eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

integrated gyro and mgm handler

Browse Source
This commit is contained in:
Jakob Meier
2021-04-29 17:45:19 +02:00
parent ea2b1fbda4
commit 8509e15736
7 changed files with 82 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
bsp_q7s/InitMission.cpp
View File

@ -151,7 +151,7 @@ void initmission::initTasks() {
FixedTimeslotTaskIF* gomSpacePstTask = factory->
createFixedTimeslotTask("GS_PST_TASK", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, missedDeadlineFunc);
PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 1.0, missedDeadlineFunc);
result = pst::gomspacePstInit(gomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;

32
bsp_q7s/ObjectFactory.cpp
View File

@ -107,11 +107,11 @@ void ObjectFactory::produce(){
Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
i2cCookieTmp1075tcs1);
tmp1075Handler_1->setStartUpImmediately();
// tmp1075Handler_1->setStartUpImmediately();
Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(
objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
i2cCookieTmp1075tcs2);
tmp1075Handler_2->setStartUpImmediately();
// tmp1075Handler_2->setStartUpImmediately();
GpioCookie* heaterGpiosCookie = new GpioCookie;
@ -152,13 +152,13 @@ void ObjectFactory::produce(){
#if OBSW_ADD_ACS_BOARD == 1
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
GpiodRegular* gpio = nullptr;
gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_1_ADIS"),
gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_0_ADIS"),
gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegular(std::string("gpiochip5"), 7, std::string("CS_GYRO_2_L3G"),
gpio = new GpiodRegular(std::string("gpiochip5"), 7, std::string("CS_GYRO_1_L3G"),
gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegular(std::string("gpiochip5"), 3, std::string("CS_GYRO_3_L3G"),
gpio = new GpiodRegular(std::string("gpiochip5"), 3, std::string("CS_GYRO_2_L3G"),
gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
@ -166,7 +166,7 @@ void ObjectFactory::produce(){
gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegular(std::string("gpiochip5"), 17, std::string("CS_MGM_1_RM3100_A"),
gpio = new GpiodRegular(std::string("gpiochip5"), 16, std::string("CS_MGM_1_RM3100_A"),
gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
@ -199,11 +199,27 @@ void ObjectFactory::produce(){
objects::SPI_COM_IF, spiCookie);
mgmRm3100Handler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_3_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmRm3100Handler->setStartUpImmediately();
//TODO: Adis Gyro (Gyro 0 Side A)
/* 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();
#endif
/* Pin H2-11 on stack connector */
@ -411,13 +427,13 @@ void ObjectFactory::produce(){
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
std::string("/dev/i2c-0"));
IMTQHandler* imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
imtqHandler->setStartUpImmediately();
// imtqHandler->setStartUpImmediately();
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyUL3"), 115200,
PLOC::MAX_REPLY_SIZE);
PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF,
plocUartCookie);
plocHandler->setStartUpImmediately();
// plocHandler->setStartUpImmediately();
#endif /* TE0720 == 0 */

2
bsp_q7s/boardconfig/q7s_config.h
View File

@ -5,7 +5,7 @@
/* Only one of those 2 should be enabled! */
/* Add code for ACS board */
#define OBSW_ADD_ACS_BOARD 0
#define OBSW_ADD_ACS_BOARD 1
#define Q7S_ADD_SPI_TEST 0