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Merge pull request 'GPIO Refactoring' (#97) from mueller/gpio-refactoring into develop
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Reviewed-on: #97
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>
This commit is contained in:
Jakob Meier 2021-09-22 14:40:27 +02:00
commit b81ff7f8f5
16 changed files with 441 additions and 353 deletions
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131
bsp_linux_board/InitMission.cpp
View File

@ -36,6 +36,7 @@ void initmission::initMission() {
void initmission::initTasks() { void initmission::initTasks() {
TaskFactory* factory = TaskFactory::instance(); TaskFactory* factory = TaskFactory::instance();
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(factory == nullptr) { if(factory == nullptr) {
/* Should never happen ! */ /* Should never happen ! */
return; return;
@ -46,11 +47,11 @@ void initmission::initTasks() {
void (*missedDeadlineFunc) (void) = nullptr; void (*missedDeadlineFunc) (void) = nullptr;
#endif #endif
/* TMTC Distribution */ /* TMTC Distribution */
PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
ReturnValue_t result = tmTcDistributor->addComponent( result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
objects::CCSDS_PACKET_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK){ if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
@ -78,21 +79,70 @@ void initmission::initTasks() {
} }
/* PUS Services */ /* PUS Services */
PeriodicTaskIF* pusVerification = factory->createPeriodicTask( std::vector<PeriodicTaskIF*> pusTasks;
createPstTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks);
#if OBSW_ADD_TEST_CODE == 1
std::vector<PeriodicTaskIF*> testTasks;
createTestTasks(*factory, missedDeadlineFunc, pstTasks);
#endif /* OBSW_ADD_TEST_CODE == 1 */
auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
for(const auto& task: taskVector) {
if(task != nullptr) {
task->startTask();
}
else {
sif::error << "Task in vector " << name << " is invalid!" << std::endl;
}
}
};
sif::info << "Starting tasks.." << std::endl;
tmTcDistributor->startTask();
udpBridgeTask->startTask();
udpPollingTask->startTask();
taskStarter(pusTasks, "PUS Tasks");
#if OBSW_ADD_TEST_CODE == 1
taskStarter(testTasks, "Test Tasks");
#endif /* OBSW_ADD_TEST_CODE == 1 */
taskStarter(pstTasks, "PST Tasks");
#if OBSW_ADD_TEST_PST == 1
if(startTestPst) {
pstTestTask->startTask();
}
#endif /* RPI_TEST_ACS_BOARD == 1 */
sif::info << "Tasks started.." << std::endl;
}
void initmission::createPusTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*>& taskVec) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION); result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){ if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Object add component failed" << std::endl; sif::error << "Object add component failed" << std::endl;
} }
taskVec.push_back(pusVerification);
PeriodicTaskIF* pusEvents = factory->createPeriodicTask( PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK){ if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING); initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
} }
result = pusEvents->addComponent(objects::EVENT_MANAGER);
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); "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS); result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
@ -102,8 +152,9 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT); initmission::printAddObjectError("PUS9", 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); "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT); result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
@ -121,8 +172,9 @@ void initmission::initTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING); initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
} }
taskVec.push_back(pusMedPrio);
PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask( PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc); "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST); result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
@ -133,26 +185,34 @@ void initmission::initTasks() {
initmission::printAddObjectError("INT_ERR_RPRT", initmission::printAddObjectError("INT_ERR_RPRT",
objects::INTERNAL_ERROR_REPORTER); objects::INTERNAL_ERROR_REPORTER);
} }
taskVec.push_back(pusLowPrio);
}
bool startTestPst = true; void initmission::createPstTasks(TaskFactory& factory,
#if OBSW_ADD_TEST_PST == 1 TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc); #if OBSW_ADD_SPI_TEST_CODE == 0
result = pst::pstTest(pstTestTask); FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
if(result != HasReturnvaluesIF::RETURN_OK) { "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl; missedDeadlineFunc);
startTestPst = false; result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
} }
#endif /* RPI_TEST_ACS_BOARD == 1 */ taskVec.push_back(spiPst);
#endif
}
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", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
#if OBSW_ADD_TEST_CODE == 1
result = testTask->addComponent(objects::TEST_TASK); result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK); initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
} }
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if RPI_ADD_SPI_TEST == 1 #if RPI_ADD_SPI_TEST == 1
result = testTask->addComponent(objects::SPI_TEST); result = testTask->addComponent(objects::SPI_TEST);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {
@ -172,25 +232,16 @@ void initmission::initTasks() {
} }
#endif /* RPI_ADD_GPIO_TEST == 1 */ #endif /* RPI_ADD_GPIO_TEST == 1 */
sif::info << "Starting tasks.." << std::endl; bool startTestPst = true;
tmTcDistributor->startTask(); static_cast<void>(startTestPst);
udpBridgeTask->startTask();
udpPollingTask->startTask();
pusVerification->startTask();
pusEvents->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();
pusLowPrio->startTask();
#if OBSW_ADD_TEST_CODE == 1
testTask->startTask();
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if OBSW_ADD_TEST_PST == 1 #if OBSW_ADD_TEST_PST == 1
if(startTestPst) { FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
pstTestTask->startTask(); PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
result = pst::pstTest(pstTestTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
startTestPst = false;
} }
#endif /* RPI_TEST_ACS_BOARD == 1 */ #endif /* RPI_TEST_ACS_BOARD == 1 */
sif::info << "Tasks started.." << std::endl;
} }

15
bsp_linux_board/InitMission.h
View File

@ -1,9 +1,24 @@
#ifndef BSP_LINUX_INITMISSION_H_ #ifndef BSP_LINUX_INITMISSION_H_
#define BSP_LINUX_INITMISSION_H_ #define BSP_LINUX_INITMISSION_H_
#include "fsfw/tasks/Typedef.h"
#include <vector>
class PeriodicTaskIF;
class TaskFactory;
namespace initmission { namespace initmission {
void initMission(); void initMission();
void initTasks(); void initTasks();
void createPstTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*> &taskVec);
void createTestTasks(TaskFactory& factory,
TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*> &taskVec);
void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec);
}; };
#endif /* BSP_LINUX_INITMISSION_H_ */ #endif /* BSP_LINUX_INITMISSION_H_ */

127
bsp_linux_board/ObjectFactory.cpp
View File

@ -14,9 +14,6 @@
#include "mission/core/GenericFactory.h" #include "mission/core/GenericFactory.h"
#include "mission/utility/TmFunnel.h" #include "mission/utility/TmFunnel.h"
#include <mission/devices/GPSHyperionHandler.h> #include <mission/devices/GPSHyperionHandler.h>
#include <mission/devices/MgmLIS3MDLHandler.h>
#include "mission/devices/MGMHandlerRM3100.h"
#include "mission/devices/GyroADIS16507Handler.h" #include "mission/devices/GyroADIS16507Handler.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h" #include "fsfw/datapoollocal/LocalDataPoolManager.h"
@ -34,6 +31,8 @@
#include "fsfw/osal/common/UdpTcPollingTask.h" #include "fsfw/osal/common/UdpTcPollingTask.h"
#endif #endif
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h" #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h" #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/rpi/GpioRPi.h" #include "fsfw_hal/linux/rpi/GpioRPi.h"
@ -82,7 +81,84 @@ void ObjectFactory::produce(void* args){
SpiCookie* spiCookie = nullptr; SpiCookie* spiCookie = nullptr;
static_cast<void>(spiCookie); static_cast<void>(spiCookie);
#if OBSW_ADD_ACS_BOARD == 1
if(gpioCookie == nullptr) {
gpioCookie = new GpioCookie();
}
// TODO: Missing pin for Gyro 2
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
"MGM_0_LIS3", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
"MGM_1_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
"MGM_2_LIS3", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
"MGM_3_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
"GYRO_1_L3G", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
"GYRO_2_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN,
"GYRO_3_L3G", gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookie);
spiDev = "/dev/spidev0.1";
spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
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, 0);
mgmLis3Handler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
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, 0);
mgmRm3100Handler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie);
adisHandler->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, 0);
gyroL3gHandler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie, 0);
gyroL3gHandler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
adisHandler = new GyroADIS16507Handler(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie);
gyroL3gHandler->setStartUpImmediately();
#endif /* RPI_TEST_ACS_BOARD == 1 */
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
createTestTasks();
#endif /* OBSW_ADD_TEST_CODE == 1 */
}
void ObjectFactory::createTestTasks() {
new TestTask(objects::TEST_TASK); new TestTask(objects::TEST_TASK);
#if RPI_ADD_SPI_TEST == 1 #if RPI_ADD_SPI_TEST == 1
@ -109,48 +185,6 @@ void ObjectFactory::produce(void* args){
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback); new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */ #endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
#if RPI_TEST_ACS_BOARD == 1
if(gpioCookie == nullptr) {
gpioCookie = new GpioCookie();
}
// TODO: Missing pin for Gyro 2
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
"MGM_0_LIS3", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
"MGM_1_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
"MGM_2_LIS3", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
"MGM_3_RM3100", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
"GYRO_1_L3G", gpio::Direction::OUT, 1);
gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_2_BCM_PIN,
"GYRO_2_L3G", gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookie);
spiDev = "/dev/spidev0.0";
spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmLis3Handler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmRm3100Handler->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();
#endif /* RPI_TEST_ACS_BOARD == 1 */
#if RPI_TEST_ADIS16507 == 1 #if RPI_TEST_ADIS16507 == 1
if(gpioCookie == nullptr) { if(gpioCookie == nullptr) {
gpioCookie = new GpioCookie(); gpioCookie = new GpioCookie();
@ -159,7 +193,7 @@ void ObjectFactory::produce(void* args){
"GYRO_0_ADIS", gpio::Direction::OUT, 1); "GYRO_0_ADIS", gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookie); gpioIF->addGpios(gpioCookie);
spiDev = "/dev/spidev0.0"; spiDev = "/dev/spidev0.1";
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev, spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED, ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
nullptr, nullptr); nullptr, nullptr);
@ -177,5 +211,4 @@ void ObjectFactory::produce(void* args){
gpsHandler->setStartUpImmediately(); gpsHandler->setStartUpImmediately();
#endif #endif
#endif /* OBSW_ADD_TEST_CODE == 1 */
} }

2
bsp_linux_board/ObjectFactory.h
View File

@ -5,6 +5,8 @@
namespace ObjectFactory { namespace ObjectFactory {
void setStatics(); void setStatics();
void produce(void* args); void produce(void* args);
void createTestTasks();
}; };
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */ #endif /* BSP_LINUX_OBJECTFACTORY_H_ */

7
bsp_q7s/boardconfig/busConf.h
View File

@ -28,10 +28,12 @@ static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 2; // AA22
/** OBC1F B0 */ /** OBC1F B0 */
/**************************************************************/ /**************************************************************/
static constexpr char GPIO_FLEX_OBC1F_B0[] = "/amba_pl/gpio@42030000"; static constexpr char GPIO_FLEX_OBC1F_B0[] = "/amba_pl/gpio@42030000";
static constexpr uint32_t GPIO_FLEX_OBC1F_B0_WIDTH = 20;
static const char* const GPIO_ACS_BOARD_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0; static const char* const GPIO_ACS_BOARD_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
static const char* const GPIO_RW_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0; static const char* const GPIO_RW_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
static const char* const GPIO_RAD_SENSOR_LABEL = GPIO_FLEX_OBC1F_B0; static const char* const GPIO_RAD_SENSOR_LABEL = GPIO_FLEX_OBC1F_B0;
static constexpr uint32_t GPIO_RW_0_CS = 7; // B20 static constexpr uint32_t GPIO_RW_0_CS = 7; // B20
static constexpr uint32_t GPIO_RW_1_CS = 3; // G22 static constexpr uint32_t GPIO_RW_1_CS = 3; // G22
static constexpr uint32_t GPIO_RW_2_CS = 11; // E18 static constexpr uint32_t GPIO_RW_2_CS = 11; // E18
@ -56,7 +58,10 @@ static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19; // R18
/** OBC1F B1 */ /** OBC1F B1 */
/**************************************************************/ /**************************************************************/
static constexpr char GPIO_FLEX_OBC1F_B1[] = "/amba_pl/gpio@42030000"; static constexpr char GPIO_FLEX_OBC1F_B1[] = "/amba_pl/gpio@42030000";
static const char* const GPIO_MGM2_LIS3_LABEL = GPIO_FLEX_OBC1F_B1; // Need to use chip name here for now because the label name is the name for
// gpiochip 5 and gpiochip6
static constexpr char GPIO_FLEX_OBC1F_B1_CHIP[] = "gpiochip6";
static const char* const GPIO_MGM2_LIS3_LABEL = GPIO_FLEX_OBC1F_B1_CHIP;
static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0; // D18 static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0; // D18
/**************************************************************/ /**************************************************************/

1
bsp_q7s/boardconfig/q7sConfig.h.in
View File

@ -28,7 +28,6 @@
// Probably better if this is disabled for mission code. Convenient for development // Probably better if this is disabled for mission code. Convenient for development
#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1 #define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1
#define Q7S_ADD_RTD_DEVICES 0
#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0 #define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0

132
bsp_q7s/core/ObjectFactory.cpp
View File

@ -129,13 +129,13 @@ void ObjectFactory::produce(void* args) {
#endif /* OBSW_ADD_ACS_BOARD == 1 */ #endif /* OBSW_ADD_ACS_BOARD == 1 */
createHeaterComponents(); createHeaterComponents();
createSolarArrayDeploymentComponents(); createSolarArrayDeploymentComponents();
#if Q7S_ADD_SYRLINKS_HANDLER == 1 #if OBSW_ADD_SYRLINKS == 1
createSyrlinksComponents(); createSyrlinksComponents();
#endif /* Q7S_ADD_SYRLINKS_HANDLER == 1 */ #endif /* OBSW_ADD_SYRLINKS == 1 */
#if Q7S_ADD_RTD_DEVICES == 1 #if OBSW_ADD_RTD_DEVICES == 1
createRtdComponents(); createRtdComponents();
#endif /* Q7S_ADD_RTD_DEVICES == 1 */ #endif /* OBSW_ADD_RTD_DEVICES == 1 */
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
q7s::I2C_DEFAULT_DEV); q7s::I2C_DEFAULT_DEV);
@ -265,8 +265,8 @@ void ObjectFactory::createPcduComponents() {
void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) { void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookieRadSensor = new GpioCookie; GpioCookie* gpioCookieRadSensor = new GpioCookie;
GpiodRegular* chipSelectRadSensor = new GpiodRegular("Chip Select Radiation Sensor", gpio::OUT, auto chipSelectRadSensor = new GpiodRegularByLabel(q7s::GPIO_RAD_SENSOR_LABEL,
1, q7s::GPIO_RAD_SENSOR_LABEL, q7s::GPIO_RAD_SENSOR_CS); q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, gpio::HIGH);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor); gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
gpioComIF->addGpios(gpioCookieRadSensor); gpioComIF->addGpios(gpioCookieRadSensor);
@ -392,47 +392,47 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComI
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) { void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
GpioCookie* gpioCookieAcsBoard = new GpioCookie(); GpioCookie* gpioCookieAcsBoard = new GpioCookie();
GpiodRegular* gpio = nullptr; GpiodRegularByLabel* gpio = nullptr;
gpio = new GpiodRegular("CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL, gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, q7s::GPIO_GYRO_0_ADIS_CS,
q7s::GPIO_GYRO_0_ADIS_CS); "CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegular("CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH, gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_1_L3G_CS,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_1_L3G_CS); "CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegular("CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL, gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, q7s::GPIO_GYRO_2_ADIS_CS,
q7s::GPIO_GYRO_2_ADIS_CS); "CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
gpio = new GpiodRegular("CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH, gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_3_L3G_CS,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_3_L3G_CS); "CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
gpio = new GpiodRegular("CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH, gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_0_LIS3_CS,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_0_LIS3_CS); "CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegular("CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH, gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_1_RM3100_CS,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_1_RM3100_CS); "CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegular("CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH, q7s::GPIO_MGM2_LIS3_LABEL, auto gpioChip = new GpiodRegularByChip(q7s::GPIO_MGM2_LIS3_LABEL, q7s::GPIO_MGM_2_LIS3_CS,
q7s::GPIO_MGM_2_LIS3_CS); "CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpioChip);
gpio = new GpiodRegular("CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH, gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_3_RM3100_CS,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_3_RM3100_CS); "CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
// GNSS reset pins are active low // GNSS reset pins are active low
gpio = new GpiodRegular("GNSS_0_NRESET", gpio::OUT, gpio::HIGH, gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_0,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_0); "GNSS_0_NRESET", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
gpio = new GpiodRegular("GNSS_1_NRESET", gpio::OUT, gpio::HIGH, gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_1,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_1); "GNSS_1_NRESET", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
// Enable pins must be pulled low for regular operations // Enable pins must be pulled low for regular operations
gpio = new GpiodRegular("GYRO_0_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_FLEX_OBC1F_B0, gpio = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
q7s::GPIO_GYRO_0_ENABLE); "GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
gpio = new GpiodRegular("GYRO_2_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_3V3_OBC1C, gpio = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
q7s::GPIO_GYRO_2_ENABLE); "GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
// TODO: Add enable pins for GPS as soon as new interface board design is finished // TODO: Add enable pins for GPS as soon as new interface board design is finished
@ -542,37 +542,37 @@ void ObjectFactory::createHeaterComponents() {
GpioCookie* heaterGpiosCookie = new GpioCookie; GpioCookie* heaterGpiosCookie = new GpioCookie;
/* Pin H2-11 on stack connector */ /* Pin H2-11 on stack connector */
GpiodRegular* gpioConfigHeater0 = new GpiodRegular("Heater0", gpio::OUT, 0, auto gpioConfigHeater0 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_0_PIN,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_0_PIN); "Heater0", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0); heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
/* Pin H2-12 on stack connector */ /* Pin H2-12 on stack connector */
GpiodRegular* gpioConfigHeater1 = new GpiodRegular("Heater1", gpio::OUT, 0, auto gpioConfigHeater1 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_1_PIN,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_1_PIN); "Heater1", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1); heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
/* Pin H2-13 on stack connector */ /* Pin H2-13 on stack connector */
GpiodRegular* gpioConfigHeater2 = new GpiodRegular("Heater2", gpio::OUT, 0, auto gpioConfigHeater2 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_2_PIN,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_2_PIN); "Heater2", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2); heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
GpiodRegular* gpioConfigHeater3 = new GpiodRegular("Heater3", gpio::OUT, 0, auto gpioConfigHeater3 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_3_PIN,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_3_PIN); "Heater3", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3); heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
GpiodRegular* gpioConfigHeater4 = new GpiodRegular("Heater4", gpio::OUT, 0, auto gpioConfigHeater4 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_4_PIN,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_4_PIN); "Heater4", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4); heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
GpiodRegular* gpioConfigHeater5 = new GpiodRegular("Heater5", gpio::OUT, 0, auto gpioConfigHeater5 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_5_PIN,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_5_PIN); "Heater5", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5); heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
GpiodRegular* gpioConfigHeater6 = new GpiodRegular("Heater6", gpio::OUT, 0, auto gpioConfigHeater6 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_6_PIN,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_6_PIN); "Heater6", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6); heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
GpiodRegular* gpioConfigHeater7 = new GpiodRegular("Heater7", gpio::OUT, 0, auto gpioConfigHeater7 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_7_PIN,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_7_PIN); "Heater7", gpio::OUT, gpio::LOW);
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7); heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@ -582,11 +582,11 @@ void ObjectFactory::createHeaterComponents() {
void ObjectFactory::createSolarArrayDeploymentComponents() { void ObjectFactory::createSolarArrayDeploymentComponents() {
GpioCookie* solarArrayDeplCookie = new GpioCookie; GpioCookie* solarArrayDeplCookie = new GpioCookie;
GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular("DeplSA0", gpio::OUT, 0, auto gpioConfigDeplSA0 = new GpiodRegularByLabel(q7s::GPIO_SOLAR_ARR_DEPL_LABEL,
q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_0_PIN); q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, gpio::LOW);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0); solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular("DeplSA1", gpio::OUT, 0, auto gpioConfigDeplSA1 = new GpiodRegularByLabel(q7s::GPIO_SOLAR_ARR_DEPL_LABEL,
q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_1_PIN); q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, gpio::LOW);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1); solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);
//TODO: Find out burn time. For now set to 1000 ms. //TODO: Find out burn time. For now set to 1000 ms.
@ -766,17 +766,25 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
&gpioCallbacks::spiCsDecoderCallback, gpioComIF); &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4); gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0, // GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0,
q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS); // q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS);
// gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
// GpiodRegular* enRw2 = new GpiodRegular("Enable reaction wheel 2", gpio::OUT, 0,
// q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS);
// gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
// GpiodRegular* enRw3 = new GpiodRegular(, gpio::OUT, 0,
// q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS);
auto enRw1 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS,
"Enable reaction wheel 1", gpio::OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1); gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
GpiodRegular* enRw2 = new GpiodRegular("Enable reaction wheel 2", gpio::OUT, 0, auto enRw2 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS,
q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS); "Enable reaction wheel 2", gpio::OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2); gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
GpiodRegular* enRw3 = new GpiodRegular("Enable reaction wheel 3", gpio::OUT, 0, auto enRw3 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS,
q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS); "Enable reaction wheel 3", gpio::OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3); gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
GpiodRegular* enRw4 = new GpiodRegular("Enable reaction wheel 4", gpio::OUT, 0, auto enRw4 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_3_CS,
q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_3_CS); "Enable reaction wheel 4", gpio::OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4); gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
/** /**
@ -784,8 +792,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
* the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core. * 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). * Per default the PS SPI is selected (EMIO = 0).
*/ */
GpiodRegular* spiMux = new GpiodRegular("EMIO 0 SPI Mux", gpio::OUT, 0, auto spiMux = new GpiodRegularByLabel(q7s::GPIO_RW_SPI_MUX_LABEL,
q7s::GPIO_RW_SPI_MUX_LABEL, q7s::GPIO_RW_SPI_MUX_CS); q7s::GPIO_RW_SPI_MUX_CS, "EMIO 0 SPI Mux", gpio::OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux); gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
gpioComIF->addGpios(gpioCookieRw); gpioComIF->addGpios(gpioCookieRw);

41
bsp_q7s/gpio/gpioCallbacks.cpp
View File

@ -24,30 +24,31 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
GpioCookie* spiMuxGpios = new GpioCookie; GpioCookie* spiMuxGpios = new GpioCookie;
GpiodRegularByLabel* spiMuxBit = nullptr;
/** Setting mux bit 1 to low will disable IC21 on the interface board */ /** Setting mux bit 1 to low will disable IC21 on the interface board */
GpiodRegular* spiMuxBit1 = new GpiodRegular(std::string("SPI Mux Bit 1"), gpio::OUT, 0, spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_1,
q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_1); "SPI Mux Bit 1", gpio::OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit1); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
/** Setting mux bit 2 to low disables IC1 on the TCS board */ /** Setting mux bit 2 to low disables IC1 on the TCS board */
GpiodRegular* spiMuxBit2 = new GpiodRegular(std::string("SPI Mux Bit 2"), gpio::OUT, 0, spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_2,
q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_2); "SPI Mux Bit 2", gpio::OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit2); 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 */ /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
GpiodRegular* spiMuxBit3 = new GpiodRegular(std::string("SPI Mux Bit 3"), gpio::OUT, 0, spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_3,
q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_3); "SPI Mux Bit 3", gpio::OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit3); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
/** The following gpios can take arbitrary initial values */ /** The following gpios can take arbitrary initial values */
GpiodRegular* spiMuxBit4 = new GpiodRegular(std::string("SPI Mux Bit 4"), gpio::OUT, 0, spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_4,
q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_4); "SPI Mux Bit 4", gpio::OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit4); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
GpiodRegular* spiMuxBit5 = new GpiodRegular(std::string("SPI Mux Bit 5"), gpio::OUT, 0, spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_5,
q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_5); "SPI Mux Bit 5", gpio::OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit5); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("SPI Mux Bit 6"), gpio::OUT, 0, spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_6,
q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_6); "SPI Mux Bit 6", gpio::OUT, gpio::LOW);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
GpiodRegular* enRwDecoder = new GpiodRegular(std::string("EN_RW_CS"), gpio::OUT, 1, GpiodRegularByLabel* enRwDecoder = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B1,
q7s::GPIO_FLEX_OBC1F_B1, q7s::EN_RW_CS); q7s::EN_RW_CS, "EN_RW_CS", gpio::OUT, gpio::HIGH);
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder); spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
result = gpioComInterface->addGpios(spiMuxGpios); result = gpioComInterface->addGpios(spiMuxGpios);

4
common/config/OBSWVersion.h
View File

@ -4,7 +4,7 @@
const char* const SW_NAME = "eive"; const char* const SW_NAME = "eive";
#define SW_VERSION 1 #define SW_VERSION 1
#define SW_SUBVERSION 6 #define SW_SUBVERSION 7
#define SW_REVISION 1 #define SW_REVISION 0
#endif /* COMMON_CONFIG_OBSWVERSION_H_ */ #endif /* COMMON_CONFIG_OBSWVERSION_H_ */

2
fsfw

@ -1 +1 @@
Subproject commit 70a3749dbe2cf7d23c685b0e3b3ce350a7c9db05 Subproject commit 5c56eda61077e3aef00d32133c5546987b476e8c

3
linux/archive/gpio/LinuxLibgpioIF.cpp
View File

@ -10,6 +10,9 @@
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) { LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
struct gpiod_chip* chip = gpiod_chip_open_by_label("/amba_pl/gpio@42030000");
sif::debug << chip->name << std::endl;
} }
LinuxLibgpioIF::~LinuxLibgpioIF() { LinuxLibgpioIF::~LinuxLibgpioIF() {

4
linux/archive/gpio/LinuxLibgpioIF.h
View File

@ -47,9 +47,9 @@ private:
* @param gpioId The GPIO ID of the GPIO to drive. * @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1. * @param logiclevel The logic level to set. O or 1.
*/ */
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel); ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, unsigned int logiclevel);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio); ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio);
/** /**
* @brief This function checks if GPIOs are already registered and whether * @brief This function checks if GPIOs are already registered and whether

67
linux/boardtest/SpiTestClass.cpp
View File

@ -206,7 +206,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
/* Configure all SPI chip selects and pull them high */ /* Configure all SPI chip selects and pull them high */
acsInit(); acsInit();
l3gId = gyro3L3gd20ChipSelect; l3gId = gyro1L3gd20ChipSelect;
/* Adapt accordingly */ /* Adapt accordingly */
if(l3gId != gyro1L3gd20ChipSelect and l3gId != gyro3L3gd20ChipSelect) { if(l3gId != gyro1L3gd20ChipSelect and l3gId != gyro3L3gd20ChipSelect) {
@ -298,72 +298,73 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
void SpiTestClass::acsInit() { void SpiTestClass::acsInit() {
GpioCookie* gpioCookie = new GpioCookie(); GpioCookie* gpioCookie = new GpioCookie();
GpiodRegular* gpio = nullptr;
#ifdef RASPBERRY_PI #ifdef RASPBERRY_PI
GpiodRegularByChip* gpio = nullptr;
std::string rpiGpioName = "gpiochip0"; std::string rpiGpioName = "gpiochip0";
gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3", gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
gpio::Direction::OUT, 1); gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100", gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
gpio::Direction::OUT, 1); gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS", gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
gpio::Direction::OUT, 1); gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G", gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
gpio::Direction::OUT, 1); gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G", gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G",
gpio::Direction::OUT, 1); gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3", gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
gpio::Direction::OUT, 1); gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100", gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
gpio::Direction::OUT, 1); gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
#elif defined(XIPHOS_Q7S) #elif defined(XIPHOS_Q7S)
GpiodRegularByLabel* gpio = nullptr;
gpio = new GpiodRegular("MGM_0_LIS3", gpio::Direction::OUT, gpio::HIGH, gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm0Lis3mdlChipSelect,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm0Lis3mdlChipSelect); "MGM_0_LIS3", gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegular("MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH, gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm1Rm3100ChipSelect,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm1Rm3100ChipSelect); "MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegular("MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_MGM2_LIS3_LABEL, gpio = new GpiodRegularByLabel(q7s::GPIO_MGM2_LIS3_LABEL, mgm2Lis3mdlChipSelect,
mgm2Lis3mdlChipSelect); "MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegular("MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH, gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm3Rm3100ChipSelect,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm3Rm3100ChipSelect); "MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
gpio = new GpiodRegular("GYRO_0_ADIS", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL, gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, gyro0AdisChipSelect,
gyro0AdisChipSelect); "GYRO_0_ADIS", gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegular("GYRO_1_L3G", gpio::Direction::OUT, gpio::HIGH, gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro1L3gd20ChipSelect,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro1L3gd20ChipSelect); "GYRO_1_L3G", gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegular("GYRO_2_ADIS", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL, gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, gyro2AdisChipSelect, "GYRO_2_ADIS",
gyro2AdisChipSelect); gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
gpio = new GpiodRegular("GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH, gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro3L3gd20ChipSelect,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro3L3gd20ChipSelect); "GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
// Enable pins must be pulled low for regular operations // Enable pins must be pulled low for regular operations
gpio = new GpiodRegular("GYRO_0_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_FLEX_OBC1F_B0, gpio = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
q7s::GPIO_GYRO_0_ENABLE); "GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio); gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
gpio = new GpiodRegular("GYRO_2_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_3V3_OBC1C, gpio = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
q7s::GPIO_GYRO_2_ENABLE); "GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio); gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
#endif #endif
if (gpioIF != nullptr) { if (gpioIF != nullptr) {
gpioIF->addGpios(gpioCookie); gpioIF->addGpios(gpioCookie);
} }

16
linux/boardtest/SpiTestClass.h
View File

@ -45,13 +45,15 @@ private:
/* ACS board specific variables */ /* ACS board specific variables */
#ifdef RASPBERRY_PI #ifdef RASPBERRY_PI
uint8_t mgm0Lis3mdlChipSelect = 0; uint8_t mgm0Lis3mdlChipSelect = gpio::MGM_0_BCM_PIN;
uint8_t mgm1Rm3100ChipSelect = 1; uint8_t mgm1Rm3100ChipSelect = gpio::MGM_1_BCM_PIN;
uint8_t gyro0AdisChipSelect = 5; uint8_t mgm2Lis3mdlChipSelect = gpio::MGM_2_BCM_PIN;
uint8_t gyro1L3gd20ChipSelect = 6; uint8_t mgm3Rm3100ChipSelect = gpio::MGM_3_BCM_PIN;
uint8_t gyro2L3gd20ChipSelect = 4;
uint8_t mgm2Lis3mdlChipSelect = 17; uint8_t gyro0AdisChipSelect = gpio::GYRO_0_BCM_PIN;
uint8_t mgm3Rm3100ChipSelect = 27; uint8_t gyro1L3gd20ChipSelect = gpio::GYRO_1_BCM_PIN;
uint8_t gyro2AdisChipSelect = gpio::GYRO_2_BCM_PIN;
uint8_t gyro3L3gd20ChipSelect = gpio::GYRO_3_BCM_PIN;
#elif defined(XIPHOS_Q7S) #elif defined(XIPHOS_Q7S)
uint8_t mgm0Lis3mdlChipSelect = q7s::GPIO_MGM_0_LIS3_CS; uint8_t mgm0Lis3mdlChipSelect = q7s::GPIO_MGM_0_LIS3_CS;
uint8_t mgm1Rm3100ChipSelect = q7s::GPIO_MGM_1_RM3100_CS; uint8_t mgm1Rm3100ChipSelect = q7s::GPIO_MGM_1_RM3100_CS;

25
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -31,6 +31,8 @@ debugging. */
//! Timers can mess up the code when debugging //! Timers can mess up the code when debugging
//! All of this should be enabled for mission code! //! All of this should be enabled for mission code!
#if defined XIPHOS_Q7S
#define OBSW_ENABLE_TIMERS 1 #define OBSW_ENABLE_TIMERS 1
#define OBSW_ADD_STAR_TRACKER 0 #define OBSW_ADD_STAR_TRACKER 0
#define OBSW_ADD_PLOC_SUPERVISOR 0 #define OBSW_ADD_PLOC_SUPERVISOR 0
@ -39,6 +41,29 @@ debugging. */
#define OBSW_ADD_ACS_BOARD 0 #define OBSW_ADD_ACS_BOARD 0
#define OBSW_ADD_GPS_0 0 #define OBSW_ADD_GPS_0 0
#define OBSW_ADD_GPS_1 0 #define OBSW_ADD_GPS_1 0
#define OBSW_ADD_RW 0
#define OBSW_ADD_RTD_DEVICES 0
#define OBSW_ADD_TMP_DEVICES 0
#define OBSW_ADD_RAD_SENSORS 0
#define OBSW_ADD_SYRLINKS 0
#elif defined RASPBERRY_PI
#define OBSW_ENABLE_TIMERS 1
#define OBSW_ADD_STAR_TRACKER 0
#define OBSW_ADD_PLOC_SUPERVISOR 0
#define OBSW_ADD_PLOC_MPSOC 0
#define OBSW_ADD_SUN_SENSORS 0
#define OBSW_ADD_ACS_BOARD 0
#define OBSW_ADD_GPS_0 0
#define OBSW_ADD_GPS_1 0
#define OBSW_ADD_RW 0
#define OBSW_ADD_RTD_DEVICES 0
#define OBSW_ADD_TMP_DEVICES 0
#define OBSW_ADD_RAD_SENSORS 0
#define OBSW_ADD_SYRLINKS 0
#endif
/*******************************************************************/ /*******************************************************************/
/** All of the following flags should be disabled for mission code */ /** All of the following flags should be disabled for mission code */

217
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -28,12 +28,14 @@ ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence)
ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs(); uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0, thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
#if Q7S_ADD_RTD_DEVICES == 1 #endif
#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RTD_IC3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_IC4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RTD_IC4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_IC5, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RTD_IC5, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@ -50,11 +52,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RTD_IC16, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RTD_IC16, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_IC17, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RTD_IC17, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RTD_IC18, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RTD_IC18, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
#endif /* Q7S_ADD_RTD_DEVICES */ #endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#if Q7S_ADD_RTD_DEVICES == 1 #endif
#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RTD_IC3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC4, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RTD_IC4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC5, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RTD_IC5, length * 0.2, DeviceHandlerIF::SEND_WRITE);
@ -71,11 +75,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RTD_IC16, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RTD_IC16, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC17, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RTD_IC17, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RTD_IC18, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RTD_IC18, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#endif /* Q7S_ADD_RTD_DEVICES */ #endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
#if Q7S_ADD_RTD_DEVICES == 1 #endif
#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RTD_IC3, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_IC4, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RTD_IC4, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_IC5, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RTD_IC5, length * 0.4, DeviceHandlerIF::GET_WRITE);
@ -92,11 +98,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RTD_IC16, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RTD_IC16, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_IC17, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RTD_IC17, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RTD_IC18, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RTD_IC18, length * 0.4, DeviceHandlerIF::GET_WRITE);
#endif /* Q7S_ADD_RTD_DEVICES */ #endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
#if Q7S_ADD_RTD_DEVICES == 1 #endif
#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RTD_IC3, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_IC4, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RTD_IC4, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_IC5, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RTD_IC5, length * 0.6, DeviceHandlerIF::SEND_READ);
@ -113,11 +121,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RTD_IC16, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RTD_IC16, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_IC17, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RTD_IC17, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RTD_IC18, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RTD_IC18, length * 0.6, DeviceHandlerIF::SEND_READ);
#endif /* Q7S_ADD_RTD_DEVICES */ #endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_TMP_DEVICES == 1
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
#if Q7S_ADD_RTD_DEVICES == 1 #endif
#if OBSW_ADD_RTD_DEVICES == 1
thisSequence->addSlot(objects::RTD_IC3, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RTD_IC3, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_IC4, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RTD_IC4, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_IC5, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RTD_IC5, length * 0.8, DeviceHandlerIF::GET_READ);
@ -134,14 +144,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RTD_IC16, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RTD_IC16, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_IC17, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RTD_IC17, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RTD_IC18, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RTD_IC18, length * 0.8, DeviceHandlerIF::GET_READ);
#endif /* Q7S_ADD_RTD_DEVICES */ #endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_RAD_SENSORS == 1
/* Radiation sensor */ /* Radiation sensor */
thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION); 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 * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_SUN_SENSORS == 1 #if OBSW_ADD_SUN_SENSORS == 1
/** /**
@ -400,6 +412,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
#endif #endif
#if OBSW_ADD_RW == 1
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RW1, length * 0.4, DeviceHandlerIF::GET_WRITE);
@ -408,69 +421,70 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RW2, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RW2, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RW3, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RW3, length * 0.85, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RW4, length * 0.7, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::RW4, length * 0.85, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_ACS_BOARD == 1 #if OBSW_ADD_ACS_BOARD == 1
bool enableAside = false; bool enableAside = true;
bool enableBside = true; bool enableBside = false;
if(enableAside) { if(enableAside) {
// A side // A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0, thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2, thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, 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); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8, thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, // thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
// DeviceHandlerIF::PERFORM_OPERATION); // DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2, // thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3,
// DeviceHandlerIF::SEND_WRITE); // DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4, // thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
// DeviceHandlerIF::GET_WRITE); // DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, // thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75,
// DeviceHandlerIF::SEND_READ); // DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8, // thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85,
// DeviceHandlerIF::GET_READ); // DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2, thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.35,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4, thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8, thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
} }
@ -480,44 +494,44 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2, thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, 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); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8, thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0, thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2, thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, 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); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8, thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, // thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
// DeviceHandlerIF::PERFORM_OPERATION); // DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.2, // thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.3,
// DeviceHandlerIF::SEND_WRITE); // DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.4, // thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
// DeviceHandlerIF::GET_WRITE); // DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, // thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.75,
// DeviceHandlerIF::SEND_READ); // DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.8, // thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85,
// DeviceHandlerIF::GET_READ); // DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2, thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.35,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, 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); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8, thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
} }
#endif /* OBSW_ADD_ACS_BOARD == 1 */ #endif /* OBSW_ADD_ACS_BOARD == 1 */
@ -580,7 +594,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
#endif #endif
#if Q7S_ADD_SYRLINKS_HANDLER == 1 #if OBSW_ADD_SYRLINKS == 1
uartPstEmpty = false; uartPstEmpty = false;
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
@ -708,77 +722,6 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
/* Length of a communication cycle */ /* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs(); uint32_t length = thisSequence->getPeriodMs();
bool notEmpty = false; bool notEmpty = false;
#if OBSW_ADD_ACS_BOARD == 1
notEmpty = true;
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
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 * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#endif
#if RPI_TEST_ADIS16507 == 1 #if RPI_TEST_ADIS16507 == 1
notEmpty = true; notEmpty = true;