ACS controller running in EM SW withour errors now

bsp_hosted/ObjectFactory.cpp

@@ -43,6 +43,7 @@
 #include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
 #include <dummies/TemperatureSensorsDummy.h>
+
 #include "dummies/helpers.h"
 
 void Factory::setStaticFrameworkObjectIds() {

bsp_q7s/em/emObjectFactory.cpp

@@ -7,11 +7,11 @@
 #include "busConf.h"
 #include "commonObjects.h"
 #include "devConf.h"
+#include "dummies/helpers.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "linux/ObjectFactory.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "mission/core/GenericFactory.h"
-#include "dummies/helpers.h"
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();
@@ -24,6 +24,13 @@ void ObjectFactory::produce(void* args) {
   I2cComIF* i2cComIF = nullptr;
   SpiComIF* spiRwComIF = nullptr;
   createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+
+  // Hardware is usually not connected to EM, so we need to create dummies which replace lower
+  // level components.
+  dummy::DummyCfg dummyCfg;
+  dummyCfg.addCoreCtrlCfg = false;
+  dummy::createDummies(dummyCfg);
+
   createTmpComponents();
   new CoreController(objects::CORE_CONTROLLER);
 
@@ -34,8 +41,8 @@ void ObjectFactory::produce(void* args) {
   // createPcduComponents(gpioComIF, &pwrSwitcher);
   // createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
   // createSyrlinksComponents(pwrSwitcher);
+  // createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
   createRadSensorComponent(gpioComIF);
-  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
 
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
@@ -68,7 +75,4 @@ void ObjectFactory::produce(void* args) {
 
   createMiscComponents();
   createAcsController();
-  dummy::DummyCfg dummyCfg;
-  dummyCfg.addCoreCtrlCfg = false;
-  dummy::createDummies(dummyCfg);
 }

dummies/CMakeLists.txt

@@ -17,4 +17,5 @@ target_sources(
          MgmLIS3MDLDummy.cpp
          PlPcduDummy.cpp
          CoreControllerDummy.cpp
-         helpers.cpp)
+         helpers.cpp
+         MgmRm3100Dummy.cpp)

dummies/GyroAdisDummy.cpp

@@ -3,7 +3,7 @@
 #include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
 
 GyroAdisDummy::GyroAdisDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+    : DeviceHandlerBase(objectId, comif, comCookie), dataset(this) {}
 
 GyroAdisDummy::~GyroAdisDummy() {}
 

dummies/GyroAdisDummy.h

@@ -3,6 +3,8 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
+#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
+
 class GyroAdisDummy : public DeviceHandlerBase {
  public:
   static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@@ -15,6 +17,7 @@ class GyroAdisDummy : public DeviceHandlerBase {
   virtual ~GyroAdisDummy();
 
  protected:
+  AdisGyroPrimaryDataset dataset;
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

dummies/MgmLIS3MDLDummy.h

@@ -2,6 +2,7 @@
 #define DUMMIES_MGMLIS3MDLDUMMY_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
 #include "fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h"
 
 class MgmLIS3MDLDummy : public DeviceHandlerBase {

dummies/MgmRm3100Dummy.cpp

@@ -0,0 +1,40 @@
+#include "MgmRm3100Dummy.h"
+
+using namespace returnvalue;
+
+MgmRm3100Dummy::MgmRm3100Dummy(object_id_t objectId, object_id_t comif, CookieIF* comCookie)
+    : DeviceHandlerBase(objectId, comif, comCookie), dataset(this) {}
+
+MgmRm3100Dummy::~MgmRm3100Dummy() = default;
+
+void MgmRm3100Dummy::doStartUp() {}
+
+void MgmRm3100Dummy::doShutDown() {}
+
+ReturnValue_t MgmRm3100Dummy::buildNormalDeviceCommand(DeviceCommandId_t* id) { return OK; }
+
+ReturnValue_t MgmRm3100Dummy::buildTransitionDeviceCommand(DeviceCommandId_t* id) { return OK; }
+
+ReturnValue_t MgmRm3100Dummy::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                      const uint8_t* commandData,
+                                                      size_t commandDataLen) {
+  return OK;
+}
+
+ReturnValue_t MgmRm3100Dummy::scanForReply(const uint8_t* start, size_t len,
+                                           DeviceCommandId_t* foundId, size_t* foundLen) {
+  return OK;
+}
+
+ReturnValue_t MgmRm3100Dummy::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
+  return OK;
+}
+
+void MgmRm3100Dummy::fillCommandAndReplyMap() {}
+
+uint32_t MgmRm3100Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 0; }
+
+ReturnValue_t MgmRm3100Dummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                                      LocalDataPoolManager& poolManager) {
+  return OK;
+}

dummies/MgmRm3100Dummy.h

@@ -0,0 +1,29 @@
+#ifndef DUMMIES_MGMRM3100DUMMY_H_
+#define DUMMIES_MGMRM3100DUMMY_H_
+
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h"
+
+class MgmRm3100Dummy : public DeviceHandlerBase {
+ public:
+  MgmRm3100Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  virtual ~MgmRm3100Dummy();
+
+ protected:
+  RM3100::Rm3100PrimaryDataset dataset;
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                        LocalDataPoolManager &poolManager) override;
+};
+
+#endif /* DUMMIES_MGMRM3100DUMMY_H_ */

dummies/helpers.cpp

@@ -9,21 +9,22 @@
 #include <dummies/GyroL3GD20Dummy.h>
 #include <dummies/ImtqDummy.h>
 #include <dummies/MgmLIS3MDLDummy.h>
+#include <dummies/MgmRm3100Dummy.h>
 #include <dummies/P60DockDummy.h>
 #include <dummies/PduDummy.h>
 #include <dummies/PlPcduDummy.h>
 #include <dummies/RwDummy.h>
 #include <dummies/StarTrackerDummy.h>
+#include <dummies/SusDummy.h>
 #include <dummies/SyrlinksDummy.h>
 
-
 using namespace dummy;
 
 void dummy::createDummies(DummyCfg cfg) {
   new ComIFDummy(objects::DUMMY_COM_IF);
   ComCookieDummy* comCookieDummy = new ComCookieDummy();
   new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  if(cfg.addCoreCtrlCfg) {
+  if (cfg.addCoreCtrlCfg) {
     new CoreControllerDummy(objects::CORE_CONTROLLER);
   }
 
@@ -34,21 +35,26 @@ void dummy::createDummies(DummyCfg cfg) {
   new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
   new SyrlinksDummy(objects::SYRLINKS_HK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
-  if(cfg.addPowerDummies) {
+  if (cfg.addPowerDummies) {
     new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   }
 
-  if(cfg.addAcsBoardDummies) {
+  if (cfg.addAcsBoardDummies) {
     new GyroAdisDummy(objects::GYRO_0_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new GyroL3GD20Dummy(objects::GYRO_1_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new MgmLIS3MDLDummy(objects::MGM_0_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new MgmLIS3MDLDummy(objects::MGM_2_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new MgmRm3100Dummy(objects::MGM_1_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new MgmRm3100Dummy(objects::MGM_3_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   }
 
+  if (cfg.addSusDummies) {
+    new SusDummy();
+  }
   new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
 }

dummies/helpers.h

@@ -6,8 +6,9 @@ struct DummyCfg {
   bool addCoreCtrlCfg = true;
   bool addPowerDummies = true;
   bool addAcsBoardDummies = true;
+  bool addSusDummies = true;
 };
 
 void createDummies(DummyCfg cfg);
 
-}
+}  // namespace dummy

fsfw

@@ -1 +1 @@
-Subproject commit cf8fe7ea728bea077b9936bcf0db96845bc6419e
+Subproject commit 7e0a5d5a9e4f38c6d818bbdd5b44d34d8007eb1e

linux/obc/PtmeConfig.h

@@ -4,8 +4,8 @@
 #include "AxiPtmeConfig.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/returnvalues/returnvalue.h"
-#include "returnvalues/classIds.h"
 #include "linux/obc/PtmeConfig.h"
+#include "returnvalues/classIds.h"
 
 /**
  * @brief   Class to configure donwlink specific parameters in the PTME IP core.

mission/devices/SusHandler.h

@@ -4,10 +4,9 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 
 #include "devicedefinitions/SusDefinitions.h"
+#include "events/subsystemIdRanges.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #include "mission/devices/max1227.h"
-
-#include "events/subsystemIdRanges.h"
 #include "returnvalues/classIds.h"
 
 /**

mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h

@@ -113,6 +113,8 @@ class AdisGyroPrimaryDataset : public StaticLocalDataSet<8> {
 
  private:
   friend class GyroADIS1650XHandler;
+  friend class GyroAdisDummy;
+
   /** Constructor for the data creator */
   AdisGyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
       : StaticLocalDataSet(hkOwner, ADIS1650X::ADIS_DATASET_ID) {}