eive/eive-obsw
eive/eive-obsw
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integrated gyro and mgm handler

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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
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2
bsp_q7s/InitMission.cpp
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@ -151,7 +151,7 @@ void initmission::initTasks() {
FixedTimeslotTaskIF* gomSpacePstTask = factory-> FixedTimeslotTaskIF* gomSpacePstTask = factory->
createFixedTimeslotTask("GS_PST_TASK", 50, 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); result = pst::gomspacePstInit(gomSpacePstTask);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl; sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;

32
bsp_q7s/ObjectFactory.cpp
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@ -107,11 +107,11 @@ void ObjectFactory::produce(){
Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler( Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
i2cCookieTmp1075tcs1); i2cCookieTmp1075tcs1);
tmp1075Handler_1->setStartUpImmediately(); // tmp1075Handler_1->setStartUpImmediately();
Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler( Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(
objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
i2cCookieTmp1075tcs2); i2cCookieTmp1075tcs2);
tmp1075Handler_2->setStartUpImmediately(); // tmp1075Handler_2->setStartUpImmediately();
GpioCookie* heaterGpiosCookie = new GpioCookie; GpioCookie* heaterGpiosCookie = new GpioCookie;
@ -152,13 +152,13 @@ void ObjectFactory::produce(){
#if OBSW_ADD_ACS_BOARD == 1 #if OBSW_ADD_ACS_BOARD == 1
GpioCookie* gpioCookieAcsBoard = new GpioCookie(); GpioCookie* gpioCookieAcsBoard = new GpioCookie();
GpiodRegular* gpio = nullptr; 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); gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); 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); gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); 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); gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_L3G_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
@ -166,7 +166,7 @@ void ObjectFactory::produce(){
gpio::OUT, gpio::HIGH); gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); 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); gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
@ -199,11 +199,27 @@ void ObjectFactory::produce(){
objects::SPI_COM_IF, spiCookie); objects::SPI_COM_IF, spiCookie);
mgmRm3100Handler->setStartUpImmediately(); 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, 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); 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, auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie); spiCookie);
gyroL3gHandler->setStartUpImmediately(); 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 #endif
/* Pin H2-11 on stack connector */ /* Pin H2-11 on stack connector */
@ -411,13 +427,13 @@ void ObjectFactory::produce(){
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
std::string("/dev/i2c-0")); std::string("/dev/i2c-0"));
IMTQHandler* imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie); 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, UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyUL3"), 115200,
PLOC::MAX_REPLY_SIZE); PLOC::MAX_REPLY_SIZE);
PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF,
plocUartCookie); plocUartCookie);
plocHandler->setStartUpImmediately(); // plocHandler->setStartUpImmediately();
#endif /* TE0720 == 0 */ #endif /* TE0720 == 0 */

2
bsp_q7s/boardconfig/q7s_config.h
View File

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

2
fsfwconfig/OBSWConfig.h
View File

@ -21,7 +21,7 @@ debugging. */
#define OBSW_ADD_TEST_CODE 1 #define OBSW_ADD_TEST_CODE 1
#define TEST_LIBGPIOD 0 #define TEST_LIBGPIOD 0
#define TE0720 1 #define TE0720 0
#define TE0720_HEATER_TEST 0 #define TE0720_HEATER_TEST 0
#define P60DOCK_DEBUG 0 #define P60DOCK_DEBUG 0

70
fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -212,7 +212,7 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
// DeviceHandlerIF::SEND_READ); // DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8, // thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
// DeviceHandlerIF::GET_READ); // DeviceHandlerIF::GET_READ);
//
// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0, // thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
// DeviceHandlerIF::PERFORM_OPERATION); // DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2, // thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
@ -224,17 +224,18 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8, // thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
// DeviceHandlerIF::GET_READ); // DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, // thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); // DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2, // thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); // DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4, // thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE); // DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, // thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ); // DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8, // thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); // DeviceHandlerIF::GET_READ);
//
//
// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, // thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
// DeviceHandlerIF::PERFORM_OPERATION); // DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2, // thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
@ -245,6 +246,31 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
// DeviceHandlerIF::SEND_READ); // DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8, // thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
// DeviceHandlerIF::GET_READ); // DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0,
// DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.2,
// DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.4,
// DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.6,
// DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.8,
// DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#endif #endif
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
@ -268,16 +294,16 @@ ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0, // thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); // DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2, // thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); // DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4, // thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE); // DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, // thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ); // DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8, // thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); // DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);

4
mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h
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@ -12,7 +12,7 @@ namespace RM3100 {
/* Actually 10, we round up a little bit */ /* Actually 10, we round up a little bit */
static constexpr size_t MAX_BUFFER_SIZE = 12; static constexpr size_t MAX_BUFFER_SIZE = 12;
static constexpr uint8_t READ_MASK = 0b1000'0000; static constexpr uint8_t READ_MASK = 0x80;
/*----------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------*/
/* CMM Register */ /* CMM Register */
@ -45,7 +45,7 @@ static constexpr uint8_t TMRC_75HZ_VALUE = 0x95;
static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96; static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96;
static constexpr uint8_t TMRC_REGISTER = 0x0B; static constexpr uint8_t TMRC_REGISTER = 0x0B;
static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_75HZ_VALUE; static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_DEFAULT_37HZ_VALUE;
static constexpr uint8_t MEASUREMENT_REG_START = 0x24; static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
static constexpr uint8_t BIST_REGISTER = 0x33; static constexpr uint8_t BIST_REGISTER = 0x33;

2
tmtc

@ -1 +1 @@
Subproject commit e23bc116088fc673aaec45768c7a07c20d75a2f6 Subproject commit 06750809cb52044392e0683896538a652f11a512