fixed conflicts

bsp_q7s/boardconfig/busConf.h

@@ -3,16 +3,16 @@
 
 namespace q7s {
 
-static constexpr char SPI_DEFAULT_DEV[] = "/dev/spidev2.0";
-static constexpr char SPI_RW_DEV[] = "/dev/spidev3.0";
+static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
+static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
 
-static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-0";
+static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";
 
-static constexpr char UART_GNSS_DEV[] = "/dev/ttyUL0";
-static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL2";
-static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL3";
-static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL4";
-static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL7";
+static constexpr char UART_GNSS_DEV[] = "/dev/ul-gps";
+static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul-plmpsoc";
+static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul-plsv";
+static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul-syrlinks";
+static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul-str";
 
 static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
 static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
@@ -43,6 +43,7 @@ static constexpr char GNSS_0_ENABLE[] = "enable_gnss_0";
 static constexpr char GNSS_1_ENABLE[] = "enable_gnss_1";
 static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
 static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
+static constexpr char GNSS_SELECT[] = "gnss_mux_select";
 static constexpr char HEATER_0[] = "heater0";
 static constexpr char HEATER_1[] = "heater1";
 static constexpr char HEATER_2[] = "heater2";

bsp_q7s/core/InitMission.cpp

@@ -248,6 +248,8 @@ void initmission::createPstTasks(TaskFactory& factory,
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
   }
   taskVec.push_back(gpioPst);
+
+#if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
       "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstI2c(i2cPst);
@@ -255,6 +257,7 @@ void initmission::createPstTasks(TaskFactory& factory,
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
   }
   taskVec.push_back(i2cPst);
+#endif
 
   FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
       "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
@@ -263,7 +266,7 @@ void initmission::createPstTasks(TaskFactory& factory,
     sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
   }
   taskVec.push_back(gomSpacePstTask);
-#else /* BOARD_TE7020 == 0 */
+#else  /* BOARD_TE7020 == 0 */
   FixedTimeslotTaskIF* pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
       "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc);
   result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
@@ -347,7 +350,7 @@ void initmission::createPusTasks(TaskFactory& factory,
 void initmission::createTestTasks(TaskFactory& factory,
                                   TaskDeadlineMissedFunction missedDeadlineFunc,
                                   std::vector<PeriodicTaskIF*>& taskVec) {
-#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || \
+#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || OBSW_ADD_I2C_TEST_CODE == 1 || \
     (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 #endif
@@ -366,6 +369,12 @@ void initmission::createTestTasks(TaskFactory& factory,
     initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
   }
 #endif
+#if OBSW_ADD_I2C_TEST_CODE == 1
+  result = testTask->addComponent(objects::I2C_TEST);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("I2C_TEST", objects::I2C_TEST);
+  }
+#endif
 #if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
   result = testTask->addComponent(objects::LIBGPIOD_TEST);
   if (result != HasReturnvaluesIF::RETURN_OK) {

bsp_q7s/core/ObjectFactory.cpp

@@ -1,5 +1,7 @@
 #include "ObjectFactory.h"
 
+#include <linux/boardtest/I2cTestClass.h>
+
 #include <sstream>
 
 #include "OBSWConfig.h"
@@ -45,6 +47,7 @@
 #include "linux/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/ACUHandler.h"
+#include "mission/devices/BpxBatteryHandler.h"
 #include "mission/devices/GPSHyperionLinuxController.h"
 #include "mission/devices/GyroADIS1650XHandler.h"
 #include "mission/devices/HeaterHandler.h"
@@ -117,7 +120,8 @@ void ObjectFactory::produce(void* args) {
   LinuxLibgpioIF* gpioComIF = nullptr;
   UartComIF* uartComIF = nullptr;
   SpiComIF* spiComIF = nullptr;
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF);
+  I2cComIF* i2cComIF = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
   createTmpComponents();
 #if BOARD_TE0720 == 0
   new CoreController(objects::CORE_CONTROLLER);
@@ -144,6 +148,7 @@ void ObjectFactory::produce(void* args) {
   I2cCookie* imtqI2cCookie =
       new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
   auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
+  static_cast<void>(imtqHandler);
 #if OBSW_DEBUG_IMTQ == 1
   imtqHandler->setToGoToNormal(true);
   imtqHandler->setStartUpImmediately();
@@ -153,6 +158,18 @@ void ObjectFactory::produce(void* args) {
 #endif
   createReactionWheelComponents(gpioComIF);
 
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
+  BpxBatteryHandler* bpxHandler =
+      new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
+#if OBSW_TEST_BPX_BATT == 1
+  bpxHandler->setToGoToNormalMode(true);
+  bpxHandler->setStartUpImmediately();
+#else
+  static_cast<void>(bpxHandler);
+#endif
+#endif
+
 #if OBSW_ADD_PLOC_MPSOC == 1
   UartCookie* plocMpsocCookie =
       new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
@@ -222,7 +239,7 @@ void ObjectFactory::createTmpComponents() {
 }
 
 void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                                  SpiComIF** spiComIF) {
+                                                  SpiComIF** spiComIF, I2cComIF** i2cComIF) {
   if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
     sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                << std::endl;
@@ -231,7 +248,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
 
   /* Communication interfaces */
   new CspComIF(objects::CSP_COM_IF);
-  new I2cComIF(objects::I2C_COM_IF);
+  *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
   *uartComIF = new UartComIF(objects::UART_COM_IF);
 #if OBSW_ADD_SPI_TEST_CODE == 0
   *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
@@ -481,6 +498,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
                                     gpio::LOW);
   gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
 
+  // Select pin. 0 for GPS side A, 1 for GPS side B
+  consumer.str("");
+  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
+  gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), gpio::DIR_OUT,
+                                    gpio::LOW);
+  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
   gpioComIF->addGpios(gpioCookieAcsBoard);
 
 #if OBSW_ADD_ACS_HANDLERS == 1
@@ -578,7 +601,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   resetArgsGnss0.gnss1 = false;
   resetArgsGnss0.gpioComIF = gpioComIF;
   resetArgsGnss0.waitPeriodMs = 100;
-  auto gpsHandler0 = new GPSHyperionHandler(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
+  auto gpsHandler0 =
+      new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
   gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
@@ -1108,4 +1132,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #if OBSW_ADD_SPI_TEST_CODE == 1
   new SpiTestClass(objects::SPI_TEST, gpioComIF);
 #endif
+#if OBSW_ADD_I2C_TEST_CODE == 1
+  new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
+#endif
 }

bsp_q7s/core/ObjectFactory.h

@@ -4,6 +4,7 @@
 class LinuxLibgpioIF;
 class UartComIF;
 class SpiComIF;
+class I2cComIF;
 
 namespace ObjectFactory {
 
@@ -11,7 +12,7 @@ void setStatics();
 void produce(void* args);
 
 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                   SpiComIF** spiComIF);
+                                   SpiComIF** spiComIF, I2cComIF** i2cComIF);
 void createTmpComponents();
 void createPcduComponents(LinuxLibgpioIF* gpioComIF);
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);