From 9f60c82725fbf1256b3221ec5d3bdb31f8e44631 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 23 Feb 2022 19:26:02 +0100 Subject: [PATCH] intermediate PR --- CMakeLists.txt | 1 + bsp_q7s/CMakeLists.txt | 4 - bsp_q7s/boardconfig/busConf.h | 18 +- bsp_q7s/callbacks/CMakeLists.txt | 1 + bsp_q7s/{gpio => callbacks}/gpioCallbacks.cpp | 205 ++++---- bsp_q7s/{gpio => callbacks}/gpioCallbacks.h | 0 bsp_q7s/core/ObjectFactory.cpp | 328 +++++++++---- bsp_q7s/core/ObjectFactory.h | 2 + bsp_q7s/gpio/CMakeLists.txt | 3 - bsp_q7s/simple/simple.cpp | 1 - common/config/commonObjects.h | 27 +- generators/bsp_q7s_objects.csv | 27 +- generators/objects/translateObjects.cpp | 39 +- linux/boardtest/SpiTestClass.cpp | 436 +++++++++++++++++- linux/boardtest/SpiTestClass.h | 48 +- linux/fsfwconfig/OBSWConfig.h.in | 23 +- linux/fsfwconfig/devices/addresses.cpp | 6 - linux/fsfwconfig/devices/addresses.h | 6 +- linux/fsfwconfig/devices/gpioIds.h | 17 +- linux/fsfwconfig/objects/translateObjects.cpp | 39 +- .../pollingSequenceFactory.cpp | 420 +++++++---------- 21 files changed, 1091 insertions(+), 560 deletions(-) rename bsp_q7s/{gpio => callbacks}/gpioCallbacks.cpp (85%) rename bsp_q7s/{gpio => callbacks}/gpioCallbacks.h (100%) delete mode 100644 bsp_q7s/gpio/CMakeLists.txt diff --git a/CMakeLists.txt b/CMakeLists.txt index 4f906903..c4497b22 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -16,6 +16,7 @@ set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake") option(EIVE_BUILD_UNITTESTS "Build Catch2 unittests" OFF) option(EIVE_ADD_ETL_LIB "Add ETL library" ON) option(EIVE_ADD_JSON_LIB "Add JSON library" ON) + option(EIVE_SYSROOT_MAGIC "Perform sysroot magic which might not be necessary" OFF) option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON) diff --git a/bsp_q7s/CMakeLists.txt b/bsp_q7s/CMakeLists.txt index c4f85bd2..17e4ba2d 100644 --- a/bsp_q7s/CMakeLists.txt +++ b/bsp_q7s/CMakeLists.txt @@ -11,19 +11,15 @@ target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE") add_subdirectory(simple) - target_sources(${OBSW_NAME} PUBLIC main.cpp ) add_subdirectory(boardtest) - add_subdirectory(boardconfig) add_subdirectory(comIF) -add_subdirectory(gpio) add_subdirectory(core) add_subdirectory(memory) add_subdirectory(callbacks) add_subdirectory(devices) - diff --git a/bsp_q7s/boardconfig/busConf.h b/bsp_q7s/boardconfig/busConf.h index 2083ac6b..eba4fb36 100644 --- a/bsp_q7s/boardconfig/busConf.h +++ b/bsp_q7s/boardconfig/busConf.h @@ -29,6 +29,7 @@ static const int PTME_CONFIG = 4; } // namespace uiomapids namespace gpioNames { + static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select"; static constexpr char GYRO_1_L3G_CS[] = "gyro_1_l3g_chip_select"; static constexpr char GYRO_2_ADIS_CS[] = "gyro_2_adis_chip_select"; @@ -44,6 +45,8 @@ static constexpr char GNSS_1_ENABLE[] = "enable_gnss_1"; static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0"; static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2"; static constexpr char GNSS_SELECT[] = "gnss_mux_select"; +static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select"; + static constexpr char HEATER_0[] = "heater0"; static constexpr char HEATER_1[] = "heater1"; static constexpr char HEATER_2[] = "heater2"; @@ -54,19 +57,20 @@ static constexpr char HEATER_6[] = "heater6"; static constexpr char HEATER_7[] = "heater7"; static constexpr char SA_DPL_PIN_0[] = "sa_dpl_0"; static constexpr char SA_DPL_PIN_1[] = "sa_dpl_1"; +static constexpr char SPI_MUX_BIT_0_PIN[] = "spi_mux_bit_0"; static constexpr char SPI_MUX_BIT_1_PIN[] = "spi_mux_bit_1"; static constexpr char SPI_MUX_BIT_2_PIN[] = "spi_mux_bit_2"; static constexpr char SPI_MUX_BIT_3_PIN[] = "spi_mux_bit_3"; static constexpr char SPI_MUX_BIT_4_PIN[] = "spi_mux_bit_4"; static constexpr char SPI_MUX_BIT_5_PIN[] = "spi_mux_bit_5"; -static constexpr char SPI_MUX_BIT_6_PIN[] = "spi_mux_bit_6"; static constexpr char EN_RW_CS[] = "en_rw_cs"; static constexpr char EN_RW_1[] = "enable_rw_1"; static constexpr char EN_RW_2[] = "enable_rw_2"; static constexpr char EN_RW_3[] = "enable_rw_3"; static constexpr char EN_RW_4[] = "enable_rw_4"; -static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select"; + static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select"; +static constexpr char ENABLE_RADFET[] = "enable_radfet"; static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0"; static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0"; static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1"; @@ -80,6 +84,16 @@ static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872"; static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872"; static constexpr char RS485_EN_RX_DATA[] = "rx_data_enable_ltc2872"; static constexpr char PDEC_RESET[] = "pdec_reset"; + +static constexpr char PL_PCDU_ENABLE_VBAT0[] = "enable_plpcdu_vbat0"; +static constexpr char PL_PCDU_ENABLE_VBAT1[] = "enable_plpcdu_vbat1"; +static constexpr char PL_PCDU_ENABLE_DRO[] = "enable_plpcdu_dro"; +static constexpr char PL_PCDU_ENABLE_X8[] = "enable_plpcdu_x8"; +static constexpr char PL_PCDU_ENABLE_TX[] = "enable_plpcdu_tx"; +static constexpr char PL_PCDU_ENABLE_HPA[] = "enable_plpcdu_hpa"; +static constexpr char PL_PCDU_ENABLE_MPA[] = "enable_plpcdu_mpa"; +static constexpr char PL_PCDU_ADC_CS[] = "plpcdu_adc_chip_select"; + } // namespace gpioNames } // namespace q7s diff --git a/bsp_q7s/callbacks/CMakeLists.txt b/bsp_q7s/callbacks/CMakeLists.txt index 30268007..a4462937 100644 --- a/bsp_q7s/callbacks/CMakeLists.txt +++ b/bsp_q7s/callbacks/CMakeLists.txt @@ -2,4 +2,5 @@ target_sources(${OBSW_NAME} PRIVATE rwSpiCallback.cpp gnssCallback.cpp pcduSwitchCb.cpp + gpioCallbacks.cpp ) diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/callbacks/gpioCallbacks.cpp similarity index 85% rename from bsp_q7s/gpio/gpioCallbacks.cpp rename to bsp_q7s/callbacks/gpioCallbacks.cpp index e3033b7d..8f554a65 100644 --- a/bsp_q7s/gpio/gpioCallbacks.cpp +++ b/bsp_q7s/callbacks/gpioCallbacks.cpp @@ -25,38 +25,28 @@ void initSpiCsDecoder(GpioIF* gpioComIF) { GpiodRegularByLineName* spiMuxBit = nullptr; /** Setting mux bit 1 to low will disable IC21 on the interface board */ - spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1", + spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_0_PIN, "SPI Mux Bit 1", + gpio::DIR_OUT, gpio::HIGH); + spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_0, spiMuxBit); + /** Setting mux bit 2 to low disables IC1 on the TCS board */ + spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 2", gpio::DIR_OUT, gpio::HIGH); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit); - /** Setting mux bit 2 to low disables IC1 on the TCS board */ - spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2", - gpio::DIR_OUT, gpio::HIGH); - spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit); /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */ - spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 3", + spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 3", gpio::DIR_OUT, gpio::LOW); - spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit); - - // spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1", - // gpio::OUT, gpio::LOW); - // spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit); - // /** Setting mux bit 2 to low disables IC1 on the TCS board */ - // spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2", - // gpio::OUT, gpio::HIGH); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit); - // /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board - // */ spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit - // 3", gpio::OUT, gpio::LOW); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit); + spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit); /** The following gpios can take arbitrary initial values */ - spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4", + spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 4", + gpio::DIR_OUT, gpio::LOW); + spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit); + spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 5", gpio::DIR_OUT, gpio::LOW); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit); - spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 5", + spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 6", gpio::DIR_OUT, gpio::LOW); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit); - spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6", - gpio::DIR_OUT, gpio::LOW); - spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit); GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_CS, "EN_RW_CS", gpio::DIR_OUT, gpio::HIGH); spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder); @@ -147,6 +137,10 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev disableDecoderTcsIc2(); break; } + case (gpioIds::CS_SUS_0): { + disableDecoderInterfaceBoardIc1(); + break; + } case (gpioIds::CS_SUS_1): { disableDecoderInterfaceBoardIc1(); break; @@ -156,23 +150,23 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev break; } case (gpioIds::CS_SUS_3): { - disableDecoderInterfaceBoardIc2(); + disableDecoderInterfaceBoardIc1(); break; } case (gpioIds::CS_SUS_4): { - disableDecoderInterfaceBoardIc2(); + disableDecoderInterfaceBoardIc1(); break; } case (gpioIds::CS_SUS_5): { - disableDecoderInterfaceBoardIc2(); + disableDecoderInterfaceBoardIc1(); break; } case (gpioIds::CS_SUS_6): { - disableDecoderInterfaceBoardIc1(); + disableDecoderInterfaceBoardIc2(); break; } case (gpioIds::CS_SUS_7): { - disableDecoderInterfaceBoardIc1(); + disableDecoderInterfaceBoardIc2(); break; } case (gpioIds::CS_SUS_8): { @@ -180,25 +174,17 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev break; } case (gpioIds::CS_SUS_9): { - disableDecoderInterfaceBoardIc1(); + disableDecoderInterfaceBoardIc2(); break; } case (gpioIds::CS_SUS_10): { - disableDecoderInterfaceBoardIc1(); + disableDecoderInterfaceBoardIc2(); break; } case (gpioIds::CS_SUS_11): { disableDecoderInterfaceBoardIc2(); break; } - case (gpioIds::CS_SUS_12): { - disableDecoderInterfaceBoardIc2(); - break; - } - case (gpioIds::CS_SUS_13): { - disableDecoderInterfaceBoardIc1(); - break; - } case (gpioIds::CS_RW1): { disableRwDecoder(); break; @@ -300,71 +286,66 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev enableDecoderTcsIc2(); break; } - case (gpioIds::CS_SUS_1): { + case (gpioIds::CS_SUS_0): { selectY0(); enableDecoderInterfaceBoardIc1(); break; } + case (gpioIds::CS_SUS_1): { + selectY1(); + enableDecoderInterfaceBoardIc1(); + break; + } case (gpioIds::CS_SUS_2): { - selectY1(); + selectY2(); enableDecoderInterfaceBoardIc1(); break; } case (gpioIds::CS_SUS_3): { + selectY3(); + enableDecoderInterfaceBoardIc1(); + break; + } + case (gpioIds::CS_SUS_4): { + selectY4(); + enableDecoderInterfaceBoardIc1(); + break; + } + case (gpioIds::CS_SUS_5): { + selectY5(); + enableDecoderInterfaceBoardIc1(); + break; + } + case (gpioIds::CS_SUS_6): { selectY0(); enableDecoderInterfaceBoardIc2(); break; } - case (gpioIds::CS_SUS_4): { + case (gpioIds::CS_SUS_7): { selectY1(); enableDecoderInterfaceBoardIc2(); break; } - case (gpioIds::CS_SUS_5): { - selectY2(); - enableDecoderInterfaceBoardIc2(); - break; - } - case (gpioIds::CS_SUS_6): { - selectY2(); - enableDecoderInterfaceBoardIc1(); - break; - } - case (gpioIds::CS_SUS_7): { - selectY3(); - enableDecoderInterfaceBoardIc1(); - break; - } case (gpioIds::CS_SUS_8): { - selectY3(); + selectY2(); enableDecoderInterfaceBoardIc2(); break; } case (gpioIds::CS_SUS_9): { - selectY4(); - enableDecoderInterfaceBoardIc1(); + selectY3(); + enableDecoderInterfaceBoardIc2(); break; } case (gpioIds::CS_SUS_10): { - selectY5(); - enableDecoderInterfaceBoardIc1(); - break; - } - case (gpioIds::CS_SUS_11): { selectY4(); enableDecoderInterfaceBoardIc2(); break; } - case (gpioIds::CS_SUS_12): { + case (gpioIds::CS_SUS_11): { selectY5(); enableDecoderInterfaceBoardIc2(); break; } - case (gpioIds::CS_SUS_13): { - selectY6(); - enableDecoderInterfaceBoardIc1(); - break; - } case (gpioIds::CS_RW1): { selectY0(); enableRwDecoder(); @@ -394,52 +375,52 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev } void enableDecoderTcsIc1() { - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); } void enableDecoderTcsIc2() { - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); +} + +void enableDecoderInterfaceBoardIc1() { + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); +} + +void enableDecoderInterfaceBoardIc2() { + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); } -void enableDecoderInterfaceBoardIc1() { - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); -} - -void enableDecoderInterfaceBoardIc2() { - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); -} - void disableDecoderTcsIc1() { + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); } void disableDecoderTcsIc2() { + // DO NOT CHANGE THE ORDER HERE + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); } void disableDecoderInterfaceBoardIc1() { + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); } void disableDecoderInterfaceBoardIc2() { + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1); - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); } void enableRwDecoder() { gpioComInterface->pullHigh(gpioIds::EN_RW_CS); } @@ -447,57 +428,57 @@ void enableRwDecoder() { gpioComInterface->pullHigh(gpioIds::EN_RW_CS); } void disableRwDecoder() { gpioComInterface->pullLow(gpioIds::EN_RW_CS); } void selectY0() { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); } void selectY1() { - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); } void selectY2() { - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); } void selectY3() { + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); } void selectY4() { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); } void selectY5() { - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); } void selectY6() { - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); } void selectY7() { + gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4); gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5); - gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6); } void disableAllDecoder() { - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); - gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); gpioComInterface->pullLow(gpioIds::EN_RW_CS); } diff --git a/bsp_q7s/gpio/gpioCallbacks.h b/bsp_q7s/callbacks/gpioCallbacks.h similarity index 100% rename from bsp_q7s/gpio/gpioCallbacks.h rename to bsp_q7s/callbacks/gpioCallbacks.h diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index cbd0021b..3591698f 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -8,6 +8,7 @@ #include "OBSWConfig.h" #include "bsp_q7s/boardtest/Q7STestTask.h" #include "bsp_q7s/callbacks/gnssCallback.h" +#include "bsp_q7s/callbacks/gpioCallbacks.h" #include "bsp_q7s/callbacks/pcduSwitchCb.h" #include "bsp_q7s/callbacks/rwSpiCallback.h" #include "bsp_q7s/core/CoreController.h" @@ -17,7 +18,6 @@ #include "bsp_q7s/devices/startracker/StarTrackerDefinitions.h" #include "bsp_q7s/devices/startracker/StarTrackerHandler.h" #include "bsp_q7s/devices/startracker/StrHelper.h" -#include "bsp_q7s/gpio/gpioCallbacks.h" #include "bsp_q7s/memory/FileSystemHandler.h" #include "busConf.h" #include "ccsdsConfig.h" @@ -43,13 +43,10 @@ #include "linux/boardtest/SpiTestClass.h" #include "linux/csp/CspComIF.h" #include "linux/csp/CspCookie.h" -#include "linux/devices/SolarArrayDeploymentHandler.h" -#include "mission/devices/SusHandler.h" -#include "mission/devices/devicedefinitions/SusDefinitions.h" +#include "mission/devices/GPSHyperionLinuxController.h" #include "mission/core/GenericFactory.h" #include "mission/devices/ACUHandler.h" #include "mission/devices/BpxBatteryHandler.h" -#include "mission/devices/GPSHyperionLinuxController.h" #include "mission/devices/GyroADIS1650XHandler.h" #include "mission/devices/HeaterHandler.h" #include "mission/devices/IMTQHandler.h" @@ -61,6 +58,8 @@ #include "mission/devices/PlocMPSoCHandler.h" #include "mission/devices/RadiationSensorHandler.h" #include "mission/devices/RwHandler.h" +#include "linux/devices/SolarArrayDeploymentHandler.h" +#include "mission/devices/SusHandler.h" #include "mission/devices/SyrlinksHkHandler.h" #include "mission/devices/Tmp1075Handler.h" #include "mission/devices/devicedefinitions/GomspaceDefinitions.h" @@ -68,6 +67,7 @@ #include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h" #include "mission/devices/devicedefinitions/RadSensorDefinitions.h" #include "mission/devices/devicedefinitions/RwDefinitions.h" +#include "mission/devices/devicedefinitions/SusDefinitions.h" #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h" #include "mission/tmtc/CCSDSHandler.h" #include "mission/tmtc/VirtualChannel.h" @@ -127,6 +127,7 @@ void ObjectFactory::produce(void* args) { #if BOARD_TE0720 == 0 new CoreController(objects::CORE_CONTROLLER); + gpioCallbacks::disableAllDecoder(); createPcduComponents(gpioComIF); createRadSensorComponent(gpioComIF); createSunSensorComponents(gpioComIF, spiComIF); @@ -137,13 +138,11 @@ void ObjectFactory::produce(void* args) { createHeaterComponents(); createSolarArrayDeploymentComponents(); + createPlPcduComponents(gpioComIF, spiComIF); #if OBSW_ADD_SYRLINKS == 1 createSyrlinksComponents(); #endif /* OBSW_ADD_SYRLINKS == 1 */ - -#if OBSW_ADD_RTD_DEVICES == 1 createRtdComponents(gpioComIF); -#endif /* OBSW_ADD_RTD_DEVICES == 1 */ #if OBSW_ADD_MGT == 1 I2cCookie* imtqI2cCookie = @@ -251,9 +250,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua new CspComIF(objects::CSP_COM_IF); *i2cComIF = new I2cComIF(objects::I2C_COM_IF); *uartComIF = new UartComIF(objects::UART_COM_IF); -#if OBSW_ADD_SPI_TEST_CODE == 0 *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF); -#endif /* Q7S_ADD_SPI_TEST_CODE == 0 */ #if BOARD_TE0720 == 0 /* Adding gpios for chip select decoding to the gpioComIf */ @@ -295,18 +292,30 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) { GpiodRegularByLineName* gpio = new GpiodRegularByLineName( q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), gpio::DIR_OUT, gpio::HIGH); gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio); + gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), gpio::DIR_OUT, + gpio::LOW); + gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio); gpioComIF->addGpios(gpioCookieRadSensor); SpiCookie* spiCookieRadSensor = new SpiCookie( addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED); - new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor); + auto radSensor = + new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor); + static_cast(radSensor); +#if OBSW_TEST_RAD_SENSOR == 1 + radSensor->setStartUpImmediately(); + radSensor->setToGoToNormalModeImmediately(); +#endif } void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF) { GpioCookie* gpioCookieSus = new GpioCookie(); GpioCallback* susgpio = nullptr; + susgpio = new GpioCallback("Chip select SUS 0", gpio::DIR_OUT, gpio::HIGH, + &gpioCallbacks::spiCsDecoderCallback, gpioComIF); + gpioCookieSus->addGpio(gpioIds::CS_SUS_0, susgpio); susgpio = new GpioCallback("Chip select SUS 1", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio); @@ -340,68 +349,124 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComI susgpio = new GpioCallback("Chip select SUS 11", gpio::DIR_OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio); - susgpio = new GpioCallback("Chip select SUS 12", gpio::DIR_OUT, gpio::HIGH, - &gpioCallbacks::spiCsDecoderCallback, gpioComIF); - gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio); - susgpio = new GpioCallback("Chip select SUS 13", gpio::DIR_OUT, gpio::HIGH, - &gpioCallbacks::spiCsDecoderCallback, gpioComIF); - gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio); gpioComIF->addGpios(gpioCookieSus); - SpiCookie* spiCookieSus1 = - new SpiCookie(addresses::SUS_1, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), - SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - SpiCookie* spiCookieSus2 = - new SpiCookie(addresses::SUS_2, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), - SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - SpiCookie* spiCookieSus3 = - new SpiCookie(addresses::SUS_3, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), - SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - SpiCookie* spiCookieSus4 = - new SpiCookie(addresses::SUS_4, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), - SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - SpiCookie* spiCookieSus5 = - new SpiCookie(addresses::SUS_5, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), - SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - SpiCookie* spiCookieSus6 = - new SpiCookie(addresses::SUS_6, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), - SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - SpiCookie* spiCookieSus7 = - new SpiCookie(addresses::SUS_7, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), - SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - SpiCookie* spiCookieSus8 = - new SpiCookie(addresses::SUS_8, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), - SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - SpiCookie* spiCookieSus9 = - new SpiCookie(addresses::SUS_9, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), - SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - SpiCookie* spiCookieSus10 = - new SpiCookie(addresses::SUS_10, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), - SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - SpiCookie* spiCookieSus11 = - new SpiCookie(addresses::SUS_11, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), - SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - SpiCookie* spiCookieSus12 = - new SpiCookie(addresses::SUS_12, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), - SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); - SpiCookie* spiCookieSus13 = - new SpiCookie(addresses::SUS_13, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), - SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); +#if OBSW_ADD_SUN_SENSORS == 1 + SpiCookie* spiCookie = + new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE, + spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + SusHandler* susHandler0 = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie); - new SusHandler(objects::SUS_1, 0, objects::SPI_COM_IF, spiCookieSus1); - new SusHandler(objects::SUS_2, 1, objects::SPI_COM_IF, spiCookieSus2); - new SusHandler(objects::SUS_3, 2, objects::SPI_COM_IF, spiCookieSus3); - new SusHandler(objects::SUS_4, 3, objects::SPI_COM_IF, spiCookieSus4); - new SusHandler(objects::SUS_5, 4, objects::SPI_COM_IF, spiCookieSus5); - new SusHandler(objects::SUS_6, 5, objects::SPI_COM_IF, spiCookieSus6); - new SusHandler(objects::SUS_7, 6, objects::SPI_COM_IF, spiCookieSus7); - new SusHandler(objects::SUS_8, 7, objects::SPI_COM_IF, spiCookieSus8); - new SusHandler(objects::SUS_9, 8, objects::SPI_COM_IF, spiCookieSus9); - new SusHandler(objects::SUS_10, 9, objects::SPI_COM_IF, spiCookieSus10); - new SusHandler(objects::SUS_11, 10, objects::SPI_COM_IF, spiCookieSus11); - new SusHandler(objects::SUS_12, 11, objects::SPI_COM_IF, spiCookieSus12); - new SusHandler(objects::SUS_13, 12, objects::SPI_COM_IF, spiCookieSus13); + spiCookie = + new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE, + spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + SusHandler* susHandler1 = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie); + + spiCookie = + new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE, + spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + SusHandler* susHandler2 = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie); + + spiCookie = + new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, std::string(q7s::SPI_DEFAULT_DEV), + SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + SusHandler* susHandler3 = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie); + + spiCookie = + new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, std::string(q7s::SPI_DEFAULT_DEV), + SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + SusHandler* susHandler4 = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie); + + spiCookie = + new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, std::string(q7s::SPI_DEFAULT_DEV), + SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + SusHandler* susHandler5 = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie); + + spiCookie = + new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE, + spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + SusHandler* susHandler6 = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie, + gpioComIF, gpioIds::CS_SUS_6); + + spiCookie = + new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE, + spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + SusHandler* susHandler7 = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie); + + spiCookie = + new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE, + spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + SusHandler* susHandler8 = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie); + + spiCookie = + new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE, + spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + SusHandler* susHandler9 = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie); + + spiCookie = + new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE, + spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + SusHandler* susHandler10 = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie); + + spiCookie = + new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE, + spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + SusHandler* susHandler11 = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie); + static_cast(susHandler0); + static_cast(susHandler1); + static_cast(susHandler2); + static_cast(susHandler3); + static_cast(susHandler4); + static_cast(susHandler5); + static_cast(susHandler6); + static_cast(susHandler7); + static_cast(susHandler8); + static_cast(susHandler9); + static_cast(susHandler10); + static_cast(susHandler11); +#if OBSW_TEST_SUS == 1 + susHandler0->setStartUpImmediately(); + susHandler1->setStartUpImmediately(); + susHandler2->setStartUpImmediately(); + susHandler3->setStartUpImmediately(); + susHandler4->setStartUpImmediately(); + susHandler5->setStartUpImmediately(); + susHandler6->setStartUpImmediately(); + susHandler7->setStartUpImmediately(); + susHandler8->setStartUpImmediately(); + susHandler9->setStartUpImmediately(); + susHandler10->setStartUpImmediately(); + susHandler11->setStartUpImmediately(); + susHandler0->setToGoToNormalMode(true); + susHandler1->setToGoToNormalMode(true); + susHandler2->setToGoToNormalMode(true); + susHandler3->setToGoToNormalMode(true); + susHandler4->setToGoToNormalMode(true); + susHandler5->setToGoToNormalMode(true); + susHandler6->setToGoToNormalMode(true); + susHandler7->setToGoToNormalMode(true); + susHandler8->setToGoToNormalMode(true); + susHandler9->setToGoToNormalMode(true); + susHandler10->setToGoToNormalMode(true); + susHandler11->setToGoToNormalMode(true); +#if OBSW_DEBUG_SUS == 1 + susHandler0->enablePeriodicPrintout(true, 3); + susHandler1->enablePeriodicPrintout(true, 3); + susHandler2->enablePeriodicPrintout(true, 3); + susHandler3->enablePeriodicPrintout(true, 3); + susHandler4->enablePeriodicPrintout(true, 3); + susHandler5->enablePeriodicPrintout(true, 3); + susHandler6->enablePeriodicPrintout(true, 3); + susHandler7->enablePeriodicPrintout(true, 3); + susHandler8->enablePeriodicPrintout(true, 3); + susHandler9->enablePeriodicPrintout(true, 3); + susHandler10->enablePeriodicPrintout(true, 3); + susHandler11->enablePeriodicPrintout(true, 3); +#endif +#endif + +#endif /* OBSW_ADD_SUN_SENSORS == 1 */ } void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF) { @@ -510,9 +575,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY); +#if OBSW_TEST_ACS == 1 mgmLis3Handler->setStartUpImmediately(); -#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 mgmLis3Handler->setToGoToNormalMode(true); +#if OBSW_DEBUG_ACS == 1 + mgmLis3Handler->enablePeriodicPrintouts(true, 10); +#endif #endif spiCookie = @@ -520,9 +588,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, spi::RM3100_TRANSITION_DELAY); +#if OBSW_TEST_ACS == 1 mgmRm3100Handler->setStartUpImmediately(); -#if FSFW_HAL_RM3100_MGM_DEBUG == 1 mgmRm3100Handler->setToGoToNormalMode(true); +#if OBSW_DEBUG_ACS == 1 + mgmRm3100Handler->enablePeriodicPrintouts(true, 10); +#endif #endif spiCookie = @@ -530,9 +601,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY); +#if OBSW_TEST_ACS == 1 mgmLis3Handler2->setStartUpImmediately(); -#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 mgmLis3Handler2->setToGoToNormalMode(true); +#if OBSW_DEBUG_ACS == 1 + mgmLis3Handler2->enablePeriodicPrintouts(true, 10); +#endif #endif spiCookie = @@ -540,9 +614,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, spi::RM3100_TRANSITION_DELAY); +#if OBSW_TEST_ACS == 1 mgmRm3100Handler->setStartUpImmediately(); -#if FSFW_HAL_RM3100_MGM_DEBUG == 1 mgmRm3100Handler->setToGoToNormalMode(true); +#if OBSW_DEBUG_ACS == 1 + mgmRm3100Handler->enablePeriodicPrintouts(true, 10); +#endif #endif // Commented until ACS board V2 in in clean room again @@ -552,9 +629,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI spi::DEFAULT_ADIS16507_SPEED); auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie, ADIS1650X::Type::ADIS16505); +#if OBSW_TEST_ACS == 1 adisHandler->setStartUpImmediately(); -#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1 adisHandler->setToGoToNormalModeImmediately(); +#if OBSW_DEBUG_ACS == 1 + adisHandler->enablePeriodicPrintouts(true, 10); +#endif #endif // Gyro 1 Side A @@ -563,9 +643,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY); +#if OBSW_TEST_ACS == 1 gyroL3gHandler->setStartUpImmediately(); -#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 gyroL3gHandler->setToGoToNormalMode(true); +#if OBSW_DEBUG_ACS == 1 + gyroL3gHandler->enablePeriodicPrintouts(true, 10); +#endif #endif // Gyro 2 Side B spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev, @@ -573,8 +656,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI spi::DEFAULT_ADIS16507_SPEED); adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie, ADIS1650X::Type::ADIS16505); +#if OBSW_TEST_ACS == 1 adisHandler->setStartUpImmediately(); -#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1 adisHandler->setToGoToNormalModeImmediately(); #endif // Gyro 3 Side B @@ -583,9 +666,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY); +#if OBSW_TEST_ACS == 1 gyroL3gHandler->setStartUpImmediately(); -#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 gyroL3gHandler->setToGoToNormalMode(true); +#if OBSW_DEBUG_ACS == 1 + gyroL3gHandler->enablePeriodicPrintouts(true, 10); +#endif #endif bool debugGps = false; @@ -731,6 +817,7 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF* gpioComIF) { gpioComIF->addGpios(rtdGpioCookie); +#if OBSW_ADD_RTD_DEVICES == 1 SpiCookie* spiRtdIc0 = new SpiCookie(addresses::RTD_IC_3, gpioIds::RTD_IC_3, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED); @@ -813,13 +900,40 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF* gpioComIF) { Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC_18, objects::SPI_COM_IF, spiRtdIc15); +#if OBSW_TEST_RTD == 1 rtdIc0->setStartUpImmediately(); rtdIc1->setStartUpImmediately(); rtdIc2->setStartUpImmediately(); -#if OBSW_DEBUG_RTD == 1 + rtdIc3->setStartUpImmediately(); + rtdIc4->setStartUpImmediately(); + rtdIc5->setStartUpImmediately(); + rtdIc6->setStartUpImmediately(); + rtdIc7->setStartUpImmediately(); + rtdIc8->setStartUpImmediately(); + rtdIc9->setStartUpImmediately(); + rtdIc10->setStartUpImmediately(); + rtdIc11->setStartUpImmediately(); + rtdIc12->setStartUpImmediately(); + rtdIc13->setStartUpImmediately(); + rtdIc14->setStartUpImmediately(); + rtdIc15->setStartUpImmediately(); + rtdIc0->setInstantNormal(true); rtdIc1->setInstantNormal(true); rtdIc2->setInstantNormal(true); + rtdIc3->setInstantNormal(true); + rtdIc4->setInstantNormal(true); + rtdIc5->setInstantNormal(true); + rtdIc6->setInstantNormal(true); + rtdIc7->setInstantNormal(true); + rtdIc8->setInstantNormal(true); + rtdIc9->setInstantNormal(true); + rtdIc10->setInstantNormal(true); + rtdIc11->setInstantNormal(true); + rtdIc12->setInstantNormal(true); + rtdIc13->setInstantNormal(true); + rtdIc14->setInstantNormal(true); + rtdIc15->setInstantNormal(true); #endif static_cast(rtdIc0); @@ -838,6 +952,7 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF* gpioComIF) { static_cast(rtdIc13); static_cast(rtdIc14); static_cast(rtdIc15); +#endif } void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) { @@ -879,6 +994,7 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) { gpioComIF->addGpios(gpioCookieRw); +#if OBSW_ADD_RW == 1 auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr); @@ -920,6 +1036,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) { rwHandler4->setStartUpImmediately(); #endif rw4SpiCookie->setCallbackArgs(rwHandler4); + +#endif /* OBSW_ADD_RW == 1 */ } void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) { @@ -1030,6 +1148,50 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) { #endif /* BOARD_TE0720 == 0 */ } +void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF) { + // Create all GPIO components first + GpioCookie* plPcduGpios = new GpioCookie; + GpiodRegularByLineName* gpio = nullptr; + std::string consumer; + // Switch pins are active high + consumer = "PLPCDU_ENB_VBAT_0"; + gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT0, consumer, gpio::DIR_OUT, + gpio::Levels::LOW); + plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT0, gpio); + consumer = "PLPCDU_ENB_VBAT_1"; + gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT1, consumer, gpio::DIR_OUT, + gpio::Levels::LOW); + plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT1, gpio); + consumer = "PLPCDU_ENB_DRO"; + gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_DRO, consumer, gpio::DIR_OUT, + gpio::Levels::LOW); + plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_DRO, gpio); + consumer = "PLPCDU_ENB_HPA"; + gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_HPA, consumer, gpio::DIR_OUT, + gpio::Levels::LOW); + plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_HPA, gpio); + consumer = "PLPCDU_ENB_MPA"; + gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_MPA, consumer, gpio::DIR_OUT, + gpio::Levels::LOW); + plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_MPA, gpio); + + consumer = "PLPCDU_ENB_X8"; + gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_X8, consumer, gpio::DIR_OUT, + gpio::Levels::LOW); + plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_X8, gpio); + consumer = "PLPCDU_ENB_TX"; + gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_TX, consumer, gpio::DIR_OUT, + gpio::Levels::LOW); + plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_TX, gpio); + + // Chip select pin is active low + consumer = "PLPCDU_ADC_CS"; + gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, gpio::DIR_OUT, + gpio::Levels::HIGH); + plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio); + gpioComIF->addGpios(plPcduGpios); +} + void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) { #if BOARD_TE0720 == 0 new Q7STestTask(objects::TEST_TASK); @@ -1051,18 +1213,18 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) { new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie); #endif -#if BOARD_TE0720 == 1 && OBSW_TEST_SUS_HANDLER == 1 +#if BOARD_TE0720 == 1 && OBSW_TEST_SUS == 1 GpioCookie* gpioCookieSus = new GpioCookie; GpiodRegular* chipSelectSus = new GpiodRegular( std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1); - gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus); + gpioCookieSus->addGpio(gpioIds::CS_SUS_0, chipSelectSus); gpioComIF->addGpios(gpioCookieSus); SpiCookie* spiCookieSus = - new SpiCookie(addresses::SUS_1, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, + new SpiCookie(addresses::SUS_0, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED); - new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_1); + new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_0); #endif #if BOARD_TE0720 == 1 && OBSW_TEST_CCSDS_BRIDGE == 1 @@ -1080,7 +1242,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) { gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY); #endif -#if BOARD_TE0720 == 1 && OBSW_TEST_RADIATION_SENSOR_HANDLER == 1 +#if BOARD_TE0720 == 1 && OBSW_TEST_RAD_SENSOR == 1 GpioCookie* gpioCookieRadSensor = new GpioCookie; GpiodRegular* chipSelectRadSensor = new GpiodRegular( std::string("gpiochip1"), 0, std::string("Chip select radiation sensor"), gpio::DIR_OUT, 1); diff --git a/bsp_q7s/core/ObjectFactory.h b/bsp_q7s/core/ObjectFactory.h index b4ccbea4..ecc92f01 100644 --- a/bsp_q7s/core/ObjectFactory.h +++ b/bsp_q7s/core/ObjectFactory.h @@ -13,6 +13,8 @@ void produce(void* args); void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF, SpiComIF** spiComIF, I2cComIF** i2cComIF); + +void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF); void createTmpComponents(); void createPcduComponents(LinuxLibgpioIF* gpioComIF); void createRadSensorComponent(LinuxLibgpioIF* gpioComIF); diff --git a/bsp_q7s/gpio/CMakeLists.txt b/bsp_q7s/gpio/CMakeLists.txt deleted file mode 100644 index 89bb24bb..00000000 --- a/bsp_q7s/gpio/CMakeLists.txt +++ /dev/null @@ -1,3 +0,0 @@ -target_sources(${OBSW_NAME} PRIVATE - gpioCallbacks.cpp -) diff --git a/bsp_q7s/simple/simple.cpp b/bsp_q7s/simple/simple.cpp index a86fd459..1362ef23 100644 --- a/bsp_q7s/simple/simple.cpp +++ b/bsp_q7s/simple/simple.cpp @@ -1,7 +1,6 @@ #include "simple.h" #include "iostream" - #include "q7sConfig.h" #if Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST == 1 diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h index 09facbc1..6cc90be9 100644 --- a/common/config/commonObjects.h +++ b/common/config/commonObjects.h @@ -11,6 +11,7 @@ enum commonObjects: uint32_t { TMTC_BRIDGE = 0x50000300, TMTC_POLLING_TASK = 0x50000400, FILE_SYSTEM_HANDLER = 0x50000500, + SDC_MANAGER = 0x50000550, PTME = 0x50000600, PDEC_HANDLER = 0x50000700, CCSDS_HANDLER = 0x50000800, @@ -36,6 +37,7 @@ enum commonObjects: uint32_t { GYRO_1_L3G_HANDLER = 0x44120111, GYRO_2_ADIS_HANDLER = 0x44120212, GYRO_3_L3G_HANDLER = 0x44120313, + PLPCDU_HANDLER = 0x44300000, IMTQ_HANDLER = 0x44140014, PLOC_MPSOC_HANDLER = 0x44330015, @@ -62,19 +64,18 @@ enum commonObjects: uint32_t { RTD_IC_17 = 0x44420030, RTD_IC_18 = 0x44420031, - SUS_1 = 0x44120032, - SUS_2 = 0x44120033, - SUS_3 = 0x44120034, - SUS_4 = 0x44120035, - SUS_5 = 0x44120036, - SUS_6 = 0x44120037, - SUS_7 = 0x44120038, - SUS_8 = 0x44120039, - SUS_9 = 0x44120040, - SUS_10 = 0x44120041, - SUS_11 = 0x44120042, - SUS_12 = 0x44120043, - SUS_13 = 0x44120044, + SUS_0 = 0x44120032, + SUS_1 = 0x44120033, + SUS_2 = 0x44120034, + SUS_3 = 0x44120035, + SUS_4 = 0x44120036, + SUS_5 = 0x44120037, + SUS_6 = 0x44120038, + SUS_7 = 0x44120039, + SUS_8 = 0x44120040, + SUS_9 = 0x44120041, + SUS_10 = 0x44120042, + SUS_11 = 0x44120043, GPS_CONTROLLER = 0x44130045, diff --git a/generators/bsp_q7s_objects.csv b/generators/bsp_q7s_objects.csv index c686ec40..6e6a4b78 100644 --- a/generators/bsp_q7s_objects.csv +++ b/generators/bsp_q7s_objects.csv @@ -4,19 +4,18 @@ 0x43400001;THERMAL_CONTROLLER 0x44120006;MGM_0_LIS3_HANDLER 0x44120010;GYRO_0_ADIS_HANDLER -0x44120032;SUS_1 -0x44120033;SUS_2 -0x44120034;SUS_3 -0x44120035;SUS_4 -0x44120036;SUS_5 -0x44120037;SUS_6 -0x44120038;SUS_7 -0x44120039;SUS_8 -0x44120040;SUS_9 -0x44120041;SUS_10 -0x44120042;SUS_11 -0x44120043;SUS_12 -0x44120044;SUS_13 +0x44120032;SUS_0 +0x44120033;SUS_1 +0x44120034;SUS_2 +0x44120035;SUS_3 +0x44120036;SUS_4 +0x44120037;SUS_5 +0x44120038;SUS_6 +0x44120039;SUS_7 +0x44120040;SUS_8 +0x44120041;SUS_9 +0x44120042;SUS_10 +0x44120043;SUS_11 0x44120047;RW1 0x44120107;MGM_1_RM3100_HANDLER 0x44120111;GYRO_1_L3G_HANDLER @@ -36,6 +35,7 @@ 0x44250002;PDU2_HANDLER 0x44250003;ACU_HANDLER 0x44260000;BPX_BATT_HANDLER +0x44300000;PLPCDU_HANDLER 0x443200A5;RAD_SENSOR 0x44330000;PLOC_UPDATER 0x44330001;PLOC_MEMORY_DUMPER @@ -101,6 +101,7 @@ 0x53ffffff;FSFW_OBJECTS_END 0x54000010;SPI_TEST 0x54000020;UART_TEST +0x54000030;I2C_TEST 0x5400AFFE;DUMMY_HANDLER 0x5400CAFE;DUMMY_INTERFACE 0x54123456;LIBGPIOD_TEST diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp index 44b74490..f20febe2 100644 --- a/generators/objects/translateObjects.cpp +++ b/generators/objects/translateObjects.cpp @@ -1,8 +1,8 @@ /** * @brief Auto-generated object translation file. * @details - * Contains 110 translations. - * Generated on: 2022-02-03 12:01:36 + * Contains 111 translations. + * Generated on: 2022-02-21 17:31:37 */ #include "translateObjects.h" @@ -12,6 +12,7 @@ const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER"; const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER"; const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER"; const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER"; +const char *SUS_0_STRING = "SUS_0"; const char *SUS_1_STRING = "SUS_1"; const char *SUS_2_STRING = "SUS_2"; const char *SUS_3_STRING = "SUS_3"; @@ -23,8 +24,6 @@ const char *SUS_8_STRING = "SUS_8"; const char *SUS_9_STRING = "SUS_9"; const char *SUS_10_STRING = "SUS_10"; const char *SUS_11_STRING = "SUS_11"; -const char *SUS_12_STRING = "SUS_12"; -const char *SUS_13_STRING = "SUS_13"; const char *RW1_STRING = "RW1"; const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER"; const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER"; @@ -44,6 +43,7 @@ const char *PDU1_HANDLER_STRING = "PDU1_HANDLER"; const char *PDU2_HANDLER_STRING = "PDU2_HANDLER"; const char *ACU_HANDLER_STRING = "ACU_HANDLER"; const char *BPX_BATT_HANDLER_STRING = "BPX_BATT_HANDLER"; +const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER"; const char *RAD_SENSOR_STRING = "RAD_SENSOR"; const char *PLOC_UPDATER_STRING = "PLOC_UPDATER"; const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER"; @@ -109,6 +109,7 @@ const char *TIME_STAMPER_STRING = "TIME_STAMPER"; const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END"; const char *SPI_TEST_STRING = "SPI_TEST"; const char *UART_TEST_STRING = "UART_TEST"; +const char *I2C_TEST_STRING = "I2C_TEST"; const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER"; const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE"; const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST"; @@ -132,31 +133,29 @@ const char* translateObject(object_id_t object) { case 0x44120010: return GYRO_0_ADIS_HANDLER_STRING; case 0x44120032: - return SUS_1_STRING; + return SUS_0_STRING; case 0x44120033: - return SUS_2_STRING; + return SUS_1_STRING; case 0x44120034: - return SUS_3_STRING; + return SUS_2_STRING; case 0x44120035: - return SUS_4_STRING; + return SUS_3_STRING; case 0x44120036: - return SUS_5_STRING; + return SUS_4_STRING; case 0x44120037: - return SUS_6_STRING; + return SUS_5_STRING; case 0x44120038: - return SUS_7_STRING; + return SUS_6_STRING; case 0x44120039: - return SUS_8_STRING; + return SUS_7_STRING; case 0x44120040: - return SUS_9_STRING; + return SUS_8_STRING; case 0x44120041: - return SUS_10_STRING; + return SUS_9_STRING; case 0x44120042: - return SUS_11_STRING; + return SUS_10_STRING; case 0x44120043: - return SUS_12_STRING; - case 0x44120044: - return SUS_13_STRING; + return SUS_11_STRING; case 0x44120047: return RW1_STRING; case 0x44120107: @@ -195,6 +194,8 @@ const char* translateObject(object_id_t object) { return ACU_HANDLER_STRING; case 0x44260000: return BPX_BATT_HANDLER_STRING; + case 0x44300000: + return PLPCDU_HANDLER_STRING; case 0x443200A5: return RAD_SENSOR_STRING; case 0x44330000: @@ -325,6 +326,8 @@ const char* translateObject(object_id_t object) { return SPI_TEST_STRING; case 0x54000020: return UART_TEST_STRING; + case 0x54000030: + return I2C_TEST_STRING; case 0x5400AFFE: return DUMMY_HANDLER_STRING; case 0x5400CAFE: diff --git a/linux/boardtest/SpiTestClass.cpp b/linux/boardtest/SpiTestClass.cpp index 7ef76d95..101c7a15 100644 --- a/linux/boardtest/SpiTestClass.cpp +++ b/linux/boardtest/SpiTestClass.cpp @@ -15,16 +15,20 @@ #include +#if defined(XIPHOS_Q7S) +#include "busConf.h" +#endif #include "devices/gpioIds.h" +#include "mission/devices/max1227.h" SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF *gpioIF) : TestTask(objectId), gpioIF(gpioIF) { if (gpioIF == nullptr) { sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl; } - testMode = TestModes::MGM_LIS3MDL; - spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data()); - spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data()); + testMode = TestModes::MAX1227; + spiTransferStruct[0].rx_buf = reinterpret_cast<__u64>(recvBuffer.data()); + setSendBuffer(); } ReturnValue_t SpiTestClass::performOneShotAction() { @@ -44,11 +48,25 @@ ReturnValue_t SpiTestClass::performOneShotAction() { performL3gTest(gyro1L3gd20ChipSelect); break; } + case (TestModes::MAX1227): { + performOneShotMax1227Test(); + break; + } } return HasReturnvaluesIF::RETURN_OK; } -ReturnValue_t SpiTestClass::performPeriodicAction() { return HasReturnvaluesIF::RETURN_OK; } +ReturnValue_t SpiTestClass::performPeriodicAction() { + switch (testMode) { + case (TestModes::MAX1227): { + performPeriodicMax1227Test(); + break; + } + default: + break; + } + return HasReturnvaluesIF::RETURN_OK; +} void SpiTestClass::performRm3100Test(uint8_t mgmId) { /* Configure all SPI chip selects and pull them high */ @@ -180,7 +198,7 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) { return; } setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed); - spiTransferStruct.delay_usecs = 0; + spiTransferStruct[0].delay_usecs = 0; uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false); sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" @@ -273,6 +291,352 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) { sif::info << "Z: " << angVelocZ << std::endl; } +void SpiTestClass::performOneShotMax1227Test() { + using namespace max1227; + adcCfg.testRadSensorExtConvWithDelay = false; + adcCfg.testRadSensorIntConv = false; + + bool setAllSusOn = false; + bool susIntConv = false; + bool susExtConv = false; + if (setAllSusOn) { + for (uint8_t idx = 0; idx < 12; idx++) { + adcCfg.testSus[idx].doTest = true; + } + } else { + for (uint8_t idx = 0; idx < 12; idx++) { + adcCfg.testSus[idx].doTest = false; + } + } + + if (susIntConv) { + for (uint8_t idx = 0; idx < 12; idx++) { + adcCfg.testSus[idx].intConv = true; + } + } + if (susExtConv) { + for (uint8_t idx = 0; idx < 12; idx++) { + adcCfg.testSus[idx].extConv = true; + } + } + + adcCfg.plPcduAdcExtConv = true; + adcCfg.plPcduAdcIntConv = false; + // Is problematic, don't know why + adcCfg.plPcduAdcExtConvAsOne = false; + performMax1227Test(); +} + +void SpiTestClass::performPeriodicMax1227Test() { + using namespace max1227; + performMax1227Test(); +} + +void SpiTestClass::performMax1227Test() { +#ifdef XIPHOS_Q7S + std::string deviceName = q7s::SPI_DEFAULT_DEV; +#elif defined(RASPBERRY_PI) + std::string deviceName = ""; +#endif + int fd = 0; + UnixFileGuard fileHelper(deviceName, &fd, O_RDWR, "SpiComIF::initializeInterface"); + if (fileHelper.getOpenResult()) { + sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!" + << std::endl; + return; + } + uint32_t spiSpeed = 976'000; + spi::SpiModes spiMode = spi::SpiModes::MODE_3; + setSpiSpeedAndMode(fd, spiMode, spiSpeed); + + max1227RadSensorTest(fd); + int idx = 0; + bool firstTest = true; + for (auto &susCfg : adcCfg.testSus) { + if (susCfg.doTest) { + if (firstTest) { + firstTest = false; + sif::info << "---------- SUS ADC Values -----------" << std::endl; + } + sif::info << "SUS " << std::setw(2) << idx << ": "; + max1227SusTest(fd, susCfg); + } + idx++; + } + max1227PlPcduTest(fd); +} + +void SpiTestClass::max1227RadSensorTest(int fd) { + using namespace max1227; + if (adcCfg.testRadSensorExtConvWithDelay) { + sendBuffer[0] = max1227::buildResetByte(true); + spiTransferStruct[0].len = 1; + transfer(fd, gpioIds::CS_RAD_SENSOR); + usleep(200); + sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_WITH_WAKEUP, + DiffSel::NONE_0); + spiTransferStruct[0].len = 1; + transfer(fd, gpioIds::CS_RAD_SENSOR); + max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), 7, spiTransferStruct[0].len); + size_t tmpLen = spiTransferStruct[0].len; + spiTransferStruct[0].len = 1; + transfer(fd, gpioIds::CS_RAD_SENSOR); + std::memcpy(sendBuffer.data(), sendBuffer.data() + 1, tmpLen - 1); + spiTransferStruct[0].len = tmpLen - 1; + usleep(65); + transfer(fd, gpioIds::CS_RAD_SENSOR); + arrayprinter::print(recvBuffer.data(), 13, OutputType::HEX); + uint16_t adcRaw[8] = {}; + adcRaw[0] = (recvBuffer[0] << 8) | recvBuffer[1]; + adcRaw[1] = (recvBuffer[2] << 8) | recvBuffer[3]; + adcRaw[2] = (recvBuffer[4] << 8) | recvBuffer[5]; + adcRaw[3] = (recvBuffer[6] << 8) | recvBuffer[7]; + adcRaw[4] = (recvBuffer[8] << 8) | recvBuffer[9]; + adcRaw[5] = (recvBuffer[10] << 8) | recvBuffer[11]; + adcRaw[6] = (recvBuffer[12] << 8) | recvBuffer[13]; + adcRaw[7] = (recvBuffer[14] << 8) | recvBuffer[15]; + arrayprinter::print(recvBuffer.data(), 17, OutputType::HEX); + for (int idx = 0; idx < 8; idx++) { + sif::info << "ADC raw " << idx << ": " << adcRaw[idx] << std::endl; + } + max1227::prepareExternallyClockedTemperatureRead(sendBuffer.data(), spiTransferStruct[0].len); + spiTransferStruct[0].len = 1; + transfer(fd, gpioIds::CS_RAD_SENSOR); + usleep(65); + spiTransferStruct[0].len = 24; + std::memcpy(sendBuffer.data(), sendBuffer.data() + 1, 24); + transfer(fd, gpioIds::CS_RAD_SENSOR); + int16_t tempRaw = ((recvBuffer[22] & 0x0f) << 8) | recvBuffer[23]; + float temp = max1227::getTemperature(tempRaw); + sif::info << "Temperature: " << temp << std::endl; + } + if (adcCfg.testRadSensorIntConv) { + sendBuffer[0] = max1227::buildResetByte(false); + spiTransferStruct[0].len = 1; + transfer(fd, gpioIds::CS_RAD_SENSOR); + usleep(5); + // Now use internal conversion + sendBuffer[0] = max1227::buildSetupByte(ClkSel::INT_CONV_INT_TIMED_CNVST_AS_AIN, + RefSel::INT_REF_NO_WAKEUP, DiffSel::NONE_0); + spiTransferStruct[0].len = 1; + transfer(fd, gpioIds::CS_RAD_SENSOR); + usleep(10); + sendBuffer[0] = buildConvByte(ScanModes::CHANNELS_0_TO_N, 7, true); + spiTransferStruct[0].len = 1; + transfer(fd, gpioIds::CS_RAD_SENSOR); + + usleep(65); + spiTransferStruct[0].len = 18; + // Shift out zeros + shiftOutZeros(); + transfer(fd, gpioIds::CS_RAD_SENSOR); + setSendBuffer(); + + arrayprinter::print(recvBuffer.data(), 14); + uint16_t adcRaw[8] = {}; + int16_t tempRaw = ((recvBuffer[0] & 0x0f) << 8) | recvBuffer[1]; + sif::info << "Temperature: " << tempRaw * 0.125 << " C" << std::endl; + adcRaw[0] = (recvBuffer[2] << 8) | recvBuffer[3]; + adcRaw[1] = (recvBuffer[4] << 8) | recvBuffer[5]; + adcRaw[2] = (recvBuffer[6] << 8) | recvBuffer[7]; + adcRaw[3] = (recvBuffer[8] << 8) | recvBuffer[9]; + adcRaw[4] = (recvBuffer[10] << 8) | recvBuffer[11]; + adcRaw[5] = (recvBuffer[12] << 8) | recvBuffer[13]; + adcRaw[6] = (recvBuffer[14] << 8) | recvBuffer[15]; + adcRaw[7] = (recvBuffer[16] << 8) | recvBuffer[17]; + for (int idx = 0; idx < 8; idx++) { + sif::info << "ADC raw " << idx << ": " << adcRaw[idx] << std::endl; + } + } +} + +void SpiTestClass::max1227SusTest(int fd, SusTestCfg &cfg) { + using namespace max1227; + if (cfg.extConv) { + sendBuffer[0] = max1227::buildResetByte(false); + spiTransferStruct[0].len = 1; + transfer(fd, cfg.gpioId); + + usleep(65); + sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_NO_WAKEUP, + DiffSel::NONE_0); + spiTransferStruct[0].len = 1; + transfer(fd, cfg.gpioId); + + max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), 5, spiTransferStruct[0].len); + transfer(fd, cfg.gpioId); + uint16_t adcRaw[6] = {}; + adcRaw[0] = (recvBuffer[1] << 8) | recvBuffer[2]; + adcRaw[1] = (recvBuffer[3] << 8) | recvBuffer[4]; + adcRaw[2] = (recvBuffer[5] << 8) | recvBuffer[6]; + adcRaw[3] = (recvBuffer[7] << 8) | recvBuffer[8]; + adcRaw[4] = (recvBuffer[9] << 8) | recvBuffer[10]; + adcRaw[5] = (recvBuffer[11] << 8) | recvBuffer[12]; + sif::info << "Ext Conv [" << std::hex << std::setw(3); + for (int idx = 0; idx < 5; idx++) { + sif::info << adcRaw[idx]; + if (idx < 6) { + sif::info << ","; + } + } + sif::info << std::dec << "]" << std::endl; // | Temperature: " << temp << " C" << std::endl; + } + if (cfg.intConv) { + sendBuffer[0] = max1227::buildResetByte(false); + spiTransferStruct[0].len = 1; + transfer(fd, cfg.gpioId); + usleep(65); + // Now use internal conversion + sendBuffer[0] = max1227::buildSetupByte(ClkSel::INT_CONV_INT_TIMED_CNVST_AS_AIN, + RefSel::INT_REF_NO_WAKEUP, DiffSel::NONE_0); + spiTransferStruct[0].len = 1; + transfer(fd, cfg.gpioId); + usleep(10); + sendBuffer[0] = buildConvByte(ScanModes::CHANNELS_0_TO_N, 5, true); + spiTransferStruct[0].len = 1; + transfer(fd, cfg.gpioId); + + usleep(65); + spiTransferStruct[0].len = 14; + // Shift out zeros + shiftOutZeros(); + transfer(fd, cfg.gpioId); + setSendBuffer(); + // arrayprinter::print(recvBuffer.data(), 14); + float temp = static_cast(((recvBuffer[0] & 0x0f) << 8) | recvBuffer[1]) * 0.125; + uint16_t adcRaw[6] = {}; + adcRaw[0] = (recvBuffer[2] << 8) | recvBuffer[3]; + adcRaw[1] = (recvBuffer[4] << 8) | recvBuffer[5]; + adcRaw[2] = (recvBuffer[6] << 8) | recvBuffer[7]; + adcRaw[3] = (recvBuffer[8] << 8) | recvBuffer[9]; + adcRaw[4] = (recvBuffer[10] << 8) | recvBuffer[11]; + adcRaw[5] = (recvBuffer[12] << 8) | recvBuffer[13]; + sif::info << "Int Conv [" << std::hex << std::setw(3); + for (int idx = 0; idx < 6; idx++) { + sif::info << adcRaw[idx]; + if (idx < 5) { + sif::info << ","; + } + } + sif::info << std::dec << "] | T[C] " << temp << std::endl; + } +} + +void SpiTestClass::max1227PlPcduTest(int fd) { + using namespace max1227; + if ((adcCfg.plPcduAdcExtConv or adcCfg.plPcduAdcIntConv or adcCfg.plPcduAdcExtConvAsOne) and + adcCfg.vbatSwitch) { + // This enables the ADC + ReturnValue_t result = gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0); + if (result != HasReturnvaluesIF::RETURN_OK) { + return; + } + result = gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1); + if (result != HasReturnvaluesIF::RETURN_OK) { + return; + } + adcCfg.vbatSwitch = false; + // Takes a bit of time until the ADC is usable + TaskFactory::delayTask(50); + sendBuffer[0] = max1227::buildResetByte(false); + spiTransferStruct[0].len = 1; + transfer(fd, gpioIds::PLPCDU_ADC_CS); + } + if (adcCfg.plPcduAdcExtConv) { + sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_NO_WAKEUP, + DiffSel::NONE_0); + spiTransferStruct[0].len = 1; + transfer(fd, gpioIds::PLPCDU_ADC_CS); + uint8_t n = 11; + max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), n, spiTransferStruct[0].len); + size_t dummy = 0; + max1227::prepareExternallyClockedTemperatureRead(sendBuffer.data() + spiTransferStruct[0].len, + dummy); + // + 1 to account for temp conversion byte + spiTransferStruct[0].len += 1; + transfer(fd, gpioIds::PLPCDU_ADC_CS); + uint16_t adcRaw[n + 1] = {}; + for (uint8_t idx = 0; idx < n + 1; idx++) { + adcRaw[idx] = (recvBuffer[idx * 2 + 1] << 8) | recvBuffer[idx * 2 + 2]; + } + spiTransferStruct[0].len = 24; + // Shift out zeros + shiftOutZeros(); + transfer(fd, gpioIds::PLPCDU_ADC_CS); + setSendBuffer(); + int16_t tempRaw = ((recvBuffer[22] & 0x0f) << 8) | recvBuffer[23]; + sif::info << "PL PCDU ADC ext conv [" << std::hex << std::setfill('0'); + for (int idx = 0; idx < n + 1; idx++) { + sif::info << std::setw(3) << adcRaw[idx]; + if (idx < n) { + sif::info << ","; + } + } + sif::info << "]" << std::endl; + sif::info << "Temperature: " << max1227::getTemperature(tempRaw) << " C" << std::endl; + } + if (adcCfg.plPcduAdcExtConvAsOne) { + sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_NO_WAKEUP, + DiffSel::NONE_0); + spiTransferStruct[0].len = 1; + transfer(fd, gpioIds::PLPCDU_ADC_CS); + uint8_t n = 11; + max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), n, spiTransferStruct[0].len); + max1227::prepareExternallyClockedTemperatureRead(sendBuffer.data() + spiTransferStruct[0].len, + spiTransferStruct[0].len); + transfer(fd, gpioIds::PLPCDU_ADC_CS); + uint16_t adcRaw[n + 1] = {}; + for (uint8_t idx = 0; idx < n + 1; idx++) { + adcRaw[idx] = (recvBuffer[idx * 2 + 1] << 8) | recvBuffer[idx * 2 + 2]; + } + int16_t tempRaw = ((recvBuffer[spiTransferStruct[0].len - 2] & 0x0f) << 8) | + recvBuffer[spiTransferStruct[0].len - 1]; + sif::info << "PL PCDU ADC ext conv [" << std::hex << std::setfill('0'); + for (int idx = 0; idx < n + 1; idx++) { + sif::info << std::setw(3) << adcRaw[idx]; + if (idx < n) { + sif::info << ","; + } + } + sif::info << "]" << std::endl; + sif::info << "Temperature: " << max1227::getTemperature(tempRaw) << " C" << std::endl; + } + if (adcCfg.plPcduAdcIntConv) { + sendBuffer[0] = max1227::buildResetByte(true); + spiTransferStruct[0].len = 1; + transfer(fd, gpioIds::PLPCDU_ADC_CS); + // Now use internal conversion + sendBuffer[0] = max1227::buildSetupByte(ClkSel::INT_CONV_INT_TIMED_CNVST_AS_AIN, + RefSel::INT_REF_NO_WAKEUP, DiffSel::NONE_0); + spiTransferStruct[0].len = 1; + transfer(fd, gpioIds::PLPCDU_ADC_CS); + usleep(10); + uint8_t n = 11; + sendBuffer[0] = buildConvByte(ScanModes::CHANNELS_0_TO_N, n, true); + spiTransferStruct[0].len = 1; + transfer(fd, gpioIds::PLPCDU_ADC_CS); + + usleep(65); + spiTransferStruct[0].len = 26; + // Shift out zeros + shiftOutZeros(); + transfer(fd, gpioIds::PLPCDU_ADC_CS); + setSendBuffer(); + uint16_t adcRaw[n + 1] = {}; + int16_t tempRaw = ((recvBuffer[0] & 0x0f) << 8) | recvBuffer[1]; + sif::info << "PL PCDU ADC int conv [" << std::hex << std::setfill('0'); + for (int idx = 0; idx < n + 1; idx++) { + adcRaw[idx] = (recvBuffer[idx * 2 + 2] << 8) | recvBuffer[idx * 2 + 3]; + sif::info << std::setw(3) << adcRaw[idx]; + if (idx < n) { + sif::info << ","; + } + } + sif::info << "]" << std::endl; + sif::info << "Temperature: " << max1227::getTemperature(tempRaw) << " C" << std::endl; + } +} + void SpiTestClass::acsInit() { GpioCookie *gpioCookie = new GpioCookie(); @@ -348,8 +712,27 @@ void SpiTestClass::acsInit() { } void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) { - int mode_test = SPI_MODE_3; - int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &mode_test); // reinterpret_cast(&mode)); + int modeUnix = 0; + switch (mode) { + case (spi::SpiModes::MODE_0): { + modeUnix = SPI_MODE_0; + break; + } + case (spi::SpiModes::MODE_1): { + modeUnix = SPI_MODE_1; + break; + } + case (spi::SpiModes::MODE_2): { + modeUnix = SPI_MODE_2; + break; + } + case (spi::SpiModes::MODE_3): { + modeUnix = SPI_MODE_3; + break; + } + } + + int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &modeUnix); // reinterpret_cast(&mode)); if (retval != 0) { utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!"); } @@ -361,7 +744,7 @@ void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t sp } void SpiTestClass::writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value) { - spiTransferStruct.len = 2; + spiTransferStruct[0].len = 2; sendBuffer[0] = reg; sendBuffer[1] = value; @@ -405,7 +788,7 @@ void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t r sendBuffer[0] = reg; std::memcpy(sendBuffer.data() + 1, values, len); - spiTransferStruct.len = len + 1; + spiTransferStruct[0].len = len + 1; if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) { gpioIF->pullLow(chipSelect); @@ -429,13 +812,19 @@ void SpiTestClass::readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t readMultipleRegisters(fd, chipSelect, reg, reply, len); } +void SpiTestClass::shiftOutZeros() { spiTransferStruct[0].tx_buf = 0; } + +void SpiTestClass::setSendBuffer() { + spiTransferStruct[0].tx_buf = reinterpret_cast<__u64>(sendBuffer.data()); +} + void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply, size_t len) { if (reply == nullptr) { return; } - spiTransferStruct.len = len + 1; + spiTransferStruct[0].len = len + 1; sendBuffer[0] = reg | STM_READ_MASK; for (uint8_t idx = 0; idx < len; idx++) { @@ -465,7 +854,7 @@ uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, } uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) { - spiTransferStruct.len = 2; + spiTransferStruct[0].len = 2; sendBuffer[0] = reg; sendBuffer[1] = 0; @@ -481,3 +870,28 @@ uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) { } return recvBuffer[1]; } + +ReturnValue_t SpiTestClass::transfer(int fd, gpioId_t chipSelect = gpio::NO_GPIO) { + int retval = 0; + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + if (chipSelect != gpio::NO_GPIO) { + result = gpioIF->pullLow(chipSelect); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + } + + retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct); + if (retval < 0) { + utility::handleIoctlError("SpiTestClass::transfer: ioctl failed"); + return HasReturnvaluesIF::RETURN_FAILED; + } + + if (chipSelect != gpio::NO_GPIO) { + result = gpioIF->pullHigh(chipSelect); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + } + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/linux/boardtest/SpiTestClass.h b/linux/boardtest/SpiTestClass.h index 5df8cafb..15675f1a 100644 --- a/linux/boardtest/SpiTestClass.h +++ b/linux/boardtest/SpiTestClass.h @@ -6,21 +6,40 @@ #if defined(XIPHOS_Q7S) #include "busConf.h" #endif - #include #include #include #include +#include "devices/gpioIds.h" + +struct SusTestCfg { + SusTestCfg(bool doTest, gpioId_t gpioId) : gpioId(gpioId) {} + bool doTest = false; + const gpioId_t gpioId; + bool intConv = true; + bool extConv = false; +}; + +struct Max1227TestCfg { + bool testRadSensorExtConvWithDelay = false; + bool testRadSensorIntConv = false; + bool plPcduAdcExtConv = false; + bool plPcduAdcExtConvAsOne = false; + bool plPcduAdcIntConv = false; + bool vbatSwitch = true; + + SusTestCfg testSus[12] = { + {false, gpioIds::CS_SUS_0}, {false, gpioIds::CS_SUS_1}, {false, gpioIds::CS_SUS_2}, + {false, gpioIds::CS_SUS_3}, {false, gpioIds::CS_SUS_4}, {false, gpioIds::CS_SUS_5}, + {false, gpioIds::CS_SUS_6}, {false, gpioIds::CS_SUS_7}, {false, gpioIds::CS_SUS_8}, + {false, gpioIds::CS_SUS_9}, {false, gpioIds::CS_SUS_10}, {false, gpioIds::CS_SUS_11}, + }; +}; class SpiTestClass : public TestTask { public: - enum TestModes { - NONE, - MGM_LIS3MDL, - MGM_RM3100, - GYRO_L3GD20H, - }; + enum TestModes { NONE, MGM_LIS3MDL, MGM_RM3100, GYRO_L3GD20H, MAX1227 }; TestModes testMode; @@ -31,14 +50,18 @@ class SpiTestClass : public TestTask { private: GpioIF* gpioIF; + Max1227TestCfg adcCfg = {}; std::array recvBuffer; std::array sendBuffer; - struct spi_ioc_transfer spiTransferStruct = {}; + struct spi_ioc_transfer spiTransferStruct[6] = {}; void performRm3100Test(uint8_t mgmId); void performLis3MdlTest(uint8_t lis3Id); void performL3gTest(uint8_t l3gId); + void performOneShotMax1227Test(); + void performPeriodicMax1227Test(); + void performMax1227Test(); /* ACS board specific code which pulls all GPIOs high */ void acsInit(); @@ -55,6 +78,7 @@ class SpiTestClass : public TestTask { uint8_t gyro2AdisChipSelect = gpio::GYRO_2_BCM_PIN; uint8_t gyro3L3gd20ChipSelect = gpio::GYRO_3_BCM_PIN; #else + uint8_t mgm0Lis3mdlChipSelect = 0; uint8_t mgm1Rm3100ChipSelect = 0; uint8_t gyro0AdisResetLine = 0; @@ -69,6 +93,13 @@ class SpiTestClass : public TestTask { static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK; static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000; + void shiftOutZeros(); + void setSendBuffer(); + + void max1227RadSensorTest(int fd); + void max1227SusTest(int fd, SusTestCfg& cfg); + void max1227PlPcduTest(int fd); + void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed); void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value, @@ -78,6 +109,7 @@ class SpiTestClass : public TestTask { void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values, size_t len); void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value); + ReturnValue_t transfer(int fd, gpioId_t chipSelect); uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg); uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement); diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in index fd5ae534..75334d45 100644 --- a/linux/fsfwconfig/OBSWConfig.h.in +++ b/linux/fsfwconfig/OBSWConfig.h.in @@ -35,9 +35,9 @@ debugging. */ #define OBSW_USE_CCSDS_IP_CORE 1 // Set to 1 if all telemetry should be sent to the PTME IP Core -#define OBSW_TM_TO_PTME 1 +#define OBSW_TM_TO_PTME 0 // Set to 1 if telecommands are received via the PDEC IP Core -#define OBSW_TC_FROM_PDEC 1 +#define OBSW_TC_FROM_PDEC 0 #define OBSW_ENABLE_TIMERS 1 #define OBSW_ADD_MGT 1 @@ -52,6 +52,7 @@ debugging. */ #define OBSW_ADD_RTD_DEVICES 0 #define OBSW_ADD_TMP_DEVICES 0 #define OBSW_ADD_RAD_SENSORS 0 +#define OBSW_ADD_PL_PCDU 0 #define OBSW_ADD_SYRLINKS 0 #define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT 0 #define OBSW_ENABLE_PERIODIC_HK 0 @@ -62,7 +63,7 @@ debugging. */ /** All of the following flags should be disabled for mission code */ /*******************************************************************/ -//! /* Can be used to switch device to NORMAL mode immediately */ +// Can be used to switch device to NORMAL mode immediately #define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1 #define OBSW_PRINT_MISSED_DEADLINES 1 @@ -76,9 +77,17 @@ debugging. */ #define OBSW_ADD_I2C_TEST_CODE 0 #define OBSW_ADD_UART_TEST_CODE 0 +#define OBSW_TEST_ACS 0 +#define OBSW_DEBUG_ACS 0 +#define OBSW_TEST_SUS 0 +#define OBSW_DEBUG_SUS 0 +#define OBSW_TEST_RTD 0 +#define OBSW_DEBUG_RTD 0 +#define OBSW_TEST_RAD_SENSOR 0 +#define OBSW_DEBUG_RAD_SENSOR 0 +#define OBSW_TEST_PL_PCDU 0 +#define OBSW_DEBUG_PL_PCDU 0 #define OBSW_TEST_LIBGPIOD 0 -#define OBSW_TEST_RADIATION_SENSOR_HANDLER 0 -#define OBSW_TEST_SUS_HANDLER 0 #define OBSW_TEST_PLOC_HANDLER 0 #define OBSW_TEST_BPX_BATT 0 #define OBSW_TEST_CCSDS_BRIDGE 0 @@ -86,7 +95,6 @@ debugging. */ #define OBSW_TEST_TE7020_HEATER 0 #define OBSW_TEST_GPIO_OPEN_BY_LABEL 0 #define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME 0 - #define OBSW_DEBUG_P60DOCK 0 #define OBSW_DEBUG_BPX_BATT 0 #define OBSW_DEBUG_PDU1 0 @@ -95,9 +103,6 @@ debugging. */ #define OBSW_DEBUG_ACU 0 #define OBSW_DEBUG_SYRLINKS 0 #define OBSW_DEBUG_IMTQ 0 -#define OBSW_DEBUG_RAD_SENSOR 0 -#define OBSW_DEBUG_SUS 0 -#define OBSW_DEBUG_RTD 0 #define OBSW_DEBUG_RW 0 #define OBSW_DEBUG_STARTRACKER 0 #define OBSW_DEBUG_PLOC_MPSOC 0 diff --git a/linux/fsfwconfig/devices/addresses.cpp b/linux/fsfwconfig/devices/addresses.cpp index 60b1370b..580818e0 100644 --- a/linux/fsfwconfig/devices/addresses.cpp +++ b/linux/fsfwconfig/devices/addresses.cpp @@ -1,7 +1 @@ -/** - * \file logicalAddresses.cpp - * - * \date 06.11.2019 - */ - #include "addresses.h" diff --git a/linux/fsfwconfig/devices/addresses.h b/linux/fsfwconfig/devices/addresses.h index a69cdaf9..0016c6a4 100644 --- a/linux/fsfwconfig/devices/addresses.h +++ b/linux/fsfwconfig/devices/addresses.h @@ -24,6 +24,7 @@ enum logicalAddresses : address_t { RAD_SENSOR = objects::RAD_SENSOR, + SUS_0 = objects::SUS_0, SUS_1 = objects::SUS_1, SUS_2 = objects::SUS_2, SUS_3 = objects::SUS_3, @@ -35,8 +36,6 @@ enum logicalAddresses : address_t { SUS_9 = objects::SUS_9, SUS_10 = objects::SUS_10, SUS_11 = objects::SUS_11, - SUS_12 = objects::SUS_12, - SUS_13 = objects::SUS_13, /* Dummy and Test Addresses */ DUMMY_ECHO = 129, @@ -71,7 +70,8 @@ enum spiAddresses : address_t { RW1, RW2, RW3, - RW4 + RW4, + PLPCDU_ADC }; /* Addresses of devices supporting the CSP protocol */ diff --git a/linux/fsfwconfig/devices/gpioIds.h b/linux/fsfwconfig/devices/gpioIds.h index 46717569..e6f42eb4 100644 --- a/linux/fsfwconfig/devices/gpioIds.h +++ b/linux/fsfwconfig/devices/gpioIds.h @@ -54,6 +54,7 @@ enum gpioId_t { RTD_IC_17, RTD_IC_18, + CS_SUS_0, CS_SUS_1, CS_SUS_2, CS_SUS_3, @@ -65,17 +66,16 @@ enum gpioId_t { CS_SUS_9, CS_SUS_10, CS_SUS_11, - CS_SUS_12, - CS_SUS_13, + SPI_MUX_BIT_0, SPI_MUX_BIT_1, SPI_MUX_BIT_2, SPI_MUX_BIT_3, SPI_MUX_BIT_4, SPI_MUX_BIT_5, - SPI_MUX_BIT_6, CS_RAD_SENSOR, + ENABLE_RADFET, PAPB_BUSY_N, PAPB_EMPTY, @@ -110,7 +110,16 @@ enum gpioId_t { RS485_EN_RX_DATA, RS485_EN_RX_CLOCK, - BIT_RATE_SEL + BIT_RATE_SEL, + + PLPCDU_ENB_VBAT0, + PLPCDU_ENB_VBAT1, + PLPCDU_ENB_DRO, + PLPCDU_ENB_X8, + PLPCDU_ENB_TX, + PLPCDU_ENB_HPA, + PLPCDU_ENB_MPA, + PLPCDU_ADC_CS }; } diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp index 08e6e126..6ae8c2db 100644 --- a/linux/fsfwconfig/objects/translateObjects.cpp +++ b/linux/fsfwconfig/objects/translateObjects.cpp @@ -1,8 +1,8 @@ /** * @brief Auto-generated object translation file. * @details - * Contains 110 translations. - * Generated on: 2022-02-03 12:01:36 + * Contains 111 translations. + * Generated on: 2022-02-21 17:31:37 */ #include "translateObjects.h" @@ -12,6 +12,7 @@ const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER"; const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER"; const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER"; const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER"; +const char *SUS_0_STRING = "SUS_0"; const char *SUS_1_STRING = "SUS_1"; const char *SUS_2_STRING = "SUS_2"; const char *SUS_3_STRING = "SUS_3"; @@ -23,8 +24,6 @@ const char *SUS_8_STRING = "SUS_8"; const char *SUS_9_STRING = "SUS_9"; const char *SUS_10_STRING = "SUS_10"; const char *SUS_11_STRING = "SUS_11"; -const char *SUS_12_STRING = "SUS_12"; -const char *SUS_13_STRING = "SUS_13"; const char *RW1_STRING = "RW1"; const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER"; const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER"; @@ -44,6 +43,7 @@ const char *PDU1_HANDLER_STRING = "PDU1_HANDLER"; const char *PDU2_HANDLER_STRING = "PDU2_HANDLER"; const char *ACU_HANDLER_STRING = "ACU_HANDLER"; const char *BPX_BATT_HANDLER_STRING = "BPX_BATT_HANDLER"; +const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER"; const char *RAD_SENSOR_STRING = "RAD_SENSOR"; const char *PLOC_UPDATER_STRING = "PLOC_UPDATER"; const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER"; @@ -109,6 +109,7 @@ const char *TIME_STAMPER_STRING = "TIME_STAMPER"; const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END"; const char *SPI_TEST_STRING = "SPI_TEST"; const char *UART_TEST_STRING = "UART_TEST"; +const char *I2C_TEST_STRING = "I2C_TEST"; const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER"; const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE"; const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST"; @@ -132,31 +133,29 @@ const char *translateObject(object_id_t object) { case 0x44120010: return GYRO_0_ADIS_HANDLER_STRING; case 0x44120032: - return SUS_1_STRING; + return SUS_0_STRING; case 0x44120033: - return SUS_2_STRING; + return SUS_1_STRING; case 0x44120034: - return SUS_3_STRING; + return SUS_2_STRING; case 0x44120035: - return SUS_4_STRING; + return SUS_3_STRING; case 0x44120036: - return SUS_5_STRING; + return SUS_4_STRING; case 0x44120037: - return SUS_6_STRING; + return SUS_5_STRING; case 0x44120038: - return SUS_7_STRING; + return SUS_6_STRING; case 0x44120039: - return SUS_8_STRING; + return SUS_7_STRING; case 0x44120040: - return SUS_9_STRING; + return SUS_8_STRING; case 0x44120041: - return SUS_10_STRING; + return SUS_9_STRING; case 0x44120042: - return SUS_11_STRING; + return SUS_10_STRING; case 0x44120043: - return SUS_12_STRING; - case 0x44120044: - return SUS_13_STRING; + return SUS_11_STRING; case 0x44120047: return RW1_STRING; case 0x44120107: @@ -195,6 +194,8 @@ const char *translateObject(object_id_t object) { return ACU_HANDLER_STRING; case 0x44260000: return BPX_BATT_HANDLER_STRING; + case 0x44300000: + return PLPCDU_HANDLER_STRING; case 0x443200A5: return RAD_SENSOR_STRING; case 0x44330000: @@ -325,6 +326,8 @@ const char *translateObject(object_id_t object) { return SPI_TEST_STRING; case 0x54000020: return UART_TEST_STRING; + case 0x54000030: + return I2C_TEST_STRING; case 0x5400AFFE: return DUMMY_HANDLER_STRING; case 0x5400CAFE: diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 38717c37..310e8f9a 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -7,8 +7,6 @@ #include #include - - ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) { // Length of a communication cycle uint32_t length = thisSequence->getPeriodMs(); @@ -153,6 +151,19 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { #endif #if OBSW_ADD_SUN_SENSORS == 1 + + bool addSus0 = true; + bool addSus1 = true; + bool addSus2 = true; + bool addSus3 = true; + bool addSus4 = true; + bool addSus5 = true; + bool addSus6 = true; + bool addSus7 = true; + bool addSus8 = true; + bool addSus9 = true; + bool addSus10 = true; + bool addSus11 = true; /** * The sun sensor will be shutdown as soon as the chip select is pulled high. Thus all * requests to a sun sensor must be performed consecutively. Another reason for calling multiple @@ -161,253 +172,157 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { * One sun sensor communication sequence also blocks the SPI bus. So other devices can not be * inserted between the device handler cycles of one SUS. */ - /* Write setup */ - thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ); + if (addSus0) { + /* Write setup */ + thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_READ); + } + if (addSus1) { + thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_READ); + } + if (addSus2) { + thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_READ); + } + if (addSus3) { + thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_READ); + } + if (addSus4) { + thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ); - /* Read ADC conversions from inernal FIFO */ - thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_READ); + } + if (addSus5) { + thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ); - /* Read ADC conversions from inernal FIFO */ - thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_READ); + } - /* Write setup */ - thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ); - /* Read ADC conversions from inernal FIFO */ - thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ); + if (addSus6) { + thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ); - /* Read ADC conversions */ - thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_READ); + } - /* Write setup */ - thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ); - /* Read ADC conversions */ - thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ); + if (addSus7) { + thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ); - /* Read ADC conversions */ - thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_READ); + } - /* Write setup */ - thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ); - /* Read ADC conversions */ - thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ); + if (addSus8) { + thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_READ); - /* Write setup */ - thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE); - thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ); - /* Start ADC conversions */ - thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ); - /* Read ADC conversions */ - thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ); -#endif + thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_READ); + } + + if (addSus9) { + thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_READ); + } + + if (addSus10) { + thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_READ); + } + + if (addSus11) { + thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_READ); + } +#endif /* OBSW_ADD_SUN_SENSORS == 1 */ #if OBSW_ADD_RW == 1 thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); @@ -436,8 +351,8 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { #endif #if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1 - bool enableAside = true; - bool enableBside = false; + bool enableAside = false; + bool enableBside = true; if (enableAside) { // A side thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, @@ -452,21 +367,21 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.35, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); } @@ -474,7 +389,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { // B side thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); @@ -484,21 +399,21 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.3, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.35, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ); } #endif /* OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1 */ @@ -519,6 +434,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) { // Length of a communication cycle uint32_t length = thisSequence->getPeriodMs(); + static_cast(length); #if OBSW_ADD_MGT == 1 thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); @@ -685,7 +601,7 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); #endif -#if OBSW_TEST_RADIATION_SENSOR_HANDLER == 1 +#if OBSW_TEST_RAD_SENSOR == 1 thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE); @@ -693,7 +609,7 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ); #endif -#if OBSW_TEST_SUS_HANDLER == 1 +#if OBSW_TEST_SUS == 1 /* Write setup */ thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);