0388911f8e diff --git a/generators/bsp_q7s_events.csv b/generators/bsp_q7s_events.csv index 00bcd51e..f4da7545 100644 --- a/generators/bsp_q7s_events.csv +++ b/generators/bsp_q7s_events.csv @@ -80,6 +80,7 @@ 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 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 11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission\devices\HeaterHandler.h 11402;0x2c8a;SWITCH_ALREADY_ON;LOW;;mission\devices\HeaterHandler.h @@ -94,7 +95,7 @@ 11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux\devices\ploc\PlocMPSoCHandler.h 11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux\devices\ploc\PlocMPSoCHandler.h 11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux\devices\ploc\PlocMPSoCHandler.h -11605;0x2d55;MPSOC_HANDLER_SEQ_CNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux\devices\ploc\PlocMPSoCHandler.h +11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux\devices\ploc\PlocMPSoCHandler.h 11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux\devices\ploc\PlocMPSoCHandler.h 11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure 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 11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. 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 @@ -109,7 +110,7 @@ 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 12002;0x2ee2;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux\devices\ploc\PlocSupervisorHandler.h -12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;linux\devices\ploc\PlocSupervisorHandler.h +12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux\devices\ploc\PlocSupervisorHandler.h 12004;0x2ee4;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux\devices\ploc\PlocSupervisorHandler.h 12005;0x2ee5;SUPV_MPSOC_SHUWDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux\devices\ploc\PlocSupervisorHandler.h 12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s\memory\SdCardManager.h diff --git a/generators/bsp_q7s_objects.csv b/generators/bsp_q7s_objects.csv index 98b1453e..d3e108b3 100644 --- a/generators/bsp_q7s_objects.csv +++ b/generators/bsp_q7s_objects.csv @@ -4,18 +4,18 @@ 0x43400001;THERMAL_CONTROLLER 0x44120006;MGM_0_LIS3_HANDLER 0x44120010;GYRO_0_ADIS_HANDLER -0x44120032;SUS_0 -0x44120033;SUS_1 -0x44120034;SUS_2 -0x44120035;SUS_3 -0x44120036;SUS_4 -0x44120037;SUS_5 -0x44120038;SUS_6 -0x44120039;SUS_7 -0x44120040;SUS_8 -0x44120041;SUS_9 -0x44120042;SUS_10 -0x44120043;SUS_11 +0x44120032;SUS_0_N_LOC_XFYFZM_PT_XF +0x44120033;SUS_1_N_LOC_XBYFZM_PT_XB +0x44120034;SUS_2_N_LOC_XFYBZB_PT_YB +0x44120035;SUS_3_N_LOC_XFYBZF_PT_YF +0x44120036;SUS_4_N_LOC_XMYFZF_PT_ZF +0x44120037;SUS_5_N_LOC_XFYMZB_PT_ZB +0x44120038;SUS_6_R_LOC_XFYBZM_PT_XF +0x44120039;SUS_7_R_LOC_XBYBZM_PT_XB +0x44120040;SUS_8_R_LOC_XBYBZB_PT_YB +0x44120041;SUS_9_R_LOC_XBYBZB_PT_YF +0x44120042;SUS_10_N_LOC_XMYBZF_PT_ZF +0x44120043;SUS_11_R_LOC_XBYMZB_PT_ZB 0x44120047;RW1 0x44120107;MGM_1_RM3100_HANDLER 0x44120111;GYRO_1_L3G_HANDLER @@ -47,22 +47,22 @@ 0x444100A4;HEATER_HANDLER 0x44420004;TMP1075_HANDLER_1 0x44420005;TMP1075_HANDLER_2 -0x44420016;RTD_IC_3 -0x44420017;RTD_IC_4 -0x44420018;RTD_IC_5 -0x44420019;RTD_IC_6 -0x44420020;RTD_IC_7 -0x44420021;RTD_IC_8 -0x44420022;RTD_IC_9 -0x44420023;RTD_IC_10 -0x44420024;RTD_IC_11 -0x44420025;RTD_IC_12 -0x44420026;RTD_IC_13 -0x44420027;RTD_IC_14 -0x44420028;RTD_IC_15 -0x44420029;RTD_IC_16 -0x44420030;RTD_IC_17 -0x44420031;RTD_IC_18 +0x44420016;RTD_0_IC3_PLOC_HEATSPREADER +0x44420017;RTD_1_IC4_PLOC_MISSIONBOARD +0x44420018;RTD_2_IC5_4K_CAMERA +0x44420019;RTD_3_IC6_DAC_HEATSPREADER +0x44420020;RTD_4_IC7_STARTRACKER +0x44420021;RTD_5_IC8_RW1_MX_MY +0x44420022;RTD_6_IC9_DRO +0x44420023;RTD_7_IC10_SCEX +0x44420024;RTD_8_IC11_X8 +0x44420025;RTD_9_IC12_HPA +0x44420026;RTD_10_IC13_PL_TX +0x44420027;RTD_11_IC14_MPA +0x44420028;RTD_12_IC15_ACU +0x44420029;RTD_13_IC16_PLPCDU_HEATSPREADER +0x44420030;RTD_14_IC17_TCS_BOARD +0x44420031;RTD_15_IC18_IMTQ 0x445300A3;SYRLINKS_HK_HANDLER 0x49000000;ARDUINO_COM_IF 0x49010005;GPIO_IF diff --git a/generators/bsp_q7s_returnvalues.csv b/generators/bsp_q7s_returnvalues.csv index 104795ca..fef766e3 100644 --- a/generators/bsp_q7s_returnvalues.csv +++ b/generators/bsp_q7s_returnvalues.csv @@ -54,6 +54,8 @@ 0x4603; HGIO_GpioTypeFailure;;3;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO 0x4604; HGIO_GpioInvalidInstance;;4;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO 0x4605; HGIO_GpioDuplicateDetected;;5;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO +0x4606; HGIO_GpioInitFailed;;6;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO +0x4607; HGIO_GpioGetValueFailed;;7;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO 0x4300; HSPI_HalTimeoutRetval;;0;fsfw\hal\src\fsfw_hal\stm32h7\spi\spiDefinitions.h;HAL_SPI 0x4301; HSPI_HalBusyRetval;;1;fsfw\hal\src\fsfw_hal\stm32h7\spi\spiDefinitions.h;HAL_SPI 0x4302; HSPI_HalErrorRetval;;2;fsfw\hal\src\fsfw_hal\stm32h7\spi\spiDefinitions.h;HAL_SPI diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp index 7f0d289f..70dbe140 100644 --- a/generators/events/translateEvents.cpp +++ b/generators/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** - * @brief Auto-generated event translation file. Contains 198 translations. + * @brief Auto-generated event translation file. Contains 199 translations. * @details - * Generated on: 2022-04-30 09:34:28 + * Generated on: 2022-05-06 19:43:59 */ #include "translateEvents.h" @@ -87,6 +87,7 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED"; const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED"; +const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED"; const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED"; const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED"; const char *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON"; @@ -101,7 +102,7 @@ const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE"; const char *ACK_FAILURE_STRING = "ACK_FAILURE"; const char *EXE_FAILURE_STRING = "EXE_FAILURE"; const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE"; -const char *MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQ_CNT_MISMATCH"; +const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH"; const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED"; const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE"; const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE"; @@ -366,6 +367,8 @@ const char *translateEvents(Event event) { return SWITCH_HAS_CHANGED_STRING; case (11302): return SWITCHING_Q7S_DENIED_STRING; + case (11303): + return FDIR_REACTION_IGNORED_STRING; case (11400): return GPIO_PULL_HIGH_FAILED_STRING; case (11401): @@ -395,7 +398,7 @@ const char *translateEvents(Event event) { case (11604): return MPSOC_HANDLER_CRC_FAILURE_STRING; case (11605): - return MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING; + return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING; case (11606): return MPSOC_SHUTDOWN_FAILED_STRING; case (11701): diff --git a/generators/fsfwgen b/generators/fsfwgen index 5ad9fb94..169ad98c 160000 --- a/generators/fsfwgen +++ b/generators/fsfwgen @@ -1 +1 @@ -Subproject commit 5ad9fb94af3312d29863527106396395f7b808a5 +Subproject commit 169ad98cdeebe3ccfd1b78938934496a20b6a294 diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp index 7d46b9bc..6e674949 100644 --- a/generators/objects/translateObjects.cpp +++ b/generators/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 116 translations. - * Generated on: 2022-04-24 12:09:01 + * Generated on: 2022-05-06 19:43:55 */ #include "translateObjects.h" @@ -12,18 +12,18 @@ const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER"; const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER"; const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER"; const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER"; -const char *SUS_0_STRING = "SUS_0"; -const char *SUS_1_STRING = "SUS_1"; -const char *SUS_2_STRING = "SUS_2"; -const char *SUS_3_STRING = "SUS_3"; -const char *SUS_4_STRING = "SUS_4"; -const char *SUS_5_STRING = "SUS_5"; -const char *SUS_6_STRING = "SUS_6"; -const char *SUS_7_STRING = "SUS_7"; -const char *SUS_8_STRING = "SUS_8"; -const char *SUS_9_STRING = "SUS_9"; -const char *SUS_10_STRING = "SUS_10"; -const char *SUS_11_STRING = "SUS_11"; +const char *SUS_0_N_LOC_XFYFZM_PT_XF_STRING = "SUS_0_N_LOC_XFYFZM_PT_XF"; +const char *SUS_1_N_LOC_XBYFZM_PT_XB_STRING = "SUS_1_N_LOC_XBYFZM_PT_XB"; +const char *SUS_2_N_LOC_XFYBZB_PT_YB_STRING = "SUS_2_N_LOC_XFYBZB_PT_YB"; +const char *SUS_3_N_LOC_XFYBZF_PT_YF_STRING = "SUS_3_N_LOC_XFYBZF_PT_YF"; +const char *SUS_4_N_LOC_XMYFZF_PT_ZF_STRING = "SUS_4_N_LOC_XMYFZF_PT_ZF"; +const char *SUS_5_N_LOC_XFYMZB_PT_ZB_STRING = "SUS_5_N_LOC_XFYMZB_PT_ZB"; +const char *SUS_6_R_LOC_XFYBZM_PT_XF_STRING = "SUS_6_R_LOC_XFYBZM_PT_XF"; +const char *SUS_7_R_LOC_XBYBZM_PT_XB_STRING = "SUS_7_R_LOC_XBYBZM_PT_XB"; +const char *SUS_8_R_LOC_XBYBZB_PT_YB_STRING = "SUS_8_R_LOC_XBYBZB_PT_YB"; +const char *SUS_9_R_LOC_XBYBZB_PT_YF_STRING = "SUS_9_R_LOC_XBYBZB_PT_YF"; +const char *SUS_10_N_LOC_XMYBZF_PT_ZF_STRING = "SUS_10_N_LOC_XMYBZF_PT_ZF"; +const char *SUS_11_R_LOC_XBYMZB_PT_ZB_STRING = "SUS_11_R_LOC_XBYMZB_PT_ZB"; const char *RW1_STRING = "RW1"; const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER"; const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER"; @@ -55,22 +55,22 @@ const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER"; const char *HEATER_HANDLER_STRING = "HEATER_HANDLER"; const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1"; const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2"; -const char *RTD_IC_3_STRING = "RTD_IC_3"; -const char *RTD_IC_4_STRING = "RTD_IC_4"; -const char *RTD_IC_5_STRING = "RTD_IC_5"; -const char *RTD_IC_6_STRING = "RTD_IC_6"; -const char *RTD_IC_7_STRING = "RTD_IC_7"; -const char *RTD_IC_8_STRING = "RTD_IC_8"; -const char *RTD_IC_9_STRING = "RTD_IC_9"; -const char *RTD_IC_10_STRING = "RTD_IC_10"; -const char *RTD_IC_11_STRING = "RTD_IC_11"; -const char *RTD_IC_12_STRING = "RTD_IC_12"; -const char *RTD_IC_13_STRING = "RTD_IC_13"; -const char *RTD_IC_14_STRING = "RTD_IC_14"; -const char *RTD_IC_15_STRING = "RTD_IC_15"; -const char *RTD_IC_16_STRING = "RTD_IC_16"; -const char *RTD_IC_17_STRING = "RTD_IC_17"; -const char *RTD_IC_18_STRING = "RTD_IC_18"; +const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER"; +const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD"; +const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA"; +const char *RTD_3_IC6_DAC_HEATSPREADER_STRING = "RTD_3_IC6_DAC_HEATSPREADER"; +const char *RTD_4_IC7_STARTRACKER_STRING = "RTD_4_IC7_STARTRACKER"; +const char *RTD_5_IC8_RW1_MX_MY_STRING = "RTD_5_IC8_RW1_MX_MY"; +const char *RTD_6_IC9_DRO_STRING = "RTD_6_IC9_DRO"; +const char *RTD_7_IC10_SCEX_STRING = "RTD_7_IC10_SCEX"; +const char *RTD_8_IC11_X8_STRING = "RTD_8_IC11_X8"; +const char *RTD_9_IC12_HPA_STRING = "RTD_9_IC12_HPA"; +const char *RTD_10_IC13_PL_TX_STRING = "RTD_10_IC13_PL_TX"; +const char *RTD_11_IC14_MPA_STRING = "RTD_11_IC14_MPA"; +const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU"; +const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER"; +const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD"; +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"; @@ -138,29 +138,29 @@ const char *translateObject(object_id_t object) { case 0x44120010: return GYRO_0_ADIS_HANDLER_STRING; case 0x44120032: - return SUS_0_STRING; + return SUS_0_N_LOC_XFYFZM_PT_XF_STRING; case 0x44120033: - return SUS_1_STRING; + return SUS_1_N_LOC_XBYFZM_PT_XB_STRING; case 0x44120034: - return SUS_2_STRING; + return SUS_2_N_LOC_XFYBZB_PT_YB_STRING; case 0x44120035: - return SUS_3_STRING; + return SUS_3_N_LOC_XFYBZF_PT_YF_STRING; case 0x44120036: - return SUS_4_STRING; + return SUS_4_N_LOC_XMYFZF_PT_ZF_STRING; case 0x44120037: - return SUS_5_STRING; + return SUS_5_N_LOC_XFYMZB_PT_ZB_STRING; case 0x44120038: - return SUS_6_STRING; + return SUS_6_R_LOC_XFYBZM_PT_XF_STRING; case 0x44120039: - return SUS_7_STRING; + return SUS_7_R_LOC_XBYBZM_PT_XB_STRING; case 0x44120040: - return SUS_8_STRING; + return SUS_8_R_LOC_XBYBZB_PT_YB_STRING; case 0x44120041: - return SUS_9_STRING; + return SUS_9_R_LOC_XBYBZB_PT_YF_STRING; case 0x44120042: - return SUS_10_STRING; + return SUS_10_N_LOC_XMYBZF_PT_ZF_STRING; case 0x44120043: - return SUS_11_STRING; + return SUS_11_R_LOC_XBYMZB_PT_ZB_STRING; case 0x44120047: return RW1_STRING; case 0x44120107: @@ -224,37 +224,37 @@ const char *translateObject(object_id_t object) { case 0x44420005: return TMP1075_HANDLER_2_STRING; case 0x44420016: - return RTD_IC_3_STRING; + return RTD_0_IC3_PLOC_HEATSPREADER_STRING; case 0x44420017: - return RTD_IC_4_STRING; + return RTD_1_IC4_PLOC_MISSIONBOARD_STRING; case 0x44420018: - return RTD_IC_5_STRING; + return RTD_2_IC5_4K_CAMERA_STRING; case 0x44420019: - return RTD_IC_6_STRING; + return RTD_3_IC6_DAC_HEATSPREADER_STRING; case 0x44420020: - return RTD_IC_7_STRING; + return RTD_4_IC7_STARTRACKER_STRING; case 0x44420021: - return RTD_IC_8_STRING; + return RTD_5_IC8_RW1_MX_MY_STRING; case 0x44420022: - return RTD_IC_9_STRING; + return RTD_6_IC9_DRO_STRING; case 0x44420023: - return RTD_IC_10_STRING; + return RTD_7_IC10_SCEX_STRING; case 0x44420024: - return RTD_IC_11_STRING; + return RTD_8_IC11_X8_STRING; case 0x44420025: - return RTD_IC_12_STRING; + return RTD_9_IC12_HPA_STRING; case 0x44420026: - return RTD_IC_13_STRING; + return RTD_10_IC13_PL_TX_STRING; case 0x44420027: - return RTD_IC_14_STRING; + return RTD_11_IC14_MPA_STRING; case 0x44420028: - return RTD_IC_15_STRING; + return RTD_12_IC15_ACU_STRING; case 0x44420029: - return RTD_IC_16_STRING; + return RTD_13_IC16_PLPCDU_HEATSPREADER_STRING; case 0x44420030: - return RTD_IC_17_STRING; + return RTD_14_IC17_TCS_BOARD_STRING; case 0x44420031: - return RTD_IC_18_STRING; + return RTD_15_IC18_IMTQ_STRING; case 0x445300A3: return SYRLINKS_HK_HANDLER_STRING; case 0x49000000: diff --git a/generators/system/__init__.py b/generators/system/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/generators/system/eive-system.yml b/generators/system/eive-system.yml new file mode 100644 index 00000000..001668a6 --- /dev/null +++ b/generators/system/eive-system.yml @@ -0,0 +1,464 @@ +# nml -> normal +# brd -> board +# ss -> subsystem +# ass -> assembly +# ctrl -> controller +# dh -> device handler +# dft -> default +# All uppermost system components are automatically subsystems +system: + eps: + pcdu: + id: 0x442000a1 + acu: + id: 0x44250003 + pdu1: + id: 0x44250001 + pdu2: + id: 0x44250002 + tcs: + tcs-ctrl: + tcs-brd-ass: + id: 0x73000003 + acs: + acs-brd-ass: + id: 0x73000001 + sus-brd-ass: + id: 0x73000002 + acs-ctrl: + rw: + mgt: + str: + payload: + scex-dh: + ploc-ss: + cam-switcher: + pl-pcdu-dh: + com: + syrlinks-dh: + + +modes: + # If nothing is specified for a particular mode, use default configuration + default: + system: + # The power system is/should always be on. We can't even turn it off + eps: nml + pcdu: nml + acu: nml + pdu1: nml + pdu2: nml + tcs: nml + tcs-brd-ass: nml + tcs-ctrl: nml + payload: off + scex: off + ploc-ss: off + cam-ss: off + pl-pcdu-dh: off + com: nml + syrlinks-dh: nml + acs: + mgt: nml + acs-brd-ass: nml + sus-brd-ass: nml + detumble: + system: + acs: detumble + acs-ctrl: detumble + # Requires MGM and Gyros + rw: off + str: off + safe: + system: + acs: safe + acs-ctrl: safe + rw: off + str: off + submodes: + cold: 1 + system: + # Inherit rest of mode table from default submode + tcs: + tcs-ctrl: heat + idle: + system: + acs: idle + acs-ctrl: idle + rw: nml + str: off + submodes: + charge: 1 + system: + # Inherit rest of mode table from default submode + acs: + rw: off + target-gs: + system: + acs: target-pt + acs-ctrl: target-pt + rw: nml + str: nml + target-gs-pl-dac: + system: + acs: target-pt + acs-ctrl: target-pt + rw: nml + str: nml + payload: dac + cam-switcher: off + scex: off + ploc-ss: nml + pl-pcdu-dh: on + target-gs-pl-cam: + system: + acs: target-pt + acs-ctrl: target-pt + rw: nml + str: nml + payload: cam + cam-switcher: on + scex: off + ploc-ss: nml + submode: dac-off + pl-pcdu-dh: on + target-gs-pl-data: + system: + acs: target-pt + acs-ctrl: target-pt + rw: nml + str: nml + payload: pl-data + cam-switcher: off + scex: off + ploc-ss: nml + submode: dac-off + pl-pcdu-ss: on + earth-obsv: + acs: target-pt + acs-ctrl: target-pt + rw: nml + str: nml + payload: earth-obsv + cam-switcher: on + scex: off + ploc-ss: off + pl-pcdu-ss: off + scex: + acs: target-pt + acs-ctrl: target-pt + rw: nml + str: nml + payload: scex + cam-switcher: off + scex: on + ploc-ss: off + pl-pcdu-ss: off + +sequences: + default: + acs: + off: + fallback: none + seq-id: off + target: + name: off-target + tab-id: 0x61000000 + modes: ignore + trans: + 0: + name: off-trans + tab-id: 0x61000001 + modes: + acs-ctrl: off + acs-brd-ass: off + sus-brd-ass: off + rw: off + mgt: off + str: off + detumble: + seq-id: 1 + target: + name: detumble-target + tab-id: 0x61000100 + modes: + acs-ctrl: detumble + mgt: nml + sus-brd-ass: nml + acs-brd-ass: nml + rw: ignore + str: ignore + trans: + 0: + name: detumble-trans-0 + tab-id: 0x61000101 + modes: + acs-ctrl: ignore + mgt: nml + rw: off + str: off + sus-brd-ass: nml + acs-brd-ass: nml + 1: + name: detumble-trans-1 + tab-id: 0x61000102 + modes: + acs-ctrl: detumble + mgt: ignore + acs-brd-ass: ignore + sus-brd-ass: ignore + rw: ignore + str: ignore + safe: + seq-id: 2 + target: + name: safe-target + tab-id: 0x61000200 + modes: + acs-ctrl: safe + mgt: nml + acs-brd-ass: nml + sus-brd-ass: nml + rw: ignore + str: ignore + trans: + 0: + name: safe-trans-1 + tab-id: 0x61000201 + modes: + acs-ctrl: ignore + mgt: nml + acs-brd-ass: nml + sus-brd-ass: nml + rw: off + str: off + 1: + name: safe-trans-2 + tab-id: 0x61000202 + modes: + acs-ctrl: safe + mgt: ignore + acs-brd-ass: ignore + sus-brd-ass: ignore + rw: ignore + str: ignore + idle: + seq-id: 3 + target: + name: idle-target + tab-id: 0x61000300 + modes: + acs-ctrl: idle + mgt: nml + acs-brd-ass: nml + sus-brd-ass: nml + rw: nml + str: ignore + trans: + 0: + name: idle-trans-0 + tab-id: 0x61000301 + modes: + acs-ctrl: ignore + mgt: nml + acs-brd-ass: nml + sus-brd-ass: nml + rw: nml + str: off + 1: + name: idle-trans-1 + tab-id: 0x61000302 + modes: + acs-ctrl: idle + mgt: ignore + acs-brd-ass: ignore + sus-brd-ass: ignore + rw: ignore + str: ignore + idle-charge: + derive: idle + seq-id: 4 + target: + name: idle-charge-target + tab-id: 0x61000400 + modes: + acs-ctrl: idle + submode: charge + trans: + 0: + name: idle-charge-trans-0 + tab-id: 0x61000401 + modes: + rw: off + 1: + name: idle-charge-trans-1 + tab-id: 0x61000402 + modes: + acs-ctrl: idle + submode: charge + target-pt: + seq-id: 5 + target: + name: target-pt-target + tab-id: 0x61000500 + modes: + acs-ctrl: target-pt + mgt: nml + acs-brd-ass: nml + sus-brd-ass: nml + rw: nml + str: nml + trans: + 0: + name: target-pt-trans-0 + tab-id: 0x61000501 + modes: + acs-ctrl: ignore + mgt: nml + acs-brd-ass: nml + sus-brd-ass: nml + rw: nml + str: nml + 1: + name: target-pt-trans-1 + tab-id: 0x61000502 + modes: + acs-ctrl: target-pt + mgt: ignore + acs-brd-ass: ignore + sus-brd-ass: ignore + rw: ignore + str: ignore + payload: + off: + seq-id: 0 + target: + name: off-target + tab-id: 0x70000000 + modes: ignore + trans: + 0: + name: off-trans-0 + tab-id: 0x70000001 + modes: + ploc-switcher: off + cam-switcher: off + scex-dh: off + ploc-ss: off + pl-pcdu-dh: off + dac: + seq-id: 1 + target: + name: target-dac + tab-id: 0x70000100 + modes: + ploc-switcher: on + cam-switcher: off + scex-dh: off + ploc-ss: dac + pl-pcdu-dh: nml + submode: all-on + trans: + 0: + name: dac-trans-0 + tab-id: 0x70000101 + modes: + ploc-switcher: on + cam-switcher: off + scex-dh: off + ploc-ss: on + submode: dac-on + pl-pcdu-dh: ignore + cam: + seq-id: 2 + target: + name: target-cam + tab-id: 0x70000200 + modes: + ploc-switcher: on + cam-switcher: on + scex-dh: off + ploc-ss: on + submode: dac-off + pl-pcdu-dh: nml + submode: all-on + trans: + 0: + name: cam-trans-0 + tab-id: 0x70000201 + modes: + ploc-switcher: on + cam-switcher: off + scex-dh: off + ploc-ss: on + submode: dac-off + pl-pcdu-dh: ignore + pl-data: + seq-id: 3 + target: + name: target-pl-data + tab-id: 0x70000300 + modes: + ploc-switcher: on + cam-switcher: off + scex-dh: off + ploc-ss: on + submode: dac-off + pl-pcdu-dh: nml + submode: all-on + earth-obsv: + seq-id: 4 + target: + name: target-earth-obsv + tab-id: 0x70000400 + modes: + ploc-switcher: on + cam-switcher: on + scex-dh: off + ploc-ss: on + submode: dac-off + pl-pcdu-dh: off + trans: + 0: + name: trans-earth-obsv-0 + tab-id: 0x70000401 + modes: + ploc-switcher: on + cam-switcher: on + scex-dh: off + ploc-ss: on + submode: dac-off + pl-pcdu-dh: off + scex: + seq-id: 4 + target: scex + name: target-scex + tab-id: 0x70000500 + modes: + ploc-switcher: off + cam-switcher: off + scex-dh: on + ploc-ss: off + pl-pcdu-dh: off + trans: + 0: + name: trans-scex-0 + tab-id: 0x70000501 + modes: + ploc-switcher: off + cam-switcher: off + scex-dh: on + ploc-ss: off + pl-pcdu-dh: off + system: + detumble: + seq-id: 0 + target: + name: target-detumble + tab-id: 0x73000000 + modes: + acs: detumble + tcs: nml + com: nml + payload: ignore + eps: nml \ No newline at end of file diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp index 23311229..fcf1f81f 100644 --- a/linux/ObjectFactory.cpp +++ b/linux/ObjectFactory.cpp @@ -70,85 +70,97 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo 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); - susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_0); + susHandlers[0] = + new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_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, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_1); + susHandlers[1] = + new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_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, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_2); + susHandlers[2] = + new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_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, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_3); + susHandlers[3] = + new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_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, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_4); + susHandlers[4] = + new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_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, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_5); + susHandlers[5] = + new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_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, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_6); + susHandlers[6] = + new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_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, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_7); + susHandlers[7] = + new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_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, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_8); + susHandlers[8] = + new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_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, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_9); + susHandlers[9] = + new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_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, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_10); + susHandlers[10] = + new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_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, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie); - fdir = new SusFdir(objects::SUS_11); + susHandlers[11] = + new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_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); @@ -163,10 +175,13 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo #endif } } - std::array susIds = {objects::SUS_0, objects::SUS_1, objects::SUS_2, - objects::SUS_3, objects::SUS_4, objects::SUS_5, - objects::SUS_6, objects::SUS_7, objects::SUS_8, - objects::SUS_9, objects::SUS_10, objects::SUS_11}; + std::array susIds = { + objects::SUS_0_N_LOC_XFYFZM_PT_XF, objects::SUS_1_N_LOC_XBYFZM_PT_XB, + objects::SUS_2_N_LOC_XFYBZB_PT_YB, objects::SUS_3_N_LOC_XFYBZF_PT_YF, + objects::SUS_4_N_LOC_XMYFZF_PT_ZF, objects::SUS_5_N_LOC_XFYMZB_PT_ZB, + objects::SUS_6_R_LOC_XFYBZM_PT_XF, objects::SUS_7_R_LOC_XBYBZM_PT_XB, + objects::SUS_8_R_LOC_XBYBZB_PT_YB, objects::SUS_9_R_LOC_XBYBZB_PT_YF, + objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::SUS_11_R_LOC_XBYMZB_PT_ZB}; SusAssHelper susAssHelper = SusAssHelper(susIds); auto susAss = new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper); @@ -250,11 +265,22 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF, {addresses::RTD_IC_17, gpioIds::RTD_IC_17}, {addresses::RTD_IC_18, gpioIds::RTD_IC_18}, }}; - std::array rtdIds = { - objects::RTD_IC_3, objects::RTD_IC_4, objects::RTD_IC_5, objects::RTD_IC_6, - objects::RTD_IC_7, objects::RTD_IC_8, objects::RTD_IC_9, objects::RTD_IC_10, - objects::RTD_IC_11, objects::RTD_IC_12, objects::RTD_IC_13, objects::RTD_IC_14, - objects::RTD_IC_15, objects::RTD_IC_16, objects::RTD_IC_17, objects::RTD_IC_18}; + std::array rtdIds = {objects::RTD_0_IC3_PLOC_HEATSPREADER, + objects::RTD_1_IC4_PLOC_MISSIONBOARD, + objects::RTD_2_IC5_4K_CAMERA, + objects::RTD_3_IC6_DAC_HEATSPREADER, + objects::RTD_4_IC7_STARTRACKER, + objects::RTD_5_IC8_RW1_MX_MY, + objects::RTD_6_IC9_DRO, + objects::RTD_7_IC10_SCEX, + objects::RTD_8_IC11_X8, + objects::RTD_9_IC12_HPA, + objects::RTD_10_IC13_PL_TX, + objects::RTD_11_IC14_MPA, + objects::RTD_12_IC15_ACU, + objects::RTD_13_IC16_PLPCDU_HEATSPREADER, + objects::RTD_14_IC17_TCS_BOARD, + objects::RTD_15_IC18_IMTQ}; std::array rtdCookies = {}; std::array rtds = {}; RtdFdir* rtdFdir = nullptr; diff --git a/linux/boardtest/LibgpiodTest.cpp b/linux/boardtest/LibgpiodTest.cpp index 0c5ebe2a..66e26e3b 100644 --- a/linux/boardtest/LibgpiodTest.cpp +++ b/linux/boardtest/LibgpiodTest.cpp @@ -19,18 +19,18 @@ LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, Gpi LibgpiodTest::~LibgpiodTest() {} ReturnValue_t LibgpiodTest::performPeriodicAction() { - int gpioState; + gpio::Levels gpioState; ReturnValue_t result; switch (testCase) { case (TestCases::READ): { - result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState); + result = gpioInterface->readGpio(gpioIds::TEST_ID_0, gpioState); if (result != RETURN_OK) { sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl; return RETURN_FAILED; } else { - sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState - << std::endl; + sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " + << static_cast(gpioState) << std::endl; } break; } @@ -38,19 +38,19 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() { break; } case (TestCases::BLINK): { - result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState); + result = gpioInterface->readGpio(gpioIds::TEST_ID_0, gpioState); if (result != HasReturnvaluesIF::RETURN_OK) { sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl; return RETURN_FAILED; } - if (gpioState == 1) { + if (gpioState == gpio::Levels::HIGH) { result = gpioInterface->pullLow(gpioIds::TEST_ID_0); if (result != HasReturnvaluesIF::RETURN_OK) { sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO low!" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } - } else if (gpioState == 0) { + } else if (gpioState == gpio::Levels::LOW) { result = gpioInterface->pullHigh(gpioIds::TEST_ID_0); if (result != HasReturnvaluesIF::RETURN_OK) { sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO high!" @@ -72,7 +72,7 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() { } ReturnValue_t LibgpiodTest::performOneShotAction() { - int gpioState; + gpio::Levels gpioState; ReturnValue_t result; switch (testCase) { @@ -93,8 +93,8 @@ ReturnValue_t LibgpiodTest::performOneShotAction() { << std::endl; return HasReturnvaluesIF::RETURN_OK; } - result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState); - if (result == HasReturnvaluesIF::RETURN_OK and gpioState == 1) { + result = gpioInterface->readGpio(gpioIds::TEST_ID_1, gpioState); + if (result == HasReturnvaluesIF::RETURN_OK and gpioState == gpio::Levels::HIGH) { sif::info << "LibgpiodTest::performOneShotAction: " "GPIO state read successfully and is high" << std::endl; @@ -110,8 +110,8 @@ ReturnValue_t LibgpiodTest::performOneShotAction() { "GPIO pulled low successfully for loopback test" << std::endl; } - result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState); - if (result == HasReturnvaluesIF::RETURN_OK and gpioState == 0) { + result = gpioInterface->readGpio(gpioIds::TEST_ID_1, gpioState); + if (result == HasReturnvaluesIF::RETURN_OK and gpioState == gpio::Levels::LOW) { sif::info << "LibgpiodTest::performOneShotAction: " "GPIO state read successfully and is low" << std::endl; diff --git a/linux/devices/GPSHyperionLinuxController.cpp b/linux/devices/GPSHyperionLinuxController.cpp index 5a7d9808..dee3c9af 100644 --- a/linux/devices/GPSHyperionLinuxController.cpp +++ b/linux/devices/GPSHyperionLinuxController.cpp @@ -24,7 +24,10 @@ GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, obj timeUpdateCd.resetTimer(); } -GPSHyperionLinuxController::~GPSHyperionLinuxController() {} +GPSHyperionLinuxController::~GPSHyperionLinuxController() { + gps_stream(&gps, WATCH_DISABLE, nullptr); + gps_close(&gps); +} void GPSHyperionLinuxController::performControlOperation() { #ifdef FSFW_OSAL_LINUX @@ -99,6 +102,27 @@ ReturnValue_t GPSHyperionLinuxController::initialize() { if (result != HasReturnvaluesIF::RETURN_OK) { return result; } + auto openError = [&](const char *type, int error) { + if (gpsNotOpenSwitch) { + // Opening failed +#if FSFW_VERBOSE_LEVEL >= 1 + sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type + << " failed | Error " << error << " | " << gps_errstr(error) << std::endl; +#endif + gpsNotOpenSwitch = false; + } + }; + if (readMode == ReadModes::SOCKET) { + int retval = gps_open("localhost", DEFAULT_GPSD_PORT, &gps); + if (retval != 0) { + openError("Socket", retval); + } + } else if (readMode == ReadModes::SHM) { + int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps); + if (retval != 0) { + openError("SHM", retval); + } + } return result; } @@ -107,41 +131,29 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m } #ifdef FSFW_OSAL_LINUX -void GPSHyperionLinuxController::readGpsDataFromGpsd() { - gpsmm gpsmm("localhost", DEFAULT_GPSD_PORT); - // The data from the device will generally be read all at once. Therefore, we - // can set all field here - if (not gpsmm.is_open()) { - if (gpsNotOpenSwitch) { - // Opening failed -#if FSFW_VERBOSE_LEVEL >= 1 - sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed | " - << "Error " << errno << " | " << gps_errstr(errno) << std::endl; -#endif - gpsNotOpenSwitch = false; +void GPSHyperionLinuxController::readGpsDataFromGpsd() { + auto readError = [&](int error) { + if (gpsReadFailedSwitch) { + gpsReadFailedSwitch = false; + sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | " + "Error " + << error << " | " << gps_errstr(error) << std::endl; } - return; - } - // Stopwatch watch; - gps_data_t *gps = nullptr; - gps = gpsmm.stream(WATCH_ENABLE | WATCH_JSON); - if (gps == nullptr) { - sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd:: Setting GPSD watch " - "policy failed" - << std::endl; - } - while (gpsmm.waiting(2000)) { - gps = gpsmm.read(); - if (gps == nullptr) { - if (gpsReadFailedSwitch) { - gpsReadFailedSwitch = false; - sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" - << std::endl; - } + }; + currentClientBuf = gps_data(&gps); + if (readMode == ReadModes::SOCKET) { + gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr); + // Exit if no data is seen in 2 seconds (should not happen) + if (not gps_waiting(&gps, 2000000)) { return; } - if (MODE_SET != (MODE_SET & gps->set)) { + int result = gps_read(&gps); + if (result == -1) { + readError(result); + return; + } + if (MODE_SET != (MODE_SET & gps.set)) { if (noModeSetCntr >= 0) { noModeSetCntr++; } @@ -152,24 +164,31 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() { << std::endl; noModeSetCntr = -1; } + } + noModeSetCntr = 0; + } else if (readMode == ReadModes::SHM) { + int result = gps_read(&gps); + if (result == -1) { + readError(result); return; - } else { - noModeSetCntr = 0; } } - gps = gpsmm.stream(WATCH_DISABLE); + handleGpsRead(); +} + +ReturnValue_t GPSHyperionLinuxController::handleGpsRead() { PoolReadGuard pg(&gpsSet); if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) { #if FSFW_VERBOSE_LEVEL >= 1 sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading dataset failed" << std::endl; #endif - return; + return RETURN_FAILED; } bool validFix = false; static_cast(validFix); // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix - int newFixMode = gps->fix.mode; + int newFixMode = gps.fix.mode; if (newFixMode == 2 or newFixMode == 3) { validFix = true; } @@ -177,7 +196,7 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() { triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode); } gpsSet.fixMode.value = newFixMode; - if (gps->fix.mode == 0 or gps->fix.mode == 1) { + if (gps.fix.mode == 0 or gps.fix.mode == 1) { if (modeCommanded and maxTimeToReachFix.hasTimedOut()) { // We are supposed to be on and functioning, but not fix was found if (mode == MODE_ON or mode == MODE_NORMAL) { @@ -186,51 +205,51 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() { modeCommanded = false; } gpsSet.setValidity(false, true); - } else if (gps->satellites_used > 0) { + } else if (gps.satellites_used > 0) { gpsSet.setValidity(true, true); } - gpsSet.satInUse.value = gps->satellites_used; - gpsSet.satInView.value = gps->satellites_visible; + gpsSet.satInUse.value = gps.satellites_used; + gpsSet.satInView.value = gps.satellites_visible; - if (std::isfinite(gps->fix.latitude)) { + if (std::isfinite(gps.fix.latitude)) { // Negative latitude -> South direction - gpsSet.latitude.value = gps->fix.latitude; + gpsSet.latitude.value = gps.fix.latitude; } else { gpsSet.latitude.setValid(false); } - if (std::isfinite(gps->fix.longitude)) { + if (std::isfinite(gps.fix.longitude)) { // Negative longitude -> West direction - gpsSet.longitude.value = gps->fix.longitude; + gpsSet.longitude.value = gps.fix.longitude; } else { gpsSet.longitude.setValid(false); } - if (std::isfinite(gps->fix.altitude)) { - gpsSet.altitude.value = gps->fix.altitude; + if (std::isfinite(gps.fix.altitude)) { + gpsSet.altitude.value = gps.fix.altitude; } else { gpsSet.altitude.setValid(false); } - if (std::isfinite(gps->fix.speed)) { - gpsSet.speed.value = gps->fix.speed; + if (std::isfinite(gps.fix.speed)) { + gpsSet.speed.value = gps.fix.speed; } else { gpsSet.speed.setValid(false); } #if LIBGPS_VERSION_MINOR <= 17 - gpsSet.unixSeconds.value = gps->fix.time; + gpsSet.unixSeconds.value = gps.fix.time; #else - gpsSet.unixSeconds.value = gps->fix.time.tv_sec; + gpsSet.unixSeconds.value = gps.fix.time.tv_sec; #endif timeval time = {}; time.tv_sec = gpsSet.unixSeconds.value; #if LIBGPS_VERSION_MINOR <= 17 - double fractionalPart = gps->fix.time - std::floor(gps->fix.time); + double fractionalPart = gps.fix.time - std::floor(gps.fix.time); time.tv_usec = fractionalPart * 1000.0 * 1000.0; #else - time.tv_usec = gps->fix.time.tv_nsec / 1000; + time.tv_usec = gps.fix.time.tv_nsec / 1000; #endif std::time_t t = std::time(nullptr); if (time.tv_sec == t) { @@ -271,26 +290,28 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() { if (debugHyperionGps) { sif::info << "-- Hyperion GPS Data --" << std::endl; #if LIBGPS_VERSION_MINOR <= 17 - time_t timeRaw = gps->fix.time; + time_t timeRaw = gps.fix.time; #else - time_t timeRaw = gps->fix.time.tv_sec; + time_t timeRaw = gps.fix.time.tv_sec; #endif std::tm *time = gmtime(&timeRaw); std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl; - std::cout << "Visible satellites: " << gps->satellites_visible << std::endl; - std::cout << "Satellites used: " << gps->satellites_used << std::endl; - std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl; - std::cout << "Latitude: " << gps->fix.latitude << std::endl; - std::cout << "Longitude: " << gps->fix.longitude << std::endl; + std::cout << "Visible satellites: " << gps.satellites_visible << std::endl; + std::cout << "Satellites used: " << gps.satellites_used << std::endl; + std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps.fix.mode << std::endl; + std::cout << "Latitude: " << gps.fix.latitude << std::endl; + std::cout << "Longitude: " << gps.fix.longitude << std::endl; #if LIBGPS_VERSION_MINOR <= 17 - std::cout << "Altitude(MSL): " << gps->fix.altitude << std::endl; + std::cout << "Altitude(MSL): " << gps.fix.altitude << std::endl; #else - std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl; + std::cout << "Altitude(MSL): " << gps.fix.altMSL << std::endl; #endif - std::cout << "Speed(m/s): " << gps->fix.speed << std::endl; + std::cout << "Speed(m/s): " << gps.fix.speed << std::endl; std::time_t t = std::time(nullptr); std::tm tm = *std::gmtime(&t); std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl; } + return RETURN_OK; } + #endif diff --git a/linux/devices/GPSHyperionLinuxController.h b/linux/devices/GPSHyperionLinuxController.h index 8d0ec0cd..94e82023 100644 --- a/linux/devices/GPSHyperionLinuxController.h +++ b/linux/devices/GPSHyperionLinuxController.h @@ -24,6 +24,8 @@ class GPSHyperionLinuxController : public ExtendedControllerBase { public: static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5; + enum ReadModes { SHM = 0, SOCKET = 1 }; + GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId, bool debugHyperionGps = false); virtual ~GPSHyperionLinuxController(); @@ -47,8 +49,13 @@ class GPSHyperionLinuxController : public ExtendedControllerBase { ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) override; + ReturnValue_t handleGpsRead(); + private: GpsPrimaryDataset gpsSet; + gps_data_t gps = {}; + const char* currentClientBuf = nullptr; + ReadModes readMode = ReadModes::SOCKET; Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000); bool modeCommanded = true; bool timeInit = true; diff --git a/linux/fsfwconfig/FSFWConfig.h.in b/linux/fsfwconfig/FSFWConfig.h.in index 9db84254..072c47c8 100644 --- a/linux/fsfwconfig/FSFWConfig.h.in +++ b/linux/fsfwconfig/FSFWConfig.h.in @@ -76,9 +76,4 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048; #define FSFW_HAL_I2C_WIRETAPPING 0 #define FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV 0 -#define FSFW_HAL_L3GD20_GYRO_DEBUG 0 -#define FSFW_HAL_RM3100_MGM_DEBUG 0 -#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0 -#define FSFW_HAL_ADIS1650X_GYRO_DEBUG 0 - #endif /* CONFIG_FSFWCONFIG_H_ */ diff --git a/linux/fsfwconfig/devices/addresses.h b/linux/fsfwconfig/devices/addresses.h index 0016c6a4..ec794490 100644 --- a/linux/fsfwconfig/devices/addresses.h +++ b/linux/fsfwconfig/devices/addresses.h @@ -24,18 +24,18 @@ enum logicalAddresses : address_t { RAD_SENSOR = objects::RAD_SENSOR, - SUS_0 = objects::SUS_0, - SUS_1 = objects::SUS_1, - SUS_2 = objects::SUS_2, - SUS_3 = objects::SUS_3, - SUS_4 = objects::SUS_4, - SUS_5 = objects::SUS_5, - SUS_6 = objects::SUS_6, - SUS_7 = objects::SUS_7, - SUS_8 = objects::SUS_8, - SUS_9 = objects::SUS_9, - SUS_10 = objects::SUS_10, - SUS_11 = objects::SUS_11, + SUS_0 = objects::SUS_0_N_LOC_XFYFZM_PT_XF, + SUS_1 = objects::SUS_1_N_LOC_XBYFZM_PT_XB, + SUS_2 = objects::SUS_2_N_LOC_XFYBZB_PT_YB, + SUS_3 = objects::SUS_3_N_LOC_XFYBZF_PT_YF, + SUS_4 = objects::SUS_4_N_LOC_XMYFZF_PT_ZF, + SUS_5 = objects::SUS_5_N_LOC_XFYMZB_PT_ZB, + SUS_6 = objects::SUS_6_R_LOC_XFYBZM_PT_XF, + SUS_7 = objects::SUS_7_R_LOC_XBYBZM_PT_XB, + SUS_8 = objects::SUS_8_R_LOC_XBYBZB_PT_YB, + SUS_9 = objects::SUS_9_R_LOC_XBYBZB_PT_YF, + SUS_10 = objects::SUS_10_N_LOC_XMYBZF_PT_ZF, + SUS_11 = objects::SUS_11_R_LOC_XBYMZB_PT_ZB, /* Dummy and Test Addresses */ DUMMY_ECHO = 129, diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp index 7f0d289f..70dbe140 100644 --- a/linux/fsfwconfig/events/translateEvents.cpp +++ b/linux/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** - * @brief Auto-generated event translation file. Contains 198 translations. + * @brief Auto-generated event translation file. Contains 199 translations. * @details - * Generated on: 2022-04-30 09:34:28 + * Generated on: 2022-05-06 19:43:59 */ #include "translateEvents.h" @@ -87,6 +87,7 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER"; const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT"; const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED"; const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED"; +const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED"; const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED"; const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED"; const char *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON"; @@ -101,7 +102,7 @@ const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE"; const char *ACK_FAILURE_STRING = "ACK_FAILURE"; const char *EXE_FAILURE_STRING = "EXE_FAILURE"; const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE"; -const char *MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQ_CNT_MISMATCH"; +const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH"; const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED"; const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE"; const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE"; @@ -366,6 +367,8 @@ const char *translateEvents(Event event) { return SWITCH_HAS_CHANGED_STRING; case (11302): return SWITCHING_Q7S_DENIED_STRING; + case (11303): + return FDIR_REACTION_IGNORED_STRING; case (11400): return GPIO_PULL_HIGH_FAILED_STRING; case (11401): @@ -395,7 +398,7 @@ const char *translateEvents(Event event) { case (11604): return MPSOC_HANDLER_CRC_FAILURE_STRING; case (11605): - return MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING; + return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING; case (11606): return MPSOC_SHUTDOWN_FAILED_STRING; case (11701): diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp index 7d46b9bc..6e674949 100644 --- a/linux/fsfwconfig/objects/translateObjects.cpp +++ b/linux/fsfwconfig/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 116 translations. - * Generated on: 2022-04-24 12:09:01 + * Generated on: 2022-05-06 19:43:55 */ #include "translateObjects.h" @@ -12,18 +12,18 @@ const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER"; const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER"; const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER"; const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER"; -const char *SUS_0_STRING = "SUS_0"; -const char *SUS_1_STRING = "SUS_1"; -const char *SUS_2_STRING = "SUS_2"; -const char *SUS_3_STRING = "SUS_3"; -const char *SUS_4_STRING = "SUS_4"; -const char *SUS_5_STRING = "SUS_5"; -const char *SUS_6_STRING = "SUS_6"; -const char *SUS_7_STRING = "SUS_7"; -const char *SUS_8_STRING = "SUS_8"; -const char *SUS_9_STRING = "SUS_9"; -const char *SUS_10_STRING = "SUS_10"; -const char *SUS_11_STRING = "SUS_11"; +const char *SUS_0_N_LOC_XFYFZM_PT_XF_STRING = "SUS_0_N_LOC_XFYFZM_PT_XF"; +const char *SUS_1_N_LOC_XBYFZM_PT_XB_STRING = "SUS_1_N_LOC_XBYFZM_PT_XB"; +const char *SUS_2_N_LOC_XFYBZB_PT_YB_STRING = "SUS_2_N_LOC_XFYBZB_PT_YB"; +const char *SUS_3_N_LOC_XFYBZF_PT_YF_STRING = "SUS_3_N_LOC_XFYBZF_PT_YF"; +const char *SUS_4_N_LOC_XMYFZF_PT_ZF_STRING = "SUS_4_N_LOC_XMYFZF_PT_ZF"; +const char *SUS_5_N_LOC_XFYMZB_PT_ZB_STRING = "SUS_5_N_LOC_XFYMZB_PT_ZB"; +const char *SUS_6_R_LOC_XFYBZM_PT_XF_STRING = "SUS_6_R_LOC_XFYBZM_PT_XF"; +const char *SUS_7_R_LOC_XBYBZM_PT_XB_STRING = "SUS_7_R_LOC_XBYBZM_PT_XB"; +const char *SUS_8_R_LOC_XBYBZB_PT_YB_STRING = "SUS_8_R_LOC_XBYBZB_PT_YB"; +const char *SUS_9_R_LOC_XBYBZB_PT_YF_STRING = "SUS_9_R_LOC_XBYBZB_PT_YF"; +const char *SUS_10_N_LOC_XMYBZF_PT_ZF_STRING = "SUS_10_N_LOC_XMYBZF_PT_ZF"; +const char *SUS_11_R_LOC_XBYMZB_PT_ZB_STRING = "SUS_11_R_LOC_XBYMZB_PT_ZB"; const char *RW1_STRING = "RW1"; const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER"; const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER"; @@ -55,22 +55,22 @@ const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER"; const char *HEATER_HANDLER_STRING = "HEATER_HANDLER"; const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1"; const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2"; -const char *RTD_IC_3_STRING = "RTD_IC_3"; -const char *RTD_IC_4_STRING = "RTD_IC_4"; -const char *RTD_IC_5_STRING = "RTD_IC_5"; -const char *RTD_IC_6_STRING = "RTD_IC_6"; -const char *RTD_IC_7_STRING = "RTD_IC_7"; -const char *RTD_IC_8_STRING = "RTD_IC_8"; -const char *RTD_IC_9_STRING = "RTD_IC_9"; -const char *RTD_IC_10_STRING = "RTD_IC_10"; -const char *RTD_IC_11_STRING = "RTD_IC_11"; -const char *RTD_IC_12_STRING = "RTD_IC_12"; -const char *RTD_IC_13_STRING = "RTD_IC_13"; -const char *RTD_IC_14_STRING = "RTD_IC_14"; -const char *RTD_IC_15_STRING = "RTD_IC_15"; -const char *RTD_IC_16_STRING = "RTD_IC_16"; -const char *RTD_IC_17_STRING = "RTD_IC_17"; -const char *RTD_IC_18_STRING = "RTD_IC_18"; +const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER"; +const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD"; +const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA"; +const char *RTD_3_IC6_DAC_HEATSPREADER_STRING = "RTD_3_IC6_DAC_HEATSPREADER"; +const char *RTD_4_IC7_STARTRACKER_STRING = "RTD_4_IC7_STARTRACKER"; +const char *RTD_5_IC8_RW1_MX_MY_STRING = "RTD_5_IC8_RW1_MX_MY"; +const char *RTD_6_IC9_DRO_STRING = "RTD_6_IC9_DRO"; +const char *RTD_7_IC10_SCEX_STRING = "RTD_7_IC10_SCEX"; +const char *RTD_8_IC11_X8_STRING = "RTD_8_IC11_X8"; +const char *RTD_9_IC12_HPA_STRING = "RTD_9_IC12_HPA"; +const char *RTD_10_IC13_PL_TX_STRING = "RTD_10_IC13_PL_TX"; +const char *RTD_11_IC14_MPA_STRING = "RTD_11_IC14_MPA"; +const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU"; +const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER"; +const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD"; +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"; @@ -138,29 +138,29 @@ const char *translateObject(object_id_t object) { case 0x44120010: return GYRO_0_ADIS_HANDLER_STRING; case 0x44120032: - return SUS_0_STRING; + return SUS_0_N_LOC_XFYFZM_PT_XF_STRING; case 0x44120033: - return SUS_1_STRING; + return SUS_1_N_LOC_XBYFZM_PT_XB_STRING; case 0x44120034: - return SUS_2_STRING; + return SUS_2_N_LOC_XFYBZB_PT_YB_STRING; case 0x44120035: - return SUS_3_STRING; + return SUS_3_N_LOC_XFYBZF_PT_YF_STRING; case 0x44120036: - return SUS_4_STRING; + return SUS_4_N_LOC_XMYFZF_PT_ZF_STRING; case 0x44120037: - return SUS_5_STRING; + return SUS_5_N_LOC_XFYMZB_PT_ZB_STRING; case 0x44120038: - return SUS_6_STRING; + return SUS_6_R_LOC_XFYBZM_PT_XF_STRING; case 0x44120039: - return SUS_7_STRING; + return SUS_7_R_LOC_XBYBZM_PT_XB_STRING; case 0x44120040: - return SUS_8_STRING; + return SUS_8_R_LOC_XBYBZB_PT_YB_STRING; case 0x44120041: - return SUS_9_STRING; + return SUS_9_R_LOC_XBYBZB_PT_YF_STRING; case 0x44120042: - return SUS_10_STRING; + return SUS_10_N_LOC_XMYBZF_PT_ZF_STRING; case 0x44120043: - return SUS_11_STRING; + return SUS_11_R_LOC_XBYMZB_PT_ZB_STRING; case 0x44120047: return RW1_STRING; case 0x44120107: @@ -224,37 +224,37 @@ const char *translateObject(object_id_t object) { case 0x44420005: return TMP1075_HANDLER_2_STRING; case 0x44420016: - return RTD_IC_3_STRING; + return RTD_0_IC3_PLOC_HEATSPREADER_STRING; case 0x44420017: - return RTD_IC_4_STRING; + return RTD_1_IC4_PLOC_MISSIONBOARD_STRING; case 0x44420018: - return RTD_IC_5_STRING; + return RTD_2_IC5_4K_CAMERA_STRING; case 0x44420019: - return RTD_IC_6_STRING; + return RTD_3_IC6_DAC_HEATSPREADER_STRING; case 0x44420020: - return RTD_IC_7_STRING; + return RTD_4_IC7_STARTRACKER_STRING; case 0x44420021: - return RTD_IC_8_STRING; + return RTD_5_IC8_RW1_MX_MY_STRING; case 0x44420022: - return RTD_IC_9_STRING; + return RTD_6_IC9_DRO_STRING; case 0x44420023: - return RTD_IC_10_STRING; + return RTD_7_IC10_SCEX_STRING; case 0x44420024: - return RTD_IC_11_STRING; + return RTD_8_IC11_X8_STRING; case 0x44420025: - return RTD_IC_12_STRING; + return RTD_9_IC12_HPA_STRING; case 0x44420026: - return RTD_IC_13_STRING; + return RTD_10_IC13_PL_TX_STRING; case 0x44420027: - return RTD_IC_14_STRING; + return RTD_11_IC14_MPA_STRING; case 0x44420028: - return RTD_IC_15_STRING; + return RTD_12_IC15_ACU_STRING; case 0x44420029: - return RTD_IC_16_STRING; + return RTD_13_IC16_PLPCDU_HEATSPREADER_STRING; case 0x44420030: - return RTD_IC_17_STRING; + return RTD_14_IC17_TCS_BOARD_STRING; case 0x44420031: - return RTD_IC_18_STRING; + return RTD_15_IC18_IMTQ_STRING; case 0x445300A3: return SYRLINKS_HK_HANDLER_STRING; case 0x49000000: diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 4b0263d4..6df7a2e4 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -44,22 +44,30 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION); #endif #if OBSW_ADD_RTD_DEVICES == 1 - thisSequence->addSlot(objects::RTD_IC_3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_5, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_6, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_7, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_9, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_10, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_11, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_12, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_13, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_14, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_15, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_16, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_17, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::RTD_IC_18, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0, DeviceHandlerIF::PERFORM_OPERATION); #endif /* OBSW_ADD_RTD_DEVICES */ #if OBSW_ADD_TMP_DEVICES == 1 @@ -67,22 +75,26 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE); #endif #if OBSW_ADD_RTD_DEVICES == 1 - thisSequence->addSlot(objects::RTD_IC_3, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_4, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_5, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_6, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_7, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_8, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_9, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_10, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_11, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_12, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_13, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_14, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_15, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_16, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_17, length * 0.2, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::RTD_IC_18, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0.2, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0.2, DeviceHandlerIF::SEND_WRITE); #endif /* OBSW_ADD_RTD_DEVICES */ #if OBSW_ADD_TMP_DEVICES == 1 @@ -90,22 +102,26 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE); #endif #if OBSW_ADD_RTD_DEVICES == 1 - thisSequence->addSlot(objects::RTD_IC_3, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_4, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_5, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_6, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_7, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_8, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_9, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_10, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_11, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_12, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_13, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_14, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_15, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_16, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_17, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::RTD_IC_18, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0.4, DeviceHandlerIF::GET_WRITE); #endif /* OBSW_ADD_RTD_DEVICES */ #if OBSW_ADD_TMP_DEVICES == 1 @@ -113,22 +129,26 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ); #endif #if OBSW_ADD_RTD_DEVICES == 1 - thisSequence->addSlot(objects::RTD_IC_3, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_4, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_5, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_6, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_7, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_8, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_9, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_10, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_11, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_12, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_13, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_14, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_15, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_16, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_17, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::RTD_IC_18, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0.6, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0.6, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0.6, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0.6, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0.6, DeviceHandlerIF::SEND_READ); #endif /* OBSW_ADD_RTD_DEVICES */ #if OBSW_ADD_TMP_DEVICES == 1 @@ -136,22 +156,26 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ); #endif #if OBSW_ADD_RTD_DEVICES == 1 - thisSequence->addSlot(objects::RTD_IC_3, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_4, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_5, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_6, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_7, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_8, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_9, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_10, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_11, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_12, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_13, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_14, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_15, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_16, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_17, length * 0.8, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::RTD_IC_18, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0.8, + DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0.8, + DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0.8, + DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0.8, + DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0.8, DeviceHandlerIF::GET_READ); #endif /* OBSW_ADD_RTD_DEVICES */ #if OBSW_ADD_RAD_SENSORS == 1 @@ -180,153 +204,251 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { if (addSus0) { /* Write setup */ - thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus1) { - thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus2) { - thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus3) { - thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus4) { - thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus5) { - thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus6) { - thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus7) { - thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus8) { - thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus9) { - thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus10) { - thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0, + DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4, + DeviceHandlerIF::GET_READ); } if (addSus11) { - thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0, + DeviceHandlerIF::GET_READ); - thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4, + DeviceHandlerIF::GET_READ); } #endif /* OBSW_ADD_SUN_SENSORS == 1 */ @@ -507,8 +629,6 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) { ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) { uint32_t length = thisSequence->getPeriodMs(); -#ifndef TE0720_1CFA -#if Q7S_EM != 1 // PCDU handlers receives two messages and both must be handled thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); @@ -540,8 +660,6 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) { sif::error << "GomSpace PST initialization failed" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } -#endif /* Q7S_EM == 0 */ -#endif static_cast(length); return HasReturnvaluesIF::RETURN_OK; } diff --git a/linux/obc/PapbVcInterface.cpp b/linux/obc/PapbVcInterface.cpp index 5636975a..643104d7 100644 --- a/linux/obc/PapbVcInterface.cpp +++ b/linux/obc/PapbVcInterface.cpp @@ -42,17 +42,17 @@ void PapbVcInterface::startPacketTransfer() { *vcBaseReg = CONFIG_START; } void PapbVcInterface::endPacketTransfer() { *vcBaseReg = CONFIG_END; } ReturnValue_t PapbVcInterface::pollPapbBusySignal() { - int papbBusyState = 0; + gpio::Levels papbBusyState = gpio::Levels::LOW; ReturnValue_t result = RETURN_OK; /** Check if PAPB interface is ready to receive data */ - result = gpioComIF->readGpio(papbBusyId, &papbBusyState); + result = gpioComIF->readGpio(papbBusyId, papbBusyState); if (result != RETURN_OK) { sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal" << std::endl; return RETURN_FAILED; } - if (!papbBusyState) { + if (papbBusyState == gpio::Levels::LOW) { sif::warning << "PapbVcInterface::pollPapbBusySignal: PAPB busy" << std::endl; return PAPB_BUSY; } @@ -62,9 +62,9 @@ ReturnValue_t PapbVcInterface::pollPapbBusySignal() { void PapbVcInterface::isVcInterfaceBufferEmpty() { ReturnValue_t result = RETURN_OK; - int papbEmptyState = 1; + gpio::Levels papbEmptyState = gpio::Levels::HIGH; - result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState); + result = gpioComIF->readGpio(papbEmptyId, papbEmptyState); if (result != RETURN_OK) { sif::warning << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal" @@ -72,7 +72,7 @@ void PapbVcInterface::isVcInterfaceBufferEmpty() { return; } - if (papbEmptyState == 1) { + if (papbEmptyState == gpio::Levels::HIGH) { sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is empty" << std::endl; } else { sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is not empty" << std::endl; diff --git a/misc/eclipse/.cproject b/misc/eclipse/.cproject index b0f56271..4c345a2d 100644 --- a/misc/eclipse/.cproject +++ b/misc/eclipse/.cproject @@ -143,7 +143,7 @@ - +