fixed merge conflicts
This commit is contained in:
Jakob.Meier
@ -1,6 +1,9 @@
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#include "CoreController.h"
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#include "q7sConfig.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "../memory/scratchApi.h"
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#include "../memory/SdCardManager.h"
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CoreController::CoreController(object_id_t objectId):
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@ -24,7 +27,16 @@ LocalPoolDataSetBase* CoreController::getDataSetHandle(sid_t sid) {
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}
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ReturnValue_t CoreController::initialize() {
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return sdCardInit();
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ReturnValue_t result = sdCardInit();
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "CoreController::initialize: SD card init failed" << std::endl;
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}
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result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "CoreController::initialize: Setting up alloc failure "
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"count failed" << std::endl;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t CoreController::checkModeCommand(Mode_t mode, Submode_t submode,
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@ -38,7 +50,9 @@ ReturnValue_t CoreController::sdCardInit() {
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return HasReturnvaluesIF::RETURN_OK;
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#else
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SdCardManager* sdcMan = SdCardManager::instance();
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if(sdcMan == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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// Create update status file
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ReturnValue_t result = sdcMan->updateSdCardStateFile();
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if(result != HasReturnvaluesIF::RETURN_OK) {
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@ -46,93 +60,14 @@ ReturnValue_t CoreController::sdCardInit() {
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<< std::endl;
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}
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auto sdStatus = std::pair<sd::SdStatus, sd::SdStatus>(sd::SdStatus::OFF, sd::SdStatus::OFF);
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result = sdcMan->getSdCardActiveStatus(sdStatus);
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auto statusPair = SdCardManager::SdStatusPair(sd::SdStatus::OFF, sd::SdStatus::OFF);
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result = sdcMan->getSdCardActiveStatus(statusPair);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "Getting SD card activity status failed" << std::endl;
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}
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// Use a lambda to avoid duplicate code
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auto setUpSdCard = [&](sd::SdCard sdCard, sd::SdStatus status, std::string sdString) {
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std::string mountString;
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if(sdCard == sd::SdCard::SLOT_0) {
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mountString = SdCardManager::SD_0_MOUNT_POINT;
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}
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else {
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mountString = SdCardManager::SD_1_MOUNT_POINT;
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}
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if(status == sd::SdStatus::OFF) {
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sif::info << "Switching on and mounting SD card " << sdString << " at " <<
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mountString << std::endl;
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return sdcMan->switchOnSdCard(sdCard, true, &sdStatus);
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}
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else if(status == sd::SdStatus::ON) {
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sif::info << "Mounting SD card " << sdString << " at " << mountString << std::endl;
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return sdcMan->mountSdCard(sdCard);
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}
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else {
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sif::info << "SD card " << sdString << " already on and mounted at " <<
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mountString << std::endl;
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return SdCardManager::ALREADY_MOUNTED;
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}
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};
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#if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
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sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
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result = sdcMan->getPreferredSdCard(preferredSdCard);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "Could not get preferred SD card information from the scratch buffer"
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<< std::endl;
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}
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std::string preferredString;
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sd::SdStatus preferredStatus = sd::SdStatus::OFF;
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sd::SdStatus otherStatus = sd::SdStatus::OFF;
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std::string otherString;
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sd::SdCard otherSdc = sd::SdCard::SLOT_0;
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if(preferredSdCard == sd::SdCard::SLOT_0) {
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preferredStatus = sdStatus.first;
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preferredString = "0";
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otherSdc = sd::SdCard::SLOT_1;
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otherStatus = sdStatus.second;
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otherString = "1";
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}
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else {
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preferredString = "1";
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preferredStatus = sdStatus.second;
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otherStatus = sdStatus.first;
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otherSdc = sd::SdCard::SLOT_0;
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otherString = "0";
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}
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sif::info << "Cold redundant SD card configuration, preferred SD card " <<
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preferredString << std::endl;
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result = setUpSdCard(preferredSdCard, preferredStatus, preferredString);
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if(result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "Setting up preferred card " << otherString <<
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" in cold redundant mode failed" << std::endl;
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// Try other SD card and mark set up operation as failed
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setUpSdCard(otherSdc, otherStatus, otherString);
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result = HasReturnvaluesIF::RETURN_FAILED;
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}
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if(result != HasReturnvaluesIF::RETURN_FAILED and otherStatus != sd::SdStatus::OFF) {
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sif::info << "Switching off secondary SD card " << otherString << std::endl;
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// Switch off other SD card in cold redundant mode if setting up preferred one walked
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// without issues
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result = sdcMan->switchOffSdCard(otherSdc, otherStatus, &sdStatus);
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if(result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_OFF) {
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sif::warning << "Switching off secondary SD card " << otherString <<
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" in cold redundant mode failed" << std::endl;
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}
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}
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// Update status file
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sdcMan->updateSdCardStateFile();
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return HasReturnvaluesIF::RETURN_OK;
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return sdCardColdRedundantInit(sdcMan, statusPair);
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#elif Q7S_SD_CARD_CONFIG == Q7S_SD_HOT_REDUNDANT
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sif::info << "Hot redundant SD card configuration" << std::endl;
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@ -146,3 +81,161 @@ ReturnValue_t CoreController::sdCardInit() {
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#endif /* Q7S_SD_CARD_CONFIG != Q7S_SD_NONE */
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}
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ReturnValue_t CoreController::sdCardSetup(SdCardManager& sdcMan,
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SdCardManager::SdStatusPair& statusPair,sd::SdCard sdCard, sd::SdStatus status,
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std::string sdString) {
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std::string mountString;
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if(sdCard == sd::SdCard::SLOT_0) {
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mountString = SdCardManager::SD_0_MOUNT_POINT;
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}
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else {
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mountString = SdCardManager::SD_1_MOUNT_POINT;
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}
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if(status == sd::SdStatus::OFF) {
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sif::info << "Switching on and mounting SD card " << sdString << " at " <<
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mountString << std::endl;
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return sdcMan.switchOnSdCard(sdCard, true, &statusPair);
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}
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else if(status == sd::SdStatus::ON) {
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sif::info << "Mounting SD card " << sdString << " at " << mountString << std::endl;
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return sdcMan.mountSdCard(sdCard);
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}
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else {
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sif::info << "SD card " << sdString << " already on and mounted at " <<
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mountString << std::endl;
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return SdCardManager::ALREADY_MOUNTED;
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}
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}
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ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t *data, size_t size) {
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switch(actionId) {
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case(LIST_DIRECTORY_INTO_FILE): {
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// TODO: Packet definition for clean deserialization
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// 2 bytes for a and R flag, at least 5 bytes for minimum valid path /tmp with
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// null termination, at least 7 bytes for minimum target file name /tmp/a with
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// null termination.
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if(size < 14) {
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return HasActionsIF::INVALID_PARAMETERS;
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}
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// We could also make -l optional, but I can't think of a reason why to not use -l..
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// This flag specifies to run ls with -a
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bool aFlag = data[0];
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data += 1;
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// This flag specifies to run ls with -R
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bool RFlag = data[1];
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data += 1;
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size_t remainingSize = size - 2;
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// One larger for null termination, which prevents undefined behaviour if the sent
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// strings are not 0 terminated properly
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std::vector<uint8_t> repoAndTargetFileBuffer(remainingSize + 1, 0);
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std::memcpy(repoAndTargetFileBuffer.data(), data, remainingSize);
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const char* currentCharPtr = reinterpret_cast<const char*>(repoAndTargetFileBuffer.data());
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// Full target file name
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std::string repoName(currentCharPtr);
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size_t repoLength = repoName.length();
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// The other string needs to be at least one letter plus NULL termination to be valid at all
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// The first string also needs to be NULL terminated, but the termination is not included
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// in the string length, so this is subtracted from the remaining size as well
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if(repoLength > remainingSize - 3) {
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return HasActionsIF::INVALID_PARAMETERS;
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}
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// The file length will not include the NULL termination, so we skip it
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currentCharPtr += repoLength + 1;
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std::string targetFileName(currentCharPtr);
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std::ostringstream oss;
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oss << "ls -l";
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if(aFlag) {
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oss << "a";
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}
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if(RFlag) {
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oss << "R";
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}
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oss << " " << repoName << " > " << targetFileName;
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std::system(oss.str().c_str());
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return HasReturnvaluesIF::RETURN_OK;
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}
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default: {
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return HasActionsIF::INVALID_ACTION_ID;
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}
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}
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}
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ReturnValue_t CoreController::sdCardColdRedundantInit(SdCardManager* sdcMan,
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SdCardManager::SdStatusPair& statusPair) {
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sd::SdCard preferredSdCard = sd::SdCard::SLOT_0;
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ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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if(result == scratch::KEY_NOT_FOUND) {
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sif::warning << "CoreController::sdCardInit: "
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"Preferred SD card not set. Setting to 0" << std::endl;
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sdcMan->setPreferredSdCard(preferredSdCard);
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}
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else {
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sif::warning << "CoreController::sdCardInit: Could not get preferred SD card"
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"information from the scratch buffer" << std::endl;
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}
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}
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std::string preferredString;
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sd::SdStatus preferredStatus = sd::SdStatus::OFF;
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sd::SdStatus otherStatus = sd::SdStatus::OFF;
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std::string otherString;
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sd::SdCard otherSdc = sd::SdCard::SLOT_0;
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if(preferredSdCard == sd::SdCard::SLOT_0) {
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preferredStatus = statusPair.first;
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preferredString = "0";
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otherSdc = sd::SdCard::SLOT_1;
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otherStatus = statusPair.second;
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otherString = "1";
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}
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else {
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preferredString = "1";
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preferredStatus = statusPair.second;
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otherStatus = statusPair.first;
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otherSdc = sd::SdCard::SLOT_0;
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otherString = "0";
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}
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sif::info << "Cold redundant SD card configuration, preferred SD card " <<
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preferredString << std::endl;
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result = sdCardSetup(*sdcMan, statusPair, preferredSdCard, preferredStatus, preferredString);
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if(result != SdCardManager::ALREADY_MOUNTED and result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "Setting up preferred card " << otherString <<
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" in cold redundant mode failed" << std::endl;
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// Try other SD card and mark set up operation as failed
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sdCardSetup(*sdcMan, statusPair, preferredSdCard, preferredStatus, preferredString);
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result = HasReturnvaluesIF::RETURN_FAILED;
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}
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if(result != HasReturnvaluesIF::RETURN_FAILED and otherStatus != sd::SdStatus::OFF) {
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sif::info << "Switching off secondary SD card " << otherString << std::endl;
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// Switch off other SD card in cold redundant mode if setting up preferred one walked
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// without issues
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result = sdcMan->switchOffSdCard(otherSdc, otherStatus, &statusPair);
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if(result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_OFF) {
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sif::warning << "Switching off secondary SD card " << otherString <<
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" in cold redundant mode failed" << std::endl;
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}
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}
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// Update status file
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sdcMan->updateSdCardStateFile();
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t CoreController::incrementAllocationFailureCount() {
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uint32_t count = 0;
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ReturnValue_t result = scratch::readNumber(scratch::ALLOC_FAILURE_COUNT, count);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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count++;
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return scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, count);
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}
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@ -2,15 +2,29 @@
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#define BSP_Q7S_CORE_CORECONTROLLER_H_
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#include "fsfw/controller/ExtendedControllerBase.h"
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#include "bsp_q7s/memory/SdCardManager.h"
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#include "events/subsystemIdRanges.h"
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class CoreController: public ExtendedControllerBase {
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public:
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static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
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static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
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static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
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CoreController(object_id_t objectId);
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ReturnValue_t initialize() override;
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ReturnValue_t executeAction(ActionId_t actionId,
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MessageQueueId_t commandedBy, const uint8_t *data, size_t size) override;
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ReturnValue_t handleCommandMessage(CommandMessage *message) override;
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void performControlOperation() override;
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static ReturnValue_t incrementAllocationFailureCount();
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private:
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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@ -19,6 +33,10 @@ private:
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uint32_t *msToReachTheMode);
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ReturnValue_t sdCardInit();
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ReturnValue_t sdCardSetup(SdCardManager& sdcMan, SdCardManager::SdStatusPair& statusPair,
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sd::SdCard sdCard, sd::SdStatus status, std::string sdString);
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ReturnValue_t sdCardColdRedundantInit(SdCardManager* sdcMan,
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SdCardManager::SdStatusPair& statusPair);
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};
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@ -3,20 +3,22 @@
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#include "OBSWConfig.h"
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#include "pollingsequence/pollingSequenceFactory.h"
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#include <mission/utility/InitMission.h>
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#include "mission/utility/InitMission.h"
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#include <fsfw/objectmanager/ObjectManagerIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include <fsfw/tasks/PeriodicTaskIF.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include "fsfw/platform.h"
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#include "fsfw/objectmanager/ObjectManagerIF.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/tasks/FixedTimeslotTaskIF.h"
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#include "fsfw/tasks/PeriodicTaskIF.h"
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#include "fsfw/tasks/TaskFactory.h"
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#include <iostream>
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#include <vector>
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/* This is configured for linux without CR */
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#ifdef LINUX
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#ifdef PLATFORM_UNIX
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ServiceInterfaceStream sif::debug("DEBUG");
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ServiceInterfaceStream sif::info("INFO");
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ServiceInterfaceStream sif::warning("WARNING");
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@ -93,6 +95,15 @@ void initmission::initTasks() {
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initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
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}
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// FS task, task interval does not matter because it runs in permanent loop, priority low
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// because it is a non-essential background task
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PeriodicTaskIF* fsTask = factory->createPeriodicTask(
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"FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
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result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
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}
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#if TEST_CCSDS_BRIDGE == 1
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PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
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"PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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@ -102,15 +113,113 @@ void initmission::initTasks() {
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}
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#endif
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std::vector<PeriodicTaskIF*> pusTasks;
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createPusTasks(*factory, missedDeadlineFunc, pusTasks);
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std::vector<PeriodicTaskIF*> pstTasks;
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createPstTasks(*factory, missedDeadlineFunc, pstTasks);
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std::vector<PeriodicTaskIF*> testTasks;
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createTestTasks(*factory, missedDeadlineFunc, testTasks);
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auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
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for(const auto& task: taskVector) {
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if(task != nullptr) {
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task->startTask();
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}
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else {
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sif::error << "Task in vector " << name << " is invalid!" << std::endl;
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}
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}
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};
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sif::info << "Starting tasks.." << std::endl;
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tmTcDistributor->startTask();
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||||
udpBridgeTask->startTask();
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udpPollingTask->startTask();
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coreController->startTask();
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taskStarter(pstTasks, "PST task vector");
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taskStarter(pusTasks, "PUS task vector");
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#if OBSW_ADD_TEST_CODE == 1
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taskStarter(testTasks, "Test task vector");
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#endif
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||||
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||||
#if TEST_CCSDS_BRIDGE == 1
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ptmeTestTask->startTask();
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#endif
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||||
fsTask->startTask();
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||||
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||||
sif::info << "Tasks started.." << std::endl;
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||||
}
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||||
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void initmission::createPstTasks(TaskFactory& factory,
|
||||
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
#if BOARD_TE0720 == 0
|
||||
/* Polling Sequence Table Default */
|
||||
#if Q7S_ADD_SPI_TEST == 0
|
||||
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
|
||||
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
|
||||
missedDeadlineFunc);
|
||||
result = pst::pstSpi(spiPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
taskVec.push_back(spiPst);
|
||||
#endif
|
||||
|
||||
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
|
||||
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
|
||||
result = pst::pstUart(uartPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
taskVec.push_back(uartPst);
|
||||
FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
|
||||
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
|
||||
result = pst::pstGpio(gpioPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
taskVec.push_back(gpioPst);
|
||||
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
|
||||
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
|
||||
result = pst::pstI2c(i2cPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
|
||||
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
|
||||
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
|
||||
result = pst::pstGompaceCan(gomSpacePstTask);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
|
||||
}
|
||||
taskVec.push_back(i2cPst);
|
||||
#else /* BOARD_TE7020 == 0 */
|
||||
FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
|
||||
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
|
||||
missedDeadlineFunc);
|
||||
result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
|
||||
}
|
||||
taskVec.push_back(pollingSequenceTaskTE0720);
|
||||
#endif /* BOARD_TE7020 == 1 */
|
||||
}
|
||||
|
||||
void initmission::createPusTasks(TaskFactory &factory,
|
||||
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
/* PUS Services */
|
||||
PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
|
||||
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
|
||||
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
|
||||
}
|
||||
taskVec.push_back(pusVerification);
|
||||
|
||||
PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
|
||||
PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
|
||||
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
@ -120,8 +229,9 @@ void initmission::initTasks() {
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
|
||||
}
|
||||
taskVec.push_back(pusEvents);
|
||||
|
||||
PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
|
||||
PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
|
||||
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
|
||||
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
@ -131,8 +241,9 @@ void initmission::initTasks() {
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
|
||||
}
|
||||
taskVec.push_back(pusHighPrio);
|
||||
|
||||
PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
|
||||
PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
|
||||
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
|
||||
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
@ -150,8 +261,9 @@ void initmission::initTasks() {
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
|
||||
}
|
||||
taskVec.push_back(pusMedPrio);
|
||||
|
||||
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
|
||||
PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
|
||||
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
|
||||
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
@ -161,58 +273,13 @@ void initmission::initTasks() {
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
|
||||
}
|
||||
taskVec.push_back(pusLowPrio);
|
||||
}
|
||||
|
||||
#if TE0720 == 0
|
||||
//TODO: Add handling of missed deadlines
|
||||
/* Polling Sequence Table Default */
|
||||
#if Q7S_ADD_SPI_TEST == 0
|
||||
FixedTimeslotTaskIF* spiPst = factory->createFixedTimeslotTask(
|
||||
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
|
||||
missedDeadlineFunc);
|
||||
result = pst::pstSpi(spiPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
#endif
|
||||
|
||||
FixedTimeslotTaskIF* uartPst = factory->createFixedTimeslotTask(
|
||||
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
|
||||
result = pst::pstUart(uartPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
FixedTimeslotTaskIF* gpioPst = factory->createFixedTimeslotTask(
|
||||
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
|
||||
result = pst::pstGpio(gpioPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
FixedTimeslotTaskIF* i2cPst = factory->createFixedTimeslotTask(
|
||||
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
|
||||
result = pst::pstI2c(i2cPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
|
||||
}
|
||||
|
||||
FixedTimeslotTaskIF* gomSpacePstTask = factory->createFixedTimeslotTask(
|
||||
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
|
||||
result = pst::pstGompaceCan(gomSpacePstTask);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
|
||||
}
|
||||
|
||||
#else /* TE7020 == 0 */
|
||||
FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
|
||||
"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
|
||||
missedDeadlineFunc);
|
||||
result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
|
||||
}
|
||||
#endif /* TE7020 == 1 */
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
PeriodicTaskIF* testTask = factory->createPeriodicTask(
|
||||
void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
PeriodicTaskIF* testTask = factory.createPeriodicTask(
|
||||
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
|
||||
result = testTask->addComponent(objects::TEST_TASK);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
@ -225,45 +292,11 @@ void initmission::initTasks() {
|
||||
initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
|
||||
}
|
||||
#endif
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
#if TE0720 == 1 && TEST_LIBGPIOD == 1
|
||||
#if BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1
|
||||
result = testTask->addComponent(objects::LIBGPIOD_TEST);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
|
||||
}
|
||||
#endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */
|
||||
|
||||
sif::info << "Starting tasks.." << std::endl;
|
||||
tmTcDistributor->startTask();
|
||||
udpBridgeTask->startTask();
|
||||
udpPollingTask->startTask();
|
||||
coreController->startTask();
|
||||
|
||||
#if TE0720 == 0
|
||||
uartPst->startTask();
|
||||
gpioPst->startTask();
|
||||
i2cPst->startTask();
|
||||
#if Q7S_ADD_SPI_TEST == 0
|
||||
gomSpacePstTask->startTask();
|
||||
spiPst->startTask();
|
||||
#endif /* Q7S_ADD_SPI_TEST == 0 */
|
||||
|
||||
#elif TE0720 == 1 && Q7S_ADD_SPI_TEST == 0
|
||||
pollingSequenceTaskTE0720->startTask();
|
||||
#endif
|
||||
|
||||
pusVerification->startTask();
|
||||
pusEvents->startTask();
|
||||
pusHighPrio->startTask();
|
||||
pusMedPrio->startTask();
|
||||
pusLowPrio->startTask();
|
||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
testTask->startTask();
|
||||
#endif
|
||||
|
||||
#if TEST_CCSDS_BRIDGE == 1
|
||||
ptmeTestTask->startTask();
|
||||
#endif
|
||||
sif::info << "Tasks started.." << std::endl;
|
||||
#endif /* BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1 */
|
||||
taskVec.push_back(testTask);
|
||||
}
|
||||
|
||||
@ -1,9 +1,22 @@
|
||||
#ifndef BSP_Q7S_INITMISSION_H_
|
||||
#define BSP_Q7S_INITMISSION_H_
|
||||
|
||||
#include "fsfw/tasks/Typedef.h"
|
||||
#include <vector>
|
||||
|
||||
class PeriodicTaskIF;
|
||||
class TaskFactory;
|
||||
|
||||
namespace initmission {
|
||||
void initMission();
|
||||
void initTasks();
|
||||
|
||||
void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
|
||||
std::vector<PeriodicTaskIF*>& taskVec);
|
||||
};
|
||||
|
||||
#endif /* BSP_Q7S_INITMISSION_H_ */
|
||||
|
||||
@ -1,4 +1,3 @@
|
||||
#include <bsp_q7s/boardtest/Q7STestTask.h>
|
||||
#include "ObjectFactory.h"
|
||||
#include "OBSWConfig.h"
|
||||
#include "tmtc/apid.h"
|
||||
@ -11,65 +10,72 @@
|
||||
#include "bsp_q7s/gpio/gpioCallbacks.h"
|
||||
#include "bsp_q7s/core/CoreController.h"
|
||||
#include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
|
||||
#include "bsp_q7s/boardtest/Q7STestTask.h"
|
||||
#include "bsp_q7s/memory/FileSystemHandler.h"
|
||||
|
||||
#include <linux/devices/HeaterHandler.h>
|
||||
#include <linux/devices/SolarArrayDeploymentHandler.h>
|
||||
#include <linux/devices/devicedefinitions/SusDefinitions.h>
|
||||
#include <linux/devices/SusHandler.h>
|
||||
#include <linux/csp/CspCookie.h>
|
||||
#include <linux/csp/CspComIF.h>
|
||||
#include "linux/devices/HeaterHandler.h"
|
||||
#include "linux/devices/SolarArrayDeploymentHandler.h"
|
||||
#include "linux/devices/devicedefinitions/SusDefinitions.h"
|
||||
#include "linux/devices/SusHandler.h"
|
||||
#include "linux/csp/CspCookie.h"
|
||||
#include "linux/csp/CspComIF.h"
|
||||
|
||||
#include <mission/core/GenericFactory.h>
|
||||
#include <mission/devices/PDU1Handler.h>
|
||||
#include <mission/devices/PDU2Handler.h>
|
||||
#include <mission/devices/ACUHandler.h>
|
||||
#include <mission/devices/PCDUHandler.h>
|
||||
#include <mission/devices/P60DockHandler.h>
|
||||
#include <mission/devices/Tmp1075Handler.h>
|
||||
#include <mission/devices/Max31865PT1000Handler.h>
|
||||
#include <mission/devices/IMTQHandler.h>
|
||||
#include <mission/devices/SyrlinksHkHandler.h>
|
||||
#include <mission/devices/MGMHandlerLIS3MDL.h>
|
||||
#include <mission/devices/MGMHandlerRM3100.h>
|
||||
#include <mission/devices/PlocMPSoCHandler.h>
|
||||
#include <mission/devices/PlocSupervisorHandler.h>
|
||||
#include <mission/devices/RadiationSensorHandler.h>
|
||||
#include <mission/devices/RwHandler.h>
|
||||
#include <mission/devices/StarTrackerHandler.h>
|
||||
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
|
||||
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
|
||||
#include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
|
||||
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
|
||||
#include <mission/devices/devicedefinitions/RwDefinitions.h>
|
||||
#include "mission/core/GenericFactory.h"
|
||||
#include "mission/devices/PDU1Handler.h"
|
||||
#include "mission/devices/PDU2Handler.h"
|
||||
#include "mission/devices/ACUHandler.h"
|
||||
#include "mission/devices/PCDUHandler.h"
|
||||
#include "mission/devices/P60DockHandler.h"
|
||||
#include "mission/devices/Tmp1075Handler.h"
|
||||
#include "mission/devices/Max31865PT1000Handler.h"
|
||||
#include "mission/devices/IMTQHandler.h"
|
||||
#include "mission/devices/SyrlinksHkHandler.h"
|
||||
#include "mission/devices/MGMHandlerLIS3MDL.h"
|
||||
#include "mission/devices/MGMHandlerRM3100.h"
|
||||
#include "mission/devices/PlocMPSoCHandler.h"
|
||||
#include "mission/devices/PlocSupervisorHandler.h"
|
||||
#include "mission/devices/RadiationSensorHandler.h"
|
||||
#include "mission/devices/RwHandler.h"
|
||||
#include "mission/devices/StarTrackerHandler.h"
|
||||
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/PlocSupervisorDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
|
||||
#include "mission/devices/devicedefinitions/RwDefinitions.h"
|
||||
#include <mission/devices/devicedefinitions/StarTrackerDefinitions.h>
|
||||
#include <mission/utility/TmFunnel.h>
|
||||
#include <linux/obc/CCSDSIPCoreBridge.h>
|
||||
#include "mission/utility/TmFunnel.h"
|
||||
#include "linux/obc/CCSDSIPCoreBridge.h"
|
||||
|
||||
#include "fsfw_hal/linux/uart/UartComIF.h"
|
||||
#include "fsfw_hal/linux/uart/UartCookie.h"
|
||||
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
|
||||
#include <fsfw_hal/linux/i2c/I2cCookie.h>
|
||||
#include <fsfw_hal/linux/i2c/I2cComIF.h>
|
||||
#include <fsfw_hal/linux/spi/SpiCookie.h>
|
||||
#include <fsfw_hal/linux/spi/SpiComIF.h>
|
||||
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||
#include "fsfw/hal/linux/uart/UartComIF.h"
|
||||
#include "fsfw/hal/linux/uart/UartCookie.h"
|
||||
#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"
|
||||
#include "fsfw/hal/linux/i2c/I2cCookie.h"
|
||||
#include "fsfw/hal/linux/i2c/I2cComIF.h"
|
||||
#include "fsfw/hal/linux/spi/SpiCookie.h"
|
||||
#include "fsfw/hal/linux/spi/SpiComIF.h"
|
||||
#include "fsfw/hal/linux/gpio/LinuxLibgpioIF.h"
|
||||
#include "fsfw/hal/common/gpio/GpioCookie.h"
|
||||
|
||||
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
|
||||
#include <fsfw/tmtcservices/CommandingServiceBase.h>
|
||||
#include <fsfw/tmtcservices/PusServiceBase.h>
|
||||
#include <fsfw/tmtcpacket/pus/tm.h>
|
||||
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
|
||||
#include "fsfw/tmtcservices/CommandingServiceBase.h"
|
||||
#include "fsfw/tmtcservices/PusServiceBase.h"
|
||||
#include "fsfw/tmtcpacket/pus/tm.h"
|
||||
|
||||
/* UDP server includes */
|
||||
#include <fsfw/osal/common/UdpTmTcBridge.h>
|
||||
#include <fsfw/osal/common/UdpTcPollingTask.h>
|
||||
#include <linux/boardtest/SpiTestClass.h>
|
||||
#include <mission/devices/devicedefinitions/PlocMPSoCDefinitions.h>
|
||||
#include "fsfw/osal/common/UdpTmTcBridge.h"
|
||||
#include "fsfw/osal/common/UdpTcPollingTask.h"
|
||||
#include "linux/boardtest/SpiTestClass.h"
|
||||
|
||||
#if TEST_LIBGPIOD == 1
|
||||
#include <linux/boardtest/LibgpiodTest.h>
|
||||
#include "linux/boardtest/LibgpiodTest.h"
|
||||
#endif
|
||||
|
||||
void ObjectFactory::setStatics() {
|
||||
Factory::setStaticFrameworkObjectIds();
|
||||
}
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
@ -87,24 +93,80 @@ void Factory::setStaticFrameworkObjectIds() {
|
||||
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ObjectFactory::produce(void* args){
|
||||
Factory::setStaticFrameworkObjectIds();
|
||||
ObjectFactory::setStatics();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
||||
|
||||
/* Communication interfaces */
|
||||
new CspComIF(objects::CSP_COM_IF);
|
||||
new I2cComIF(objects::I2C_COM_IF);
|
||||
new UartComIF(objects::UART_COM_IF);
|
||||
#if Q7S_ADD_SPI_TEST == 0
|
||||
new SpiComIF(objects::SPI_COM_IF, gpioComIF);
|
||||
#endif /* Q7S_ADD_SPI_TEST == 0 */
|
||||
|
||||
new CoreController(objects::CORE_CONTROLLER);
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
createCommunicationInterfaces(&gpioComIF);
|
||||
createTmpComponents();
|
||||
#if BOARD_TE0720 == 0
|
||||
|
||||
#if TE0720 == 1
|
||||
createPcduComponents();
|
||||
createRadSensorComponent(gpioComIF);
|
||||
createSunSensorComponents(gpioComIF);
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
createAcsBoardComponents(gpioComIF);
|
||||
#endif /* OBSW_ADD_ACS_BOARD == 1 */
|
||||
createHeaterComponents();
|
||||
createSolarArrayDeploymentComponents();
|
||||
#if Q7S_ADD_SYRLINKS_HANDLER == 1
|
||||
createSyrlinksComponents();
|
||||
#endif /* Q7S_ADD_SYRLINKS_HANDLER == 1 */
|
||||
|
||||
#if Q7S_ADD_RTD_DEVICES == 1
|
||||
createRtdComponents();
|
||||
#endif /* Q7S_ADD_RTD_DEVICES == 1 */
|
||||
|
||||
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
|
||||
std::string("/dev/i2c-0"));
|
||||
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
|
||||
|
||||
UartCookie* mpsocUartCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
|
||||
UartModes::NON_CANONICAL, 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
|
||||
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie);
|
||||
|
||||
createReactionWheelComponents(gpioComIF);
|
||||
#endif /* TE7020 != 0 */
|
||||
|
||||
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
|
||||
|
||||
/* Test Task */
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
createTestComponents();
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
|
||||
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
|
||||
|
||||
#if ADD_PLOC_MPSOC == 1
|
||||
UartCookie* plocMpsocCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
|
||||
UartModes::NON_CANONICAL, 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
|
||||
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie);
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_STAR_TRACKER == 1
|
||||
UartCookie* starTrackerCookie = new UartCookie(objects::START_TRACKER, std::string("/dev/ttyUL3"),
|
||||
UartModes::NON_CANONICAL, 115200, StarTracker::MAX_FRAME_SIZE* 2 + 2);
|
||||
starTrackerCookie->setNoFixedSizeReply();
|
||||
new StarTrackerHandler(objects::START_TRACKER, objects::UART_COM_IF, starTrackerCookie);
|
||||
#endif
|
||||
|
||||
#if ADD_PLOC_SUPERVISOR == 1
|
||||
/* Configuration for MIO0 on TE0720-03-1CFA */
|
||||
UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
|
||||
std::string("/dev/ttyUL3"), UartModes::NON_CANONICAL, 115200,
|
||||
PLOC_SPV::MAX_REPLY_SIZE);
|
||||
PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
|
||||
objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
|
||||
plocSupervisor->setStartUpImmediately();
|
||||
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
void ObjectFactory::createTmpComponents() {
|
||||
#if BOARD_TE0720 == 1
|
||||
I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
|
||||
TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
|
||||
I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
|
||||
@ -125,8 +187,27 @@ void ObjectFactory::produce(void* args){
|
||||
objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
|
||||
i2cCookieTmp1075tcs2);
|
||||
(void) tmp1075Handler_2;
|
||||
}
|
||||
|
||||
#if TE0720 == 0
|
||||
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF) {
|
||||
if(gpioComIF == nullptr) {
|
||||
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid GPIO ComIF"
|
||||
<< std::endl;
|
||||
}
|
||||
*gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
||||
|
||||
/* Communication interfaces */
|
||||
new CspComIF(objects::CSP_COM_IF);
|
||||
new I2cComIF(objects::I2C_COM_IF);
|
||||
new UartComIF(objects::UART_COM_IF);
|
||||
#if Q7S_ADD_SPI_TEST == 0
|
||||
new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
|
||||
#endif /* Q7S_ADD_SPI_TEST == 0 */
|
||||
/* Adding gpios for chip select decoding to the gpioComIf */
|
||||
gpioCallbacks::initSpiCsDecoder(*gpioComIF);
|
||||
}
|
||||
|
||||
void ObjectFactory::createPcduComponents() {
|
||||
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
|
||||
addresses::P60DOCK);
|
||||
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
|
||||
@ -159,10 +240,9 @@ void ObjectFactory::produce(void* args){
|
||||
(void) pdu1handler;
|
||||
(void) pdu2handler;
|
||||
(void) acuhandler;
|
||||
}
|
||||
|
||||
/* Adding gpios for chip select decoding to the gpioComIf */
|
||||
gpioCallbacks::initSpiCsDecoder(gpioComIF);
|
||||
|
||||
void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
|
||||
GpioCookie* gpioCookieRadSensor = new GpioCookie;
|
||||
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip5"), 19,
|
||||
std::string("Chip Select Radiation Sensor"), gpio::OUT, 1);
|
||||
@ -173,7 +253,9 @@ void ObjectFactory::produce(void* args){
|
||||
std::string("/dev/spidev2.0"), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
|
||||
spi::DEFAULT_MAX_1227_SPEED);
|
||||
new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
|
||||
}
|
||||
|
||||
void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF) {
|
||||
GpioCookie* gpioCookieSus = new GpioCookie();
|
||||
|
||||
GpioCallback* susgpio = new GpioCallback(std::string("Chip select SUS 1"), gpio::OUT, 1,
|
||||
@ -258,21 +340,35 @@ void ObjectFactory::produce(void* args){
|
||||
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
|
||||
SUS::MAX1227_SPI_FREQ);
|
||||
|
||||
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF, gpioIds::CS_SUS_1);
|
||||
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF, gpioIds::CS_SUS_2);
|
||||
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF, gpioIds::CS_SUS_3);
|
||||
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF, gpioIds::CS_SUS_4);
|
||||
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF, gpioIds::CS_SUS_5);
|
||||
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF, gpioIds::CS_SUS_6);
|
||||
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF, gpioIds::CS_SUS_7);
|
||||
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF, gpioIds::CS_SUS_8);
|
||||
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF, gpioIds::CS_SUS_9);
|
||||
new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF, gpioIds::CS_SUS_10);
|
||||
new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF, gpioIds::CS_SUS_11);
|
||||
new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF, gpioIds::CS_SUS_12);
|
||||
new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF, gpioIds::CS_SUS_13);
|
||||
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF,
|
||||
gpioIds::CS_SUS_1);
|
||||
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF,
|
||||
gpioIds::CS_SUS_2);
|
||||
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF,
|
||||
gpioIds::CS_SUS_3);
|
||||
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF,
|
||||
gpioIds::CS_SUS_4);
|
||||
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF,
|
||||
gpioIds::CS_SUS_5);
|
||||
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF,
|
||||
gpioIds::CS_SUS_6);
|
||||
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF,
|
||||
gpioIds::CS_SUS_7);
|
||||
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF,
|
||||
gpioIds::CS_SUS_8);
|
||||
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF,
|
||||
gpioIds::CS_SUS_9);
|
||||
new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF,
|
||||
gpioIds::CS_SUS_10);
|
||||
new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF,
|
||||
gpioIds::CS_SUS_11);
|
||||
new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF,
|
||||
gpioIds::CS_SUS_12);
|
||||
new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF,
|
||||
gpioIds::CS_SUS_13);
|
||||
}
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF) {
|
||||
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
|
||||
GpiodRegular* gpio = nullptr;
|
||||
gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_0_ADIS"),
|
||||
@ -330,20 +426,23 @@ void ObjectFactory::produce(void* args){
|
||||
|
||||
//TODO: Adis Gyro (Gyro 0 Side A)
|
||||
|
||||
// Commented until ACS board V2 in in clean room again
|
||||
/* Gyro 1 Side A */
|
||||
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
|
||||
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie);
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
// spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
|
||||
// L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
// auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
// spiCookie);
|
||||
// gyroL3gHandler->setStartUpImmediately();
|
||||
//
|
||||
// /* Gyro 2 Side B */
|
||||
// spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev,
|
||||
// L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
// gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
// spiCookie);
|
||||
// gyroL3gHandler->setStartUpImmediately();
|
||||
}
|
||||
|
||||
/* Gyro 2 Side B */
|
||||
spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev,
|
||||
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie);
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
#endif
|
||||
void ObjectFactory::createHeaterComponents() {
|
||||
|
||||
GpioCookie* heaterGpiosCookie = new GpioCookie;
|
||||
|
||||
@ -384,7 +483,9 @@ void ObjectFactory::produce(void* args){
|
||||
|
||||
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
|
||||
objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
|
||||
}
|
||||
|
||||
void ObjectFactory::createSolarArrayDeploymentComponents() {
|
||||
GpioCookie* solarArrayDeplCookie = new GpioCookie;
|
||||
|
||||
GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(std::string("gpiochip7"), 4,
|
||||
@ -398,14 +499,19 @@ void ObjectFactory::produce(void* args){
|
||||
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
|
||||
solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
|
||||
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
|
||||
}
|
||||
|
||||
void ObjectFactory::createSyrlinksComponents() {
|
||||
UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER,
|
||||
std::string("/dev/ttyUL0"), UartModes::NON_CANONICAL, 38400, SYRLINKS::MAX_REPLY_SIZE);
|
||||
syrlinksUartCookie->setParityEven();
|
||||
|
||||
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
|
||||
SyrlinksHkHandler* syrlinksHkHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER,
|
||||
objects::UART_COM_IF, syrlinksUartCookie);
|
||||
}
|
||||
|
||||
#if Q7S_ADD_RTD_DEVICES == 1
|
||||
void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
|
||||
GpioCookie* rtdGpioCookie = new GpioCookie;
|
||||
|
||||
GpioCallback* gpioRtdIc3 = new GpioCallback(std::string("Chip select RTD IC3"), gpio::OUT, 1,
|
||||
@ -508,22 +614,38 @@ void ObjectFactory::produce(void* args){
|
||||
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
|
||||
spi::SpiModes::MODE_1, 2000000);
|
||||
|
||||
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
|
||||
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF, spiRtdIc4, 0);
|
||||
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5, objects::SPI_COM_IF, spiRtdIc5, 0);
|
||||
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6, objects::SPI_COM_IF, spiRtdIc6, 0);
|
||||
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7, objects::SPI_COM_IF, spiRtdIc7, 0);
|
||||
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8, objects::SPI_COM_IF, spiRtdIc8, 0);
|
||||
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9, objects::SPI_COM_IF, spiRtdIc9, 0);
|
||||
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10, objects::SPI_COM_IF, spiRtdIc10, 0);
|
||||
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11, objects::SPI_COM_IF, spiRtdIc11, 0);
|
||||
Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC12, objects::SPI_COM_IF, spiRtdIc12, 0);
|
||||
Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC13, objects::SPI_COM_IF, spiRtdIc13, 0);
|
||||
Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC14, objects::SPI_COM_IF, spiRtdIc14, 0);
|
||||
Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC15, objects::SPI_COM_IF, spiRtdIc15, 0);
|
||||
Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0);
|
||||
Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0);
|
||||
Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0);
|
||||
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3,
|
||||
objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
|
||||
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4,
|
||||
objects::SPI_COM_IF, spiRtdIc4, 0);
|
||||
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5,
|
||||
objects::SPI_COM_IF, spiRtdIc5, 0);
|
||||
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6,
|
||||
objects::SPI_COM_IF, spiRtdIc6, 0);
|
||||
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7,
|
||||
objects::SPI_COM_IF, spiRtdIc7, 0);
|
||||
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8,
|
||||
objects::SPI_COM_IF, spiRtdIc8, 0);
|
||||
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9,
|
||||
objects::SPI_COM_IF, spiRtdIc9, 0);
|
||||
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10,
|
||||
objects::SPI_COM_IF, spiRtdIc10, 0);
|
||||
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11,
|
||||
objects::SPI_COM_IF, spiRtdIc11, 0);
|
||||
Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC12,
|
||||
objects::SPI_COM_IF, spiRtdIc12, 0);
|
||||
Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC13,
|
||||
objects::SPI_COM_IF, spiRtdIc13, 0);
|
||||
Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC14,
|
||||
objects::SPI_COM_IF, spiRtdIc14, 0);
|
||||
Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC15,
|
||||
objects::SPI_COM_IF, spiRtdIc15, 0);
|
||||
Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16,
|
||||
objects::SPI_COM_IF, spiRtdIc16, 0);
|
||||
Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17,
|
||||
objects::SPI_COM_IF, spiRtdIc17, 0);
|
||||
Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18,
|
||||
objects::SPI_COM_IF, spiRtdIc18, 0);
|
||||
|
||||
(void) rtdIc3;
|
||||
(void) rtdIc4;
|
||||
@ -541,19 +663,9 @@ void ObjectFactory::produce(void* args){
|
||||
(void) rtdIc16;
|
||||
(void) rtdIc17;
|
||||
(void) rtdIc18;
|
||||
}
|
||||
|
||||
#endif /* Q7S_ADD_RTD_DEVICES == 1 */
|
||||
|
||||
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
|
||||
std::string("/dev/i2c-0"));
|
||||
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
|
||||
|
||||
#if ADD_PLOC_MPSOC == 1
|
||||
UartCookie* plocMpsocCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
|
||||
UartModes::NON_CANONICAL, 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
|
||||
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie);
|
||||
#endif
|
||||
|
||||
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
GpioCookie* gpioCookieRw = new GpioCookie;
|
||||
GpioCallback* csRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT,
|
||||
1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
@ -568,29 +680,29 @@ void ObjectFactory::produce(void* args){
|
||||
1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
|
||||
|
||||
GpiodRegular* enRw1 = new GpiodRegular(std::string("gpiochip5"), 7,
|
||||
std::string("Enable reaction wheel 1"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
|
||||
GpiodRegular* enRw2 = new GpiodRegular(std::string("gpiochip5"), 3,
|
||||
std::string("Enable reaction wheel 2"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
|
||||
GpiodRegular* enRw3 = new GpiodRegular(std::string("gpiochip5"), 11,
|
||||
std::string("Enable reaction wheel 3"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
|
||||
GpiodRegular* enRw4 = new GpiodRegular(std::string("gpiochip5"), 6,
|
||||
std::string("Enable reaction wheel 4"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
|
||||
GpiodRegular* enRw1 = new GpiodRegular(std::string("gpiochip5"), 7,
|
||||
std::string("Enable reaction wheel 1"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
|
||||
GpiodRegular* enRw2 = new GpiodRegular(std::string("gpiochip5"), 3,
|
||||
std::string("Enable reaction wheel 2"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
|
||||
GpiodRegular* enRw3 = new GpiodRegular(std::string("gpiochip5"), 11,
|
||||
std::string("Enable reaction wheel 3"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
|
||||
GpiodRegular* enRw4 = new GpiodRegular(std::string("gpiochip5"), 6,
|
||||
std::string("Enable reaction wheel 4"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
|
||||
|
||||
/**
|
||||
* This GPIO is only internally connected to the SPI MUX module and responsible to disconnect
|
||||
* the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
|
||||
* Per default the PS SPI is selected (EMIO = 0).
|
||||
*/
|
||||
GpiodRegular* spiMux = new GpiodRegular(std::string("gpiochip11"), 54,
|
||||
/**
|
||||
* This GPIO is only internally connected to the SPI MUX module and responsible to disconnect
|
||||
* the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
|
||||
* Per default the PS SPI is selected (EMIO = 0).
|
||||
*/
|
||||
GpiodRegular* spiMux = new GpiodRegular(std::string("gpiochip11"), 54,
|
||||
std::string("EMIO 0 SPI Mux"), gpio::OUT, 0);
|
||||
gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
|
||||
|
||||
gpioComIF->addGpios(gpioCookieRw);
|
||||
gpioComIF->addGpios(gpioCookieRw);
|
||||
|
||||
auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, "/dev/spidev3.0",
|
||||
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
|
||||
@ -605,51 +717,27 @@ void ObjectFactory::produce(void* args){
|
||||
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
|
||||
nullptr);
|
||||
|
||||
auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
|
||||
gpioIds::EN_RW1);
|
||||
auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
|
||||
gpioIds::EN_RW1);
|
||||
rw1SpiCookie->setCallbackArgs(rwHandler1);
|
||||
|
||||
auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
|
||||
gpioIds::EN_RW2);
|
||||
gpioIds::EN_RW2);
|
||||
rw2SpiCookie->setCallbackArgs(rwHandler2);
|
||||
|
||||
auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
|
||||
gpioIds::EN_RW3);
|
||||
gpioIds::EN_RW3);
|
||||
rw3SpiCookie->setCallbackArgs(rwHandler3);
|
||||
|
||||
auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
|
||||
gpioIds::EN_RW4);
|
||||
gpioIds::EN_RW4);
|
||||
rw4SpiCookie->setCallbackArgs(rwHandler4);
|
||||
}
|
||||
|
||||
#if OBSW_ADD_STAR_TRACKER == 1
|
||||
UartCookie* starTrackerCookie = new UartCookie(objects::START_TRACKER, std::string("/dev/ttyUL3"),
|
||||
UartModes::NON_CANONICAL, 115200, StarTracker::MAX_FRAME_SIZE* 2 + 2);
|
||||
starTrackerCookie->setNoFixedSizeReply();
|
||||
new StarTrackerHandler(objects::START_TRACKER, objects::UART_COM_IF, starTrackerCookie);
|
||||
#endif
|
||||
|
||||
#if ADD_PLOC_SUPERVISOR == 1
|
||||
/* Configuration for MIO0 on TE0720-03-1CFA */
|
||||
UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
|
||||
std::string("/dev/ttyUL3"), UartModes::NON_CANONICAL, 115200,
|
||||
PLOC_SPV::MAX_REPLY_SIZE);
|
||||
PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
|
||||
objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
|
||||
plocSupervisor->setStartUpImmediately();
|
||||
|
||||
#endif
|
||||
|
||||
#endif /* TE0720 == 0 */
|
||||
|
||||
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
|
||||
new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
|
||||
|
||||
/* Test Task */
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
void ObjectFactory::createTestComponents() {
|
||||
new Q7STestTask(objects::TEST_TASK);
|
||||
#endif
|
||||
|
||||
#if TE0720 == 1 && TEST_LIBGPIOD == 1
|
||||
#if BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1
|
||||
/* Configure MIO0 as input */
|
||||
GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
|
||||
std::string("MIO0"), gpio::IN, 0);
|
||||
@ -658,7 +746,7 @@ void ObjectFactory::produce(void* args){
|
||||
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
|
||||
#endif
|
||||
|
||||
#if TE0720 == 1 && TEST_SUS_HANDLER == 1
|
||||
#if BOARD_TE0720 == 1 && TEST_SUS_HANDLER == 1
|
||||
GpioCookie* gpioCookieSus = new GpioCookie;
|
||||
GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9,
|
||||
std::string("Chip Select Sus Sensor"), gpio::OUT, 1);
|
||||
@ -672,7 +760,7 @@ void ObjectFactory::produce(void* args){
|
||||
gpioIds::CS_SUS_1);
|
||||
#endif
|
||||
|
||||
#if TE0720 == 1 && TEST_CCSDS_BRIDGE == 1
|
||||
#if BOARD_TE0720 == 1 && TEST_CCSDS_BRIDGE == 1
|
||||
GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
|
||||
GpiodRegular* papbBusyN = new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_N"));
|
||||
gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
|
||||
@ -686,7 +774,7 @@ void ObjectFactory::produce(void* args){
|
||||
gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY);
|
||||
#endif
|
||||
|
||||
#if TE0720 == 1 && TEST_RADIATION_SENSOR_HANDLER == 1
|
||||
#if BOARD_TE0720 == 1 && TEST_RADIATION_SENSOR_HANDLER == 1
|
||||
GpioCookie* gpioCookieRadSensor = new GpioCookie;
|
||||
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0,
|
||||
std::string("Chip select radiation sensor"), gpio::OUT, 1);
|
||||
@ -702,7 +790,7 @@ void ObjectFactory::produce(void* args){
|
||||
radSensor->setStartUpImmediately();
|
||||
#endif
|
||||
|
||||
#if TE0720 == 1 && TEST_PLOC_HANDLER == 1
|
||||
#if BOARD_TE0720 == 1 && TEST_PLOC_HANDLER == 1
|
||||
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200,
|
||||
PLOC_MPSOC::MAX_REPLY_SIZE);
|
||||
/* Testing PlocMPSoCHandler on TE0720-03-1CFA */
|
||||
@ -711,7 +799,7 @@ void ObjectFactory::produce(void* args){
|
||||
mpsocPlocHandler->setStartUpImmediately();
|
||||
#endif
|
||||
|
||||
#if TE0720 == 1 && TE0720_HEATER_TEST == 1
|
||||
#if BOARD_TE0720 == 1 && TE0720_HEATER_TEST == 1
|
||||
/* Configuration for MIO0 on TE0720-03-1CFA */
|
||||
GpiodRegular* heaterGpio = new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
|
||||
GpioCookie* gpioCookie = new GpioCookie;
|
||||
|
||||
@ -1,9 +1,26 @@
|
||||
#ifndef BSP_Q7S_OBJECTFACTORY_H_
|
||||
#define BSP_Q7S_OBJECTFACTORY_H_
|
||||
|
||||
class LinuxLibgpioIF;
|
||||
|
||||
namespace ObjectFactory {
|
||||
|
||||
void setStatics();
|
||||
void produce(void* args);
|
||||
|
||||
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF);
|
||||
void createTmpComponents();
|
||||
void createPcduComponents();
|
||||
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
|
||||
void createSunSensorComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createHeaterComponents();
|
||||
void createSolarArrayDeploymentComponents();
|
||||
void createSyrlinksComponents();
|
||||
void createRtdComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createTestComponents();
|
||||
|
||||
};
|
||||
|
||||
#endif /* BSP_Q7S_OBJECTFACTORY_H_ */
|
||||
|
||||
8
bsp_q7s/core/ParameterHandler.cpp
Normal file
8
bsp_q7s/core/ParameterHandler.cpp
Normal file
@ -0,0 +1,8 @@
|
||||
#include "ParameterHandler.h"
|
||||
|
||||
ParameterHandler::ParameterHandler(std::string mountPrefix): mountPrefix(mountPrefix) {
|
||||
}
|
||||
|
||||
void ParameterHandler::setMountPrefix(std::string prefix) {
|
||||
mountPrefix = prefix;
|
||||
}
|
||||
22
bsp_q7s/core/ParameterHandler.h
Normal file
22
bsp_q7s/core/ParameterHandler.h
Normal file
@ -0,0 +1,22 @@
|
||||
#ifndef BSP_Q7S_CORE_PARAMETERHANDLER_H_
|
||||
#define BSP_Q7S_CORE_PARAMETERHANDLER_H_
|
||||
|
||||
#include <nlohmann/json.hpp>
|
||||
#include <string>
|
||||
|
||||
|
||||
|
||||
class ParameterHandler {
|
||||
public:
|
||||
ParameterHandler(std::string mountPrefix);
|
||||
|
||||
void setMountPrefix(std::string prefix);
|
||||
|
||||
void setUpDummyParameter();
|
||||
private:
|
||||
std::string mountPrefix;
|
||||
DummyParameter dummyParam;
|
||||
};
|
||||
|
||||
|
||||
#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */
|
||||
@ -7,7 +7,7 @@
|
||||
|
||||
int obsw::obsw() {
|
||||
std::cout << "-- EIVE OBSW --" << std::endl;
|
||||
#if TE0720 == 0
|
||||
#if BOARD_TE0720 == 0
|
||||
std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
|
||||
#else
|
||||
std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
|
||||
|
||||
Reference in New Issue
Block a user