Merge branch 'main' into more-system-modes
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8a0f13bafb
@ -18,6 +18,8 @@ will consitute of a breaking change warranting a new major release:
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## Changed
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## Changed
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- Adapt EM configuration to include all GomSpace PCDU devices except the ACU. For the ACU
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(which broke), a dummy will still be used.
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- Event Manager queue depth is configurable now.
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- Event Manager queue depth is configurable now.
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- Do not construct and schedule broken TMP1075 device anymore.
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- Do not construct and schedule broken TMP1075 device anymore.
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- Do not track payload modes in system mode tables.
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- Do not track payload modes in system mode tables.
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@ -146,8 +146,11 @@ set(OBSW_ADD_TMP_DEVICES
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${INIT_VAL}
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${INIT_VAL}
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CACHE STRING "Add TMP devices")
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CACHE STRING "Add TMP devices")
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set(OBSW_ADD_GOMSPACE_PCDU
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set(OBSW_ADD_GOMSPACE_PCDU
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${INIT_VAL}
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1
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CACHE STRING "Add GomSpace PCDU modules")
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CACHE STRING "Add GomSpace PCDU modules")
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set(OBSW_ADD_GOMSPACE_ACU
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${INIT_VAL}
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CACHE STRING "Add GomSpace ACU submodule")
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set(OBSW_ADD_RW
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set(OBSW_ADD_RW
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${INIT_VAL}
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${INIT_VAL}
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CACHE STRING "Add RW modules")
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CACHE STRING "Add RW modules")
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@ -22,6 +22,9 @@
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#define OBSW_COMMAND_SAFE_MODE_AT_STARTUP 1
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#define OBSW_COMMAND_SAFE_MODE_AT_STARTUP 1
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#define OBSW_ADD_GOMSPACE_PCDU @OBSW_ADD_GOMSPACE_PCDU@
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#define OBSW_ADD_GOMSPACE_PCDU @OBSW_ADD_GOMSPACE_PCDU@
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// This define is necessary because the EM setup has the P60 dock module, but no ACU on the P60
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// module because it broke.
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#define OBSW_ADD_GOMSPACE_ACU @OBSW_ADD_GOMSPACE_ACU@
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#define OBSW_ADD_MGT @OBSW_ADD_MGT@
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#define OBSW_ADD_MGT @OBSW_ADD_MGT@
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#define OBSW_ADD_BPX_BATTERY_HANDLER @OBSW_ADD_BPX_BATTERY_HANDLER@
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#define OBSW_ADD_BPX_BATTERY_HANDLER @OBSW_ADD_BPX_BATTERY_HANDLER@
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#define OBSW_ADD_STAR_TRACKER @OBSW_ADD_STAR_TRACKER@
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#define OBSW_ADD_STAR_TRACKER @OBSW_ADD_STAR_TRACKER@
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@ -189,7 +189,6 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
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*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
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*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
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*uartComIF = new SerialComIF(objects::UART_COM_IF);
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*uartComIF = new SerialComIF(objects::UART_COM_IF);
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*spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
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*spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
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//*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
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}
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}
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void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
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void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
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@ -197,7 +196,6 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
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CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
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CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
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CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
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CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
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CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
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CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
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CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
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auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
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auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
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P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
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P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
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@ -211,9 +209,12 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
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Pdu2Handler* pdu2handler = new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
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Pdu2Handler* pdu2handler = new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
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pdu2CspCookie, pdu2Fdir, enableHkSets);
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pdu2CspCookie, pdu2Fdir, enableHkSets);
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#if OBSW_ADD_GOMSPACE_ACU == 1
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CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
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auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
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auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
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ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie,
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ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie,
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acuFdir, enableHkSets);
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acuFdir, enableHkSets);
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#endif
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auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
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auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
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/**
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/**
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@ -223,7 +224,9 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
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p60dockhandler->setModeNormal();
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p60dockhandler->setModeNormal();
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pdu1handler->setModeNormal();
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pdu1handler->setModeNormal();
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pdu2handler->setModeNormal();
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pdu2handler->setModeNormal();
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#if OBSW_ADD_GOMSPACE_ACU == 1
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acuhandler->setModeNormal();
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acuhandler->setModeNormal();
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#endif
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if (pwrSwitcher != nullptr) {
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if (pwrSwitcher != nullptr) {
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*pwrSwitcher = pcduHandler;
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*pwrSwitcher = pcduHandler;
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}
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}
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@ -57,6 +57,8 @@ void ObjectFactory::produce(void* args) {
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#endif
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#endif
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#if OBSW_ADD_GOMSPACE_PCDU == 1
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#if OBSW_ADD_GOMSPACE_PCDU == 1
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dummyCfg.addPowerDummies = false;
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dummyCfg.addPowerDummies = false;
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// The ACU broke.
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dummyCfg.addOnlyAcuDummy = true;
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#endif
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#endif
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#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
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#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
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dummyCfg.addBpxBattDummy = false;
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dummyCfg.addBpxBattDummy = false;
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@ -93,7 +95,7 @@ void ObjectFactory::produce(void* args) {
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// createRadSensorComponent(gpioComIF);
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// createRadSensorComponent(gpioComIF);
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#if OBSW_ADD_ACS_BOARD == 1
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#if OBSW_ADD_ACS_BOARD == 1
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createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
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createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true);
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#else
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#else
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// Still add all GPIOs for EM.
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// Still add all GPIOs for EM.
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GpioCookie* acsBoardGpios = new GpioCookie();
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GpioCookie* acsBoardGpios = new GpioCookie();
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@ -77,8 +77,9 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
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auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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imtqDummy->enableThermalModule(ThermalStateCfg());
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imtqDummy->enableThermalModule(ThermalStateCfg());
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imtqDummy->connectModeTreeParent(*imtqAssy);
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imtqDummy->connectModeTreeParent(*imtqAssy);
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if (cfg.addPowerDummies) {
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if (cfg.addOnlyAcuDummy) {
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new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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} else if (cfg.addPowerDummies) {
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new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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@ -6,8 +6,11 @@ class GpioIF;
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namespace dummy {
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namespace dummy {
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// Default values targeted towards EM.
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struct DummyCfg {
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struct DummyCfg {
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bool addCoreCtrlCfg = true;
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bool addCoreCtrlCfg = true;
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// Special variant because the ACU broke. Overrides addPowerDummies, only ACU dummy will be added.
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bool addOnlyAcuDummy = false;
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bool addPowerDummies = true;
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bool addPowerDummies = true;
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bool addBpxBattDummy = true;
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bool addBpxBattDummy = true;
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bool addSyrlinksDummies = true;
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bool addSyrlinksDummies = true;
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@ -183,11 +183,11 @@ void DualLaneAssemblyBase::handleModeTransitionFailed(ReturnValue_t result) {
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// transition to dual mode.
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// transition to dual mode.
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if (not tryingOtherSide) {
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if (not tryingOtherSide) {
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triggerEvent(CANT_KEEP_MODE, mode, submode);
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triggerEvent(CANT_KEEP_MODE, mode, submode);
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startTransition(mode, nextSubmode);
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startTransition(targetMode, nextSubmode);
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tryingOtherSide = true;
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tryingOtherSide = true;
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} else {
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} else {
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triggerEvent(transitionOtherSideFailedEvent, mode, targetSubmode);
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triggerEvent(transitionOtherSideFailedEvent, targetMode, targetSubmode);
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startTransition(mode, Submodes::DUAL_MODE);
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startTransition(targetMode, Submodes::DUAL_MODE);
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}
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}
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}
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}
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