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:
commit
b81ff7f8f5
@ -36,6 +36,7 @@ void initmission::initMission() {
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void initmission::initTasks() {
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TaskFactory* factory = TaskFactory::instance();
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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if(factory == nullptr) {
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/* Should never happen ! */
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return;
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@ -46,11 +47,11 @@ void initmission::initTasks() {
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void (*missedDeadlineFunc) (void) = nullptr;
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#endif
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/* TMTC Distribution */
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PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
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"DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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ReturnValue_t result = tmTcDistributor->addComponent(
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objects::CCSDS_PACKET_DISTRIBUTOR);
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result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
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if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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@ -78,21 +79,70 @@ void initmission::initTasks() {
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}
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/* PUS Services */
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PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
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std::vector<PeriodicTaskIF*> pusTasks;
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createPstTasks(*factory, missedDeadlineFunc, pusTasks);
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std::vector<PeriodicTaskIF*> pstTasks;
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createPstTasks(*factory, missedDeadlineFunc, pstTasks);
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#if OBSW_ADD_TEST_CODE == 1
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std::vector<PeriodicTaskIF*> testTasks;
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createTestTasks(*factory, missedDeadlineFunc, pstTasks);
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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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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taskStarter(pusTasks, "PUS Tasks");
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#if OBSW_ADD_TEST_CODE == 1
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taskStarter(testTasks, "Test Tasks");
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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taskStarter(pstTasks, "PST Tasks");
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#if OBSW_ADD_TEST_PST == 1
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if(startTestPst) {
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pstTestTask->startTask();
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}
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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sif::info << "Tasks started.." << std::endl;
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}
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void initmission::createPusTasks(TaskFactory& factory,
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TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*>& taskVec) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
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"PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
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if(result != HasReturnvaluesIF::RETURN_OK){
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sif::error << "Object add component failed" << std::endl;
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}
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taskVec.push_back(pusVerification);
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PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
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PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
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"PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
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result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
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initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
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}
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result = pusEvents->addComponent(objects::EVENT_MANAGER);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
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}
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taskVec.push_back(pusEvents);
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PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
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PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
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"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
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result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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@ -102,8 +152,9 @@ void initmission::initTasks() {
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
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}
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taskVec.push_back(pusHighPrio);
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PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
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PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
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"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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@ -121,8 +172,9 @@ void initmission::initTasks() {
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
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}
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taskVec.push_back(pusMedPrio);
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PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
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PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
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"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
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result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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@ -133,26 +185,34 @@ void initmission::initTasks() {
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initmission::printAddObjectError("INT_ERR_RPRT",
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objects::INTERNAL_ERROR_REPORTER);
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}
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bool startTestPst = true;
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#if OBSW_ADD_TEST_PST == 1
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FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
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PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
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result = pst::pstTest(pstTestTask);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
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startTestPst = false;
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taskVec.push_back(pusLowPrio);
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}
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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PeriodicTaskIF* testTask = factory->createPeriodicTask(
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void initmission::createPstTasks(TaskFactory& factory,
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TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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#if OBSW_ADD_SPI_TEST_CODE == 0
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FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
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"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
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missedDeadlineFunc);
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result = pst::pstSpi(spiPst);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
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}
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taskVec.push_back(spiPst);
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#endif
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}
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void initmission::createTestTasks(TaskFactory& factory,
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TaskDeadlineMissedFunction missedDeadlineFunc,
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std::vector<PeriodicTaskIF*> &taskVec) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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PeriodicTaskIF* testTask = factory.createPeriodicTask(
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"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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#if OBSW_ADD_TEST_CODE == 1
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result = testTask->addComponent(objects::TEST_TASK);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
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}
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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#if RPI_ADD_SPI_TEST == 1
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result = testTask->addComponent(objects::SPI_TEST);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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@ -172,25 +232,16 @@ void initmission::initTasks() {
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}
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#endif /* RPI_ADD_GPIO_TEST == 1 */
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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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pusVerification->startTask();
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pusEvents->startTask();
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pusHighPrio->startTask();
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pusMedPrio->startTask();
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pusLowPrio->startTask();
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#if OBSW_ADD_TEST_CODE == 1
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testTask->startTask();
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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bool startTestPst = true;
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static_cast<void>(startTestPst);
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#if OBSW_ADD_TEST_PST == 1
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if(startTestPst) {
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pstTestTask->startTask();
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FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
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PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
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result = pst::pstTest(pstTestTask);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
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startTestPst = false;
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}
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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sif::info << "Tasks started.." << std::endl;
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}
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@ -1,9 +1,24 @@
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#ifndef BSP_LINUX_INITMISSION_H_
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#define BSP_LINUX_INITMISSION_H_
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#include "fsfw/tasks/Typedef.h"
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#include <vector>
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class PeriodicTaskIF;
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class TaskFactory;
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namespace initmission {
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void initMission();
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void initTasks();
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void createPstTasks(TaskFactory& factory,
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TaskDeadlineMissedFunction missedDeadlineFunc,
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std::vector<PeriodicTaskIF*> &taskVec);
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void createTestTasks(TaskFactory& factory,
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TaskDeadlineMissedFunction missedDeadlineFunc,
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std::vector<PeriodicTaskIF*> &taskVec);
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void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
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std::vector<PeriodicTaskIF*>& taskVec);
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};
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#endif /* BSP_LINUX_INITMISSION_H_ */
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@ -14,9 +14,6 @@
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#include "mission/core/GenericFactory.h"
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#include "mission/utility/TmFunnel.h"
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#include <mission/devices/GPSHyperionHandler.h>
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#include <mission/devices/MgmLIS3MDLHandler.h>
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#include "mission/devices/MGMHandlerRM3100.h"
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#include "mission/devices/GyroADIS16507Handler.h"
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#include "fsfw/datapoollocal/LocalDataPoolManager.h"
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@ -34,6 +31,8 @@
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#include "fsfw/osal/common/UdpTcPollingTask.h"
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#endif
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#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
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#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
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#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
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#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
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#include "fsfw_hal/linux/rpi/GpioRPi.h"
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@ -82,7 +81,84 @@ void ObjectFactory::produce(void* args){
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SpiCookie* spiCookie = nullptr;
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static_cast<void>(spiCookie);
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#if OBSW_ADD_ACS_BOARD == 1
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if(gpioCookie == nullptr) {
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gpioCookie = new GpioCookie();
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}
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// TODO: Missing pin for Gyro 2
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
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"MGM_0_LIS3", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
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"MGM_1_RM3100", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
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"MGM_2_LIS3", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
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"MGM_3_RM3100", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
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"GYRO_0_ADIS", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
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"GYRO_1_L3G", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
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"GYRO_2_ADIS", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN,
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"GYRO_3_L3G", gpio::Direction::OUT, 1);
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gpioIF->addGpios(gpioCookie);
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spiDev = "/dev/spidev0.1";
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spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
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MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
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auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
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objects::SPI_COM_IF, spiCookie, 0);
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mgmLis3Handler->setStartUpImmediately();
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spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
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RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
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auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
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objects::SPI_COM_IF, spiCookie, 0);
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mgmRm3100Handler->setStartUpImmediately();
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spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
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MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
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mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
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objects::SPI_COM_IF, spiCookie, 0);
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mgmLis3Handler->setStartUpImmediately();
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spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
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RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
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mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
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objects::SPI_COM_IF, spiCookie, 0);
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mgmRm3100Handler->setStartUpImmediately();
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spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
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L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
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spiCookie);
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adisHandler->setStartUpImmediately();
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spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
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L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
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spiCookie, 0);
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gyroL3gHandler->setStartUpImmediately();
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spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
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L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
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spiCookie, 0);
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||||
gyroL3gHandler->setStartUpImmediately();
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||||
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
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||||
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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adisHandler = new GyroADIS16507Handler(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
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spiCookie);
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||||
gyroL3gHandler->setStartUpImmediately();
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||||
|
||||
#endif /* RPI_TEST_ACS_BOARD == 1 */
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||||
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
createTestTasks();
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||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
}
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||||
|
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void ObjectFactory::createTestTasks() {
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||||
|
||||
new TestTask(objects::TEST_TASK);
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|
||||
#if RPI_ADD_SPI_TEST == 1
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@ -109,48 +185,6 @@ void ObjectFactory::produce(void* args){
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new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
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#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
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#if RPI_TEST_ACS_BOARD == 1
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if(gpioCookie == nullptr) {
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gpioCookie = new GpioCookie();
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||||
}
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||||
// 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);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
|
||||
"MGM_1_RM3100", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
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||||
"MGM_2_LIS3", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
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||||
"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(gpioCookie == nullptr) {
|
||||
gpioCookie = new GpioCookie();
|
||||
@ -159,7 +193,7 @@ void ObjectFactory::produce(void* args){
|
||||
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
|
||||
gpioIF->addGpios(gpioCookie);
|
||||
|
||||
spiDev = "/dev/spidev0.0";
|
||||
spiDev = "/dev/spidev0.1";
|
||||
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,
|
||||
nullptr, nullptr);
|
||||
@ -177,5 +211,4 @@ void ObjectFactory::produce(void* args){
|
||||
gpsHandler->setStartUpImmediately();
|
||||
#endif
|
||||
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
}
|
||||
|
@ -5,6 +5,8 @@
|
||||
namespace ObjectFactory {
|
||||
void setStatics();
|
||||
void produce(void* args);
|
||||
|
||||
void createTestTasks();
|
||||
};
|
||||
|
||||
#endif /* BSP_LINUX_OBJECTFACTORY_H_ */
|
||||
|
@ -28,10 +28,12 @@ static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 2; // AA22
|
||||
/** OBC1F B0 */
|
||||
/**************************************************************/
|
||||
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_RW_DEFAULT_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_1_CS = 3; // G22
|
||||
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 */
|
||||
/**************************************************************/
|
||||
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
|
||||
|
||||
/**************************************************************/
|
||||
|
@ -28,7 +28,6 @@
|
||||
|
||||
// Probably better if this is disabled for mission code. Convenient for development
|
||||
#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1
|
||||
#define Q7S_ADD_RTD_DEVICES 0
|
||||
|
||||
#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
|
||||
|
||||
|
@ -129,13 +129,13 @@ void ObjectFactory::produce(void* args) {
|
||||
#endif /* OBSW_ADD_ACS_BOARD == 1 */
|
||||
createHeaterComponents();
|
||||
createSolarArrayDeploymentComponents();
|
||||
#if Q7S_ADD_SYRLINKS_HANDLER == 1
|
||||
#if OBSW_ADD_SYRLINKS == 1
|
||||
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();
|
||||
#endif /* Q7S_ADD_RTD_DEVICES == 1 */
|
||||
#endif /* OBSW_ADD_RTD_DEVICES == 1 */
|
||||
|
||||
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
|
||||
q7s::I2C_DEFAULT_DEV);
|
||||
@ -265,8 +265,8 @@ void ObjectFactory::createPcduComponents() {
|
||||
|
||||
void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
|
||||
GpioCookie* gpioCookieRadSensor = new GpioCookie;
|
||||
GpiodRegular* chipSelectRadSensor = new GpiodRegular("Chip Select Radiation Sensor", gpio::OUT,
|
||||
1, q7s::GPIO_RAD_SENSOR_LABEL, q7s::GPIO_RAD_SENSOR_CS);
|
||||
auto chipSelectRadSensor = new GpiodRegularByLabel(q7s::GPIO_RAD_SENSOR_LABEL,
|
||||
q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, gpio::HIGH);
|
||||
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
|
||||
gpioComIF->addGpios(gpioCookieRadSensor);
|
||||
|
||||
@ -392,47 +392,47 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComI
|
||||
|
||||
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
|
||||
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
|
||||
GpiodRegular* gpio = nullptr;
|
||||
gpio = new GpiodRegular("CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
|
||||
q7s::GPIO_GYRO_0_ADIS_CS);
|
||||
GpiodRegularByLabel* gpio = nullptr;
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, q7s::GPIO_GYRO_0_ADIS_CS,
|
||||
"CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
|
||||
gpio = new GpiodRegular("CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH,
|
||||
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_1_L3G_CS);
|
||||
gpio = new GpiodRegularByLabel(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);
|
||||
gpio = new GpiodRegular("CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
|
||||
q7s::GPIO_GYRO_2_ADIS_CS);
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, q7s::GPIO_GYRO_2_ADIS_CS,
|
||||
"CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
|
||||
gpio = new GpiodRegular("CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH,
|
||||
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_3_L3G_CS);
|
||||
gpio = new GpiodRegularByLabel(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);
|
||||
|
||||
gpio = new GpiodRegular("CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH,
|
||||
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_0_LIS3_CS);
|
||||
gpio = new GpiodRegularByLabel(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);
|
||||
gpio = new GpiodRegular("CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH,
|
||||
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_1_RM3100_CS);
|
||||
gpio = new GpiodRegularByLabel(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);
|
||||
gpio = new GpiodRegular("CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH, q7s::GPIO_MGM2_LIS3_LABEL,
|
||||
q7s::GPIO_MGM_2_LIS3_CS);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
|
||||
gpio = new GpiodRegular("CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH,
|
||||
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_3_RM3100_CS);
|
||||
auto gpioChip = new GpiodRegularByChip(q7s::GPIO_MGM2_LIS3_LABEL, q7s::GPIO_MGM_2_LIS3_CS,
|
||||
"CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpioChip);
|
||||
gpio = new GpiodRegularByLabel(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);
|
||||
|
||||
// GNSS reset pins are active low
|
||||
gpio = new GpiodRegular("GNSS_0_NRESET", gpio::OUT, gpio::HIGH,
|
||||
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_0);
|
||||
gpio = new GpiodRegularByLabel(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);
|
||||
gpio = new GpiodRegular("GNSS_1_NRESET", gpio::OUT, gpio::HIGH,
|
||||
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_1);
|
||||
gpio = new GpiodRegularByLabel(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);
|
||||
|
||||
// Enable pins must be pulled low for regular operations
|
||||
gpio = new GpiodRegular("GYRO_0_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_FLEX_OBC1F_B0,
|
||||
q7s::GPIO_GYRO_0_ENABLE);
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
|
||||
"GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
|
||||
gpio = new GpiodRegular("GYRO_2_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_3V3_OBC1C,
|
||||
q7s::GPIO_GYRO_2_ENABLE);
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
|
||||
"GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
|
||||
|
||||
// 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;
|
||||
|
||||
/* Pin H2-11 on stack connector */
|
||||
GpiodRegular* gpioConfigHeater0 = new GpiodRegular("Heater0", gpio::OUT, 0,
|
||||
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_0_PIN);
|
||||
auto gpioConfigHeater0 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_0_PIN,
|
||||
"Heater0", gpio::OUT, gpio::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
|
||||
/* Pin H2-12 on stack connector */
|
||||
GpiodRegular* gpioConfigHeater1 = new GpiodRegular("Heater1", gpio::OUT, 0,
|
||||
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_1_PIN);
|
||||
auto gpioConfigHeater1 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_1_PIN,
|
||||
"Heater1", gpio::OUT, gpio::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
|
||||
|
||||
/* Pin H2-13 on stack connector */
|
||||
GpiodRegular* gpioConfigHeater2 = new GpiodRegular("Heater2", gpio::OUT, 0,
|
||||
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_2_PIN);
|
||||
auto gpioConfigHeater2 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_2_PIN,
|
||||
"Heater2", gpio::OUT, gpio::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
|
||||
|
||||
GpiodRegular* gpioConfigHeater3 = new GpiodRegular("Heater3", gpio::OUT, 0,
|
||||
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_3_PIN);
|
||||
auto gpioConfigHeater3 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_3_PIN,
|
||||
"Heater3", gpio::OUT, gpio::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
|
||||
|
||||
GpiodRegular* gpioConfigHeater4 = new GpiodRegular("Heater4", gpio::OUT, 0,
|
||||
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_4_PIN);
|
||||
auto gpioConfigHeater4 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_4_PIN,
|
||||
"Heater4", gpio::OUT, gpio::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
|
||||
|
||||
GpiodRegular* gpioConfigHeater5 = new GpiodRegular("Heater5", gpio::OUT, 0,
|
||||
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_5_PIN);
|
||||
auto gpioConfigHeater5 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_5_PIN,
|
||||
"Heater5", gpio::OUT, gpio::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
|
||||
|
||||
GpiodRegular* gpioConfigHeater6 = new GpiodRegular("Heater6", gpio::OUT, 0,
|
||||
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_6_PIN);
|
||||
auto gpioConfigHeater6 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_6_PIN,
|
||||
"Heater6", gpio::OUT, gpio::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
|
||||
|
||||
GpiodRegular* gpioConfigHeater7 = new GpiodRegular("Heater7", gpio::OUT, 0,
|
||||
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_7_PIN);
|
||||
auto gpioConfigHeater7 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_7_PIN,
|
||||
"Heater7", gpio::OUT, gpio::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
|
||||
|
||||
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
|
||||
@ -582,11 +582,11 @@ void ObjectFactory::createHeaterComponents() {
|
||||
void ObjectFactory::createSolarArrayDeploymentComponents() {
|
||||
GpioCookie* solarArrayDeplCookie = new GpioCookie;
|
||||
|
||||
GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular("DeplSA0", gpio::OUT, 0,
|
||||
q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_0_PIN);
|
||||
auto gpioConfigDeplSA0 = new GpiodRegularByLabel(q7s::GPIO_SOLAR_ARR_DEPL_LABEL,
|
||||
q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, gpio::LOW);
|
||||
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
|
||||
GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular("DeplSA1", gpio::OUT, 0,
|
||||
q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_1_PIN);
|
||||
auto gpioConfigDeplSA1 = new GpiodRegularByLabel(q7s::GPIO_SOLAR_ARR_DEPL_LABEL,
|
||||
q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, gpio::LOW);
|
||||
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);
|
||||
|
||||
//TODO: Find out burn time. For now set to 1000 ms.
|
||||
@ -766,17 +766,25 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
|
||||
|
||||
GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0,
|
||||
q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS);
|
||||
// GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0,
|
||||
// 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);
|
||||
GpiodRegular* enRw2 = new GpiodRegular("Enable reaction wheel 2", gpio::OUT, 0,
|
||||
q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS);
|
||||
auto enRw2 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS,
|
||||
"Enable reaction wheel 2", gpio::OUT, gpio::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
|
||||
GpiodRegular* enRw3 = new GpiodRegular("Enable reaction wheel 3", gpio::OUT, 0,
|
||||
q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS);
|
||||
auto enRw3 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS,
|
||||
"Enable reaction wheel 3", gpio::OUT, gpio::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
|
||||
GpiodRegular* enRw4 = new GpiodRegular("Enable reaction wheel 4", gpio::OUT, 0,
|
||||
q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_3_CS);
|
||||
auto enRw4 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_3_CS,
|
||||
"Enable reaction wheel 4", gpio::OUT, gpio::LOW);
|
||||
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.
|
||||
* Per default the PS SPI is selected (EMIO = 0).
|
||||
*/
|
||||
GpiodRegular* spiMux = new GpiodRegular("EMIO 0 SPI Mux", gpio::OUT, 0,
|
||||
q7s::GPIO_RW_SPI_MUX_LABEL, q7s::GPIO_RW_SPI_MUX_CS);
|
||||
auto spiMux = new GpiodRegularByLabel(q7s::GPIO_RW_SPI_MUX_LABEL,
|
||||
q7s::GPIO_RW_SPI_MUX_CS, "EMIO 0 SPI Mux", gpio::OUT, gpio::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
|
||||
|
||||
gpioComIF->addGpios(gpioCookieRw);
|
||||
|
@ -24,30 +24,31 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
|
||||
|
||||
GpioCookie* spiMuxGpios = new GpioCookie;
|
||||
|
||||
GpiodRegularByLabel* spiMuxBit = nullptr;
|
||||
/** 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,
|
||||
q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_1);
|
||||
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit1);
|
||||
spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_1,
|
||||
"SPI Mux Bit 1", gpio::OUT, gpio::LOW);
|
||||
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
|
||||
/** Setting mux bit 2 to low disables IC1 on the TCS board */
|
||||
GpiodRegular* spiMuxBit2 = new GpiodRegular(std::string("SPI Mux Bit 2"), gpio::OUT, 0,
|
||||
q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_2);
|
||||
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit2);
|
||||
spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_2,
|
||||
"SPI Mux Bit 2", gpio::OUT, gpio::LOW);
|
||||
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 */
|
||||
GpiodRegular* spiMuxBit3 = new GpiodRegular(std::string("SPI Mux Bit 3"), gpio::OUT, 0,
|
||||
q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_3);
|
||||
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit3);
|
||||
spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_3,
|
||||
"SPI Mux Bit 3", gpio::OUT, gpio::LOW);
|
||||
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
|
||||
/** The following gpios can take arbitrary initial values */
|
||||
GpiodRegular* spiMuxBit4 = new GpiodRegular(std::string("SPI Mux Bit 4"), gpio::OUT, 0,
|
||||
q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_4);
|
||||
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit4);
|
||||
GpiodRegular* spiMuxBit5 = new GpiodRegular(std::string("SPI Mux Bit 5"), gpio::OUT, 0,
|
||||
q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_5);
|
||||
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit5);
|
||||
GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("SPI Mux Bit 6"), gpio::OUT, 0,
|
||||
q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_6);
|
||||
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6);
|
||||
GpiodRegular* enRwDecoder = new GpiodRegular(std::string("EN_RW_CS"), gpio::OUT, 1,
|
||||
q7s::GPIO_FLEX_OBC1F_B1, q7s::EN_RW_CS);
|
||||
spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_4,
|
||||
"SPI Mux Bit 4", gpio::OUT, gpio::LOW);
|
||||
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
|
||||
spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_5,
|
||||
"SPI Mux Bit 5", gpio::OUT, gpio::LOW);
|
||||
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
|
||||
spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_6,
|
||||
"SPI Mux Bit 6", gpio::OUT, gpio::LOW);
|
||||
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
|
||||
GpiodRegularByLabel* enRwDecoder = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B1,
|
||||
q7s::EN_RW_CS, "EN_RW_CS", gpio::OUT, gpio::HIGH);
|
||||
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
|
||||
|
||||
result = gpioComInterface->addGpios(spiMuxGpios);
|
||||
|
@ -4,7 +4,7 @@
|
||||
const char* const SW_NAME = "eive";
|
||||
|
||||
#define SW_VERSION 1
|
||||
#define SW_SUBVERSION 6
|
||||
#define SW_REVISION 1
|
||||
#define SW_SUBVERSION 7
|
||||
#define SW_REVISION 0
|
||||
|
||||
#endif /* COMMON_CONFIG_OBSWVERSION_H_ */
|
||||
|
2
fsfw
2
fsfw
@ -1 +1 @@
|
||||
Subproject commit 70a3749dbe2cf7d23c685b0e3b3ce350a7c9db05
|
||||
Subproject commit 5c56eda61077e3aef00d32133c5546987b476e8c
|
@ -10,6 +10,9 @@
|
||||
|
||||
|
||||
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() {
|
||||
|
@ -47,9 +47,9 @@ private:
|
||||
* @param gpioId The GPIO ID of the GPIO to drive.
|
||||
* @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
|
||||
|
@ -206,7 +206,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
|
||||
/* Configure all SPI chip selects and pull them high */
|
||||
acsInit();
|
||||
|
||||
l3gId = gyro3L3gd20ChipSelect;
|
||||
l3gId = gyro1L3gd20ChipSelect;
|
||||
|
||||
/* Adapt accordingly */
|
||||
if(l3gId != gyro1L3gd20ChipSelect and l3gId != gyro3L3gd20ChipSelect) {
|
||||
@ -298,70 +298,71 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
|
||||
|
||||
void SpiTestClass::acsInit() {
|
||||
GpioCookie* gpioCookie = new GpioCookie();
|
||||
GpiodRegular* gpio = nullptr;
|
||||
|
||||
#ifdef RASPBERRY_PI
|
||||
GpiodRegularByChip* gpio = nullptr;
|
||||
std::string rpiGpioName = "gpiochip0";
|
||||
gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
|
||||
gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
|
||||
gpio::Direction::OUT, 1);
|
||||
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);
|
||||
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);
|
||||
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);
|
||||
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);
|
||||
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);
|
||||
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);
|
||||
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
|
||||
#elif defined(XIPHOS_Q7S)
|
||||
|
||||
gpio = new GpiodRegular("MGM_0_LIS3", gpio::Direction::OUT, gpio::HIGH,
|
||||
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm0Lis3mdlChipSelect);
|
||||
GpiodRegularByLabel* gpio = nullptr;
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm0Lis3mdlChipSelect,
|
||||
"MGM_0_LIS3", gpio::Direction::OUT, gpio::HIGH);
|
||||
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
|
||||
gpio = new GpiodRegular("MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH,
|
||||
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm1Rm3100ChipSelect);
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm1Rm3100ChipSelect,
|
||||
"MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH);
|
||||
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
|
||||
gpio = new GpiodRegular("MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_MGM2_LIS3_LABEL,
|
||||
mgm2Lis3mdlChipSelect);
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_MGM2_LIS3_LABEL, mgm2Lis3mdlChipSelect,
|
||||
"MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH);
|
||||
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
|
||||
gpio = new GpiodRegular("MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH,
|
||||
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm3Rm3100ChipSelect);
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm3Rm3100ChipSelect,
|
||||
"MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH);
|
||||
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
|
||||
|
||||
gpio = new GpiodRegular("GYRO_0_ADIS", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
|
||||
gyro0AdisChipSelect);
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, gyro0AdisChipSelect,
|
||||
"GYRO_0_ADIS", gpio::Direction::OUT, gpio::HIGH);
|
||||
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
|
||||
gpio = new GpiodRegular("GYRO_1_L3G", gpio::Direction::OUT, gpio::HIGH,
|
||||
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro1L3gd20ChipSelect);
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro1L3gd20ChipSelect,
|
||||
"GYRO_1_L3G", gpio::Direction::OUT, gpio::HIGH);
|
||||
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
|
||||
gpio = new GpiodRegular("GYRO_2_ADIS", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
|
||||
gyro2AdisChipSelect);
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, gyro2AdisChipSelect, "GYRO_2_ADIS",
|
||||
gpio::Direction::OUT, gpio::HIGH);
|
||||
gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
|
||||
gpio = new GpiodRegular("GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH,
|
||||
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro3L3gd20ChipSelect);
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro3L3gd20ChipSelect,
|
||||
"GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH);
|
||||
gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
|
||||
|
||||
// Enable pins must be pulled low for regular operations
|
||||
gpio = new GpiodRegular("GYRO_0_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_FLEX_OBC1F_B0,
|
||||
q7s::GPIO_GYRO_0_ENABLE);
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
|
||||
"GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
|
||||
gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
|
||||
gpio = new GpiodRegular("GYRO_2_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_3V3_OBC1C,
|
||||
q7s::GPIO_GYRO_2_ENABLE);
|
||||
gpio = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
|
||||
"GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
|
||||
gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
|
||||
#endif
|
||||
if (gpioIF != nullptr) {
|
||||
|
@ -45,13 +45,15 @@ private:
|
||||
|
||||
/* ACS board specific variables */
|
||||
#ifdef RASPBERRY_PI
|
||||
uint8_t mgm0Lis3mdlChipSelect = 0;
|
||||
uint8_t mgm1Rm3100ChipSelect = 1;
|
||||
uint8_t gyro0AdisChipSelect = 5;
|
||||
uint8_t gyro1L3gd20ChipSelect = 6;
|
||||
uint8_t gyro2L3gd20ChipSelect = 4;
|
||||
uint8_t mgm2Lis3mdlChipSelect = 17;
|
||||
uint8_t mgm3Rm3100ChipSelect = 27;
|
||||
uint8_t mgm0Lis3mdlChipSelect = gpio::MGM_0_BCM_PIN;
|
||||
uint8_t mgm1Rm3100ChipSelect = gpio::MGM_1_BCM_PIN;
|
||||
uint8_t mgm2Lis3mdlChipSelect = gpio::MGM_2_BCM_PIN;
|
||||
uint8_t mgm3Rm3100ChipSelect = gpio::MGM_3_BCM_PIN;
|
||||
|
||||
uint8_t gyro0AdisChipSelect = gpio::GYRO_0_BCM_PIN;
|
||||
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)
|
||||
uint8_t mgm0Lis3mdlChipSelect = q7s::GPIO_MGM_0_LIS3_CS;
|
||||
uint8_t mgm1Rm3100ChipSelect = q7s::GPIO_MGM_1_RM3100_CS;
|
||||
|
@ -31,6 +31,8 @@ debugging. */
|
||||
|
||||
//! Timers can mess up the code when debugging
|
||||
//! All of this should be enabled for mission code!
|
||||
#if defined XIPHOS_Q7S
|
||||
|
||||
#define OBSW_ENABLE_TIMERS 1
|
||||
#define OBSW_ADD_STAR_TRACKER 0
|
||||
#define OBSW_ADD_PLOC_SUPERVISOR 0
|
||||
@ -39,6 +41,29 @@ debugging. */
|
||||
#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
|
||||
|
||||
#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 */
|
||||
|
@ -28,12 +28,14 @@ ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence)
|
||||
|
||||
ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
|
||||
static_cast<void>(length);
|
||||
#if OBSW_ADD_TMP_DEVICES == 1
|
||||
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
|
||||
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_IC4, 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_IC17, 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_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_IC4, 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_IC17, 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_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_IC4, 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_IC17, 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_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_IC4, 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_IC17, 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_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_IC4, 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_IC17, 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 */
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
|
||||
#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);
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_RW == 1
|
||||
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW1, length * 0.4, 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 * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW2, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW2, length * 0.7, DeviceHandlerIF::SEND_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 * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW3, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW3, length * 0.7, DeviceHandlerIF::SEND_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 * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.7, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RW4, length * 0.85, DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
bool enableAside = false;
|
||||
bool enableBside = true;
|
||||
bool enableAside = true;
|
||||
bool enableBside = false;
|
||||
if(enableAside) {
|
||||
// A side
|
||||
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::GET_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7,
|
||||
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);
|
||||
|
||||
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
|
||||
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);
|
||||
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
|
||||
DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
|
||||
DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.75,
|
||||
DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
|
||||
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85,
|
||||
DeviceHandlerIF::GET_READ);
|
||||
|
||||
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
|
||||
// DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2,
|
||||
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3,
|
||||
// DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4,
|
||||
// DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
|
||||
// DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75,
|
||||
// DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8,
|
||||
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85,
|
||||
// DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
|
||||
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);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
|
||||
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);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85,
|
||||
DeviceHandlerIF::GET_READ);
|
||||
}
|
||||
|
||||
@ -480,44 +494,44 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
|
||||
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::GET_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7,
|
||||
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);
|
||||
|
||||
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
|
||||
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);
|
||||
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
|
||||
DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
|
||||
DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.75,
|
||||
DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
|
||||
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85,
|
||||
DeviceHandlerIF::GET_READ);
|
||||
|
||||
// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
|
||||
// DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.2,
|
||||
// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.3,
|
||||
// DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.4,
|
||||
// DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
|
||||
// DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.75,
|
||||
// DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.8,
|
||||
// thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85,
|
||||
// DeviceHandlerIF::GET_READ);
|
||||
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.35,
|
||||
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::GET_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75,
|
||||
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);
|
||||
}
|
||||
#endif /* OBSW_ADD_ACS_BOARD == 1 */
|
||||
@ -580,7 +594,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
|
||||
DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
|
||||
#if Q7S_ADD_SYRLINKS_HANDLER == 1
|
||||
#if OBSW_ADD_SYRLINKS == 1
|
||||
uartPstEmpty = false;
|
||||
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
@ -708,77 +722,6 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
|
||||
/* Length of a communication cycle */
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
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
|
||||
notEmpty = true;
|
||||
|
Loading…
Reference in New Issue
Block a user