diff --git a/bsp_linux_board/InitMission.cpp b/bsp_linux_board/InitMission.cpp
index 531f9d47..154797dc 100644
--- a/bsp_linux_board/InitMission.cpp
+++ b/bsp_linux_board/InitMission.cpp
@@ -125,10 +125,10 @@ void initmission::initTasks() {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
-#if RPI_TEST_ACS_BOARD == 1
- FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
+#if OBSW_ADD_TEST_PST == 1
+ FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
- result = pst::pollingSequenceAcsTest(acsTask);
+ result = pst::pollingSequenceTest(pstTestTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
}
@@ -170,8 +170,8 @@ void initmission::initTasks() {
testTask->startTask();
#endif /* OBSW_ADD_TEST_CODE == 1 */
-#if RPI_TEST_ACS_BOARD == 1
- acsTask->startTask();
+#if OBSW_ADD_TEST_PST == 1
+ pstTestTask->startTask();
#endif /* RPI_TEST_ACS_BOARD == 1 */
sif::info << "Tasks started.." << std::endl;
}
diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp
index 6c195b38..04dd6f18 100644
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@@ -6,7 +6,7 @@
#include "OBSWConfig.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
-#include "devices/spi.h"
+#include "spiConf.h"
#include <linux/boardtest/LibgpiodTest.h>
#include <linux/boardtest/SpiTestClass.h>
@@ -16,6 +16,7 @@
#include <mission/utility/TmFunnel.h>
#include <mission/devices/MGMHandlerLIS3MDL.h>
#include <mission/devices/MGMHandlerRM3100.h>
+#include <mission/devices/GyroADIS16507Handler.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
@@ -120,4 +121,13 @@ void ObjectFactory::produce(){
gyroL3gHandler->setStartUpImmediately();
#endif /* RPI_TEST_ACS_BOARD == 1 */
+
+#if RPI_TEST_ADIS16507 == 1
+ std::string spiDev = "/dev/spidev0.0";
+ SpiCookie* 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);
+ auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
+ adisGyroHandler->setStartUpImmediately();
+#endif /* RPI_TEST_ADIS16507 == 1 */
}
diff --git a/bsp_linux_board/boardconfig/rpi_config.h b/bsp_linux_board/boardconfig/rpi_config.h
index a9f4fd9f..31d6c157 100644
--- a/bsp_linux_board/boardconfig/rpi_config.h
+++ b/bsp_linux_board/boardconfig/rpi_config.h
@@ -6,6 +6,8 @@
#define RPI_ADD_GPIO_TEST 0
#define RPI_LOOPBACK_TEST_GPIO 0
+#define RPI_TEST_ADIS16507 1
+
/* Only one of those 2 should be enabled! */
#define RPI_ADD_SPI_TEST 0
#define RPI_TEST_ACS_BOARD 0
diff --git a/linux/fsfwconfig/devices/spi.h b/common/config/spiConf.h
similarity index 77%
rename from linux/fsfwconfig/devices/spi.h
rename to common/config/spiConf.h
index eb17786b..2632924d 100644
--- a/linux/fsfwconfig/devices/spi.h
+++ b/common/config/spiConf.h
@@ -1,5 +1,5 @@
-#ifndef FSFWCONFIG_DEVICES_SPI_H_
-#define FSFWCONFIG_DEVICES_SPI_H_
+#ifndef COMMON_CONFIG_SPICONF_H_
+#define COMMON_CONFIG_SPICONF_H_
#include <cstdint>
#include <fsfw_hal/linux/spi/spiDefinitions.h>
@@ -23,8 +23,9 @@ static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;
static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
+static constexpr uint32_t DEFAULT_ADIS16507_SPEED = 976'000;
+static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
+
}
-
-
-#endif /* FSFWCONFIG_DEVICES_SPI_H_ */
+#endif /* COMMON_CONFIG_SPICONF_H_ */
diff --git a/fsfw_hal b/fsfw_hal
index 2fe1a668..d801319c 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit 2fe1a6683606eddb76aa810f88e5cf5d8cea94e5
+Subproject commit d801319c12713d08cbdbc571ee2a922ce2f0c851
diff --git a/linux/fsfwconfig/OBSWConfig.h b/linux/fsfwconfig/OBSWConfig.h
index 9426d01b..88040233 100644
--- a/linux/fsfwconfig/OBSWConfig.h
+++ b/linux/fsfwconfig/OBSWConfig.h
@@ -19,6 +19,8 @@ debugging. */
#define OBSW_VERBOSE_LEVEL 1
#define OBSW_PRINT_MISSED_DEADLINES 1
#define OBSW_ADD_TEST_CODE 1
+#define OBSW_ADD_TEST_PST 1
+
#define TEST_LIBGPIOD 0
#define TEST_RADIATION_SENSOR_HANDLER 1
#define TEST_SUS_HANDLER 1
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index a8c7312b..64ffb4e1 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -471,28 +471,38 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ);
+ if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
+ sif::error << "Initialization of GomSpace PST failed" << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
+ }
+ return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) {
+ /* Length of a communication cycle */
+ uint32_t length = thisSequence->getPeriodMs();
#if OBSW_ADD_ACS_BOARD == 1
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_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_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);
@@ -519,18 +529,18 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0,
- DeviceHandlerIF::PERFORM_OPERATION);
- thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.2,
- DeviceHandlerIF::SEND_WRITE);
- thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.4,
- DeviceHandlerIF::GET_WRITE);
- thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.6,
- DeviceHandlerIF::SEND_READ);
- thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.8,
- DeviceHandlerIF::GET_READ);
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.2,
+ DeviceHandlerIF::SEND_WRITE);
+ thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.4,
+ DeviceHandlerIF::GET_WRITE);
+ thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.6,
+ DeviceHandlerIF::SEND_READ);
+ thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.8,
+ DeviceHandlerIF::GET_READ);
- thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
+ 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);
@@ -540,14 +550,23 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
-
#endif
- if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
- sif::error << "Initialization of GomSpace PST failed" << std::endl;
- return HasReturnvaluesIF::RETURN_FAILED;
+#if RPI_TEST_ADIS16507 == 1
+ thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
+ DeviceHandlerIF::PERFORM_OPERATION);
+ thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2, 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::SEND_READ);
+ thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+#endif
+
+ if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+ return HasReturnvaluesIF::RETURN_OK;
}
- return HasReturnvaluesIF::RETURN_OK;
+
+ sif::error << "PollingSequence::initialize has errors!" << std::endl;
+ return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
index 73cdc0bb..e05f96aa 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
@@ -34,7 +34,7 @@ ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
*/
ReturnValue_t gomspacePstInit(FixedTimeslotTaskIF *thisSequence);
-ReturnValue_t pollingSequenceAcsTest(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pollingSequenceTest(FixedTimeslotTaskIF* thisSequence);
/**
* @brief This polling sequence will be created when the software is compiled for the TE0720.
diff --git a/mission/devices/GyroADIS16507Handler.cpp b/mission/devices/GyroADIS16507Handler.cpp
index 7fb92ce6..8e0ca077 100644
--- a/mission/devices/GyroADIS16507Handler.cpp
+++ b/mission/devices/GyroADIS16507Handler.cpp
@@ -6,6 +6,12 @@ GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
}
void GyroADIS16507Handler::doStartUp() {
+ if(internalState == InternalState::STARTUP) {
+ if(commandExecuted) {
+ commandExecuted = false;
+ internalState = InternalState::IDLE;
+ }
+ }
}
void GyroADIS16507Handler::doShutDown() {
@@ -39,3 +45,7 @@ ReturnValue_t GyroADIS16507Handler::interpretDeviceReply(DeviceCommandId_t id,
void GyroADIS16507Handler::setNormalDatapoolEntriesInvalid() {
}
+
+uint32_t GyroADIS16507Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+ return 5000;
+}
diff --git a/mission/devices/GyroADIS16507Handler.h b/mission/devices/GyroADIS16507Handler.h
index 1245a5a2..f03c49fb 100644
--- a/mission/devices/GyroADIS16507Handler.h
+++ b/mission/devices/GyroADIS16507Handler.h
@@ -2,6 +2,7 @@
#define MISSION_DEVICES_GYROADIS16507HANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include "devicedefinitions/GyroADIS16507Definitions.h"
class GyroADIS16507Handler: public DeviceHandlerBase {
public:
@@ -20,8 +21,17 @@ public:
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
void setNormalDatapoolEntriesInvalid() override;
+ uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
private:
+
+ enum class InternalState {
+ STARTUP,
+ IDLE
+ };
+
+ InternalState internalState = InternalState::STARTUP;
+ bool commandExecuted = false;
};
diff --git a/mission/devices/devicedefinitions/GyroADIS16507Definitions.h b/mission/devices/devicedefinitions/GyroADIS16507Definitions.h
index da791b75..311fd8bc 100644
--- a/mission/devices/devicedefinitions/GyroADIS16507Definitions.h
+++ b/mission/devices/devicedefinitions/GyroADIS16507Definitions.h
@@ -1,8 +1,11 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
+#include <cstddef>
+
namespace ADIS16507 {
+static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
}
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_ */