pin fixes for ACS board

2021-08-20 14:50:40 +02:00 · 2021-08-20 14:50:40 +02:00 · 6ecd4ec2f3
commit 6ecd4ec2f3
parent 23782dc2fa
5 changed files with 91 additions and 78 deletions
--- a/bsp_q7s/boardconfig/busConf.h
+++ b/bsp_q7s/boardconfig/busConf.h
@ -15,14 +15,15 @@ static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8";
 static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0";
 static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";

+static constexpr char GPIO_GYRO_ADIS_CHIP[] = "gpiochip4";
 static constexpr char GPIO_ACS_BOARD_DEFAULT_CHIP[] = "gpiochip5";
 static constexpr char GPIO_MGM2_LIS3_CHIP[] = "gpiochip6";

 // TODO: Determine new pins, additional ADIS gyro device
-static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 1;
-static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 7;
-static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 3;
-static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 3;
+static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 0;
+static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 18;
+static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 2;
+static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 1;

 static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5;
 static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;
--- a/bsp_q7s/boardconfig/q7sConfig.h.in
+++ b/bsp_q7s/boardconfig/q7sConfig.h.in
@ -5,30 +5,37 @@

 #cmakedefine01 Q7S_SIMPLE_MODE

-#define Q7S_SD_NONE                         0
-#define Q7S_SD_COLD_REDUNDANT               1
-#define Q7S_SD_HOT_REDUNDANT                2
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+//! Timers can mess up the code when debugging
+//! All of this should be enabled for mission code!
+
+/*******************************************************************/
+/** Other flags                                                    */
+/*******************************************************************/
+
+#define Q7S_SD_NONE                                 0
+#define Q7S_SD_COLD_REDUNDANT                       1
+#define Q7S_SD_HOT_REDUNDANT                        2
 // The OBSW will perform different actions to set up the SD cards depending on the flag set here
 // Set to Q7S_SD_NONE: Don't do anything
 // Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and 
 //     turn off the second SD card if it is on
 // Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them  
-#define Q7S_SD_CARD_CONFIG              Q7S_SD_COLD_REDUNDANT
+#define Q7S_SD_CARD_CONFIG                          Q7S_SD_COLD_REDUNDANT

 // Probably better if this is disabled for mission code. Convenient for development
-#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG   1
-#define Q7S_ADD_RTD_DEVICES                 0
+#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           1
+#define Q7S_ADD_RTD_DEVICES                         0

-/* Only one of those 2 should be enabled! */
-/* Add code for ACS board */
-#define OBSW_ADD_ACS_BOARD              0
+// Only one of those 2 should be enabled!
 #if OBSW_ADD_ACS_BOARD == 0
-#define Q7S_ADD_SPI_TEST                0
+#define Q7S_ADD_SPI_TEST                            0
 #endif

-#define Q7S_ADD_SYRLINKS_HANDLER        1
-
-#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
+#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST             0

 namespace config {

--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -1,3 +1,4 @@
+#include <mission/devices/GyroADIS16507Handler.h>
 #include "ObjectFactory.h"
 #include "OBSWConfig.h"
 #include "devConf.h"
@ -386,13 +387,13 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
    GpioCookie* gpioCookieAcsBoard = new GpioCookie();
    GpiodRegular* gpio = nullptr;
    // TODO: Determine new Gyro GPIO pins
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_0_ADIS_CS,
+    gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_0_ADIS_CS,
            "CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_1_L3G_CS,
            "CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_2_ADIS_CS,
+    gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_2_ADIS_CS,
            "CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_3_L3G_CS,
@ -421,49 +422,61 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
            objects::SPI_COM_IF, spiCookie);
    mgmLis3Handler->setStartUpImmediately();

-    spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
-            MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-    auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
-            objects::SPI_COM_IF, spiCookie);
-    mgmLis3Handler2->setStartUpImmediately();
-
    spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
            RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
    auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
            objects::SPI_COM_IF, spiCookie);
    mgmRm3100Handler->setStartUpImmediately();

+    spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
+            MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+    auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
+            objects::SPI_COM_IF, spiCookie);
+    mgmLis3Handler2->setStartUpImmediately();
+
    spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
            RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
    mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_3_RM3100_HANDLER,
            objects::SPI_COM_IF, spiCookie);
    mgmRm3100Handler->setStartUpImmediately();

-    //TODO: Adis Gyro (Gyro 0 Side A)

    // Commented until ACS board V2 in in clean room again
-    /* 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);
-//    gyroL3gHandler->setStartUpImmediately();
-//
-//    /* Gyro 2 Side B */
-//    spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev,
-//            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-//    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
-//            spiCookie);
-//    gyroL3gHandler->setStartUpImmediately();
+    // Gyro 0 Side A
+    spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
+            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+            spi::DEFAULT_ADIS16507_SPEED);
+    auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER,
+            objects::SPI_COM_IF, spiCookie);
+    adisHandler->setStartUpImmediately();
+    // 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);
+    gyroL3gHandler->setStartUpImmediately();
+    // Gyro 2 Side B
+    spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
+            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+            spi::DEFAULT_ADIS16507_SPEED);
+    adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER,
+            objects::SPI_COM_IF, spiCookie);
+    adisHandler->setStartUpImmediately();
+    // 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);
+    gyroL3gHandler->setStartUpImmediately();

    auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV,
            UartModes::CANONICAL, 9600, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
-    auto uartCookieGps1 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_1_DEV,
+    auto uartCookieGps1 = new UartCookie(objects::GPS1_HANDLER, q7s::UART_GNSS_1_DEV,
            UartModes::CANONICAL, 9600, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
    uartCookieGps1->setToFlushInput(true);
    uartCookieGps1->setReadCycles(6);
-    new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookieGps0);
-    new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF, uartCookieGps1);
+    new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookieGps0, true);
+    new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF, uartCookieGps1, true);
 }

 void ObjectFactory::createHeaterComponents() {
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/linux/fsfwconfig/OBSWConfig.h.in
@ -36,6 +36,8 @@ debugging. */
 #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_ACS_BOARD                          0

 /*******************************************************************/
 /** All of the following flags should be disabled for mission code */
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@ -520,6 +520,7 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
 ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
    // Length of a communication cycle
    uint32_t length = thisSequence->getPeriodMs();
+    static_cast<void>(length);

 #if OBSW_ADD_PLOC_MPSOC == 1
    thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
@ -550,56 +551,45 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
 #if Q7S_ADD_SYRLINKS_HANDLER == 1
    thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
            DeviceHandlerIF::PERFORM_OPERATION);
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
-    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-#endif
-
    thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2,
            DeviceHandlerIF::SEND_WRITE);
-
-#if OBSW_ADD_ACS_BOARD == 1
-    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-#endif
-
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
    thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4,
            DeviceHandlerIF::GET_WRITE);
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
-    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-#endif
-
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
    thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6,
            DeviceHandlerIF::SEND_READ);
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
-    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-#endif
-
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
    thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8,
            DeviceHandlerIF::GET_READ);
 #endif
+
 #if OBSW_ADD_ACS_BOARD == 1
+
+#if OBSW_ADD_GPS_0 == 1
+    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
            DeviceHandlerIF::GET_READ);
+#endif /* OBSW_ADD_GPS_0 == 1 */
+
+#if OBSW_ADD_GPS_1 == 1
+    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8,
            DeviceHandlerIF::GET_READ);
-#endif
+#endif /* OBSW_ADD_GPS_1 == 1 */
+
+#endif /* OBSW_ADD_ACS_BOARD == 1 */

 #if OBSW_ADD_STAR_TRACKER == 1
    thisSequence->addSlot(objects::START_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);