Merge remote-tracking branch 'origin/develop' into mueller/reboot-cmd
This commit is contained in:
@ -25,7 +25,9 @@ add_subdirectory(core)
|
||||
if(EIVE_Q7S_EM)
|
||||
add_subdirectory(em)
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||||
else()
|
||||
add_subdirectory(fm)
|
||||
target_sources(${OBSW_NAME} PUBLIC
|
||||
fmObjectFactory.cpp
|
||||
)
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||||
endif()
|
||||
|
||||
add_subdirectory(memory)
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||||
|
||||
@ -34,5 +34,6 @@ SOFTWARE.
|
||||
|
||||
#define ETL_CPP11_SUPPORTED 1
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#define ETL_NO_NULLPTR_SUPPORT 0
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#define ETL_HAS_ERROR_ON_STRING_TRUNCATION 1
|
||||
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||||
#endif
|
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|
||||
@ -48,7 +48,7 @@ void q7s::gpioCallbacks::initSpiCsDecoder(GpioIF* gpioComIF) {
|
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||||
result = gpioComIF->addGpios(spiMuxGpios);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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||||
sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
|
||||
sif::error << "initSpiCsDecoder: Failed to add SPI MUX bit GPIOs" << std::endl;
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return;
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}
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}
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|
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@ -1,5 +1,7 @@
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||||
#include "rwSpiCallback.h"
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||||
#include <fsfw/timemanager/Stopwatch.h>
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||||
#include "devices/gpioIds.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw_hal/linux/UnixFileGuard.h"
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@ -8,8 +10,25 @@
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||||
namespace rwSpiCallback {
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||||
namespace {
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static bool MODE_SET = false;
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ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
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||||
MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
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int& fd);
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/**
|
||||
* @brief This function closes a spi session. Pulls the chip select to high an releases the
|
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* mutex.
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* @param gpioId Gpio ID of chip select
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||||
* @param gpioIF Pointer to gpio interface to drive the chip select
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||||
* @param mutex The spi mutex
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*/
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void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
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} // namespace
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ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
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size_t sendLen, void* args) {
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// Stopwatch watch;
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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RwHandler* handler = reinterpret_cast<RwHandler*>(args);
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@ -18,7 +37,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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uint8_t writeBuffer[2];
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uint8_t writeBuffer[2] = {};
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uint8_t writeSize = 0;
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|
||||
gpioId_t gpioId = cookie->getChipSelectPin();
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@ -32,37 +51,30 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
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}
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||||
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int fileDescriptor = 0;
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std::string device = cookie->getSpiDevice();
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UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
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if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
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return SpiComIF::OPENING_FILE_FAILED;
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}
|
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spi::SpiModes spiMode = spi::SpiModes::MODE_0;
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uint32_t spiSpeed = 0;
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cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
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comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
||||
|
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result = mutex->lockMutex(timeoutType, timeoutMs);
|
||||
const std::string& dev = comIf->getSpiDev();
|
||||
result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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||||
sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
|
||||
return result;
|
||||
}
|
||||
|
||||
/** Sending frame start sign */
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||||
writeBuffer[0] = 0x7E;
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||||
writeSize = 1;
|
||||
|
||||
// Pull SPI CS low. For now, no support for active high given
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
if (gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
|
||||
}
|
||||
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
||||
uint32_t spiSpeed = 0;
|
||||
cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
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||||
// We are in protected section, so we can use the static variable here without issues.
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||||
// We don't need to set the speed because a SPI core is used, but the mode has to be set once
|
||||
// correctly for all RWs
|
||||
if (not MODE_SET) {
|
||||
comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
||||
MODE_SET = true;
|
||||
}
|
||||
|
||||
/** Sending frame start sign */
|
||||
writeBuffer[0] = FLAG_BYTE;
|
||||
writeSize = 1;
|
||||
|
||||
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
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sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
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closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
return RwHandler::SPI_WRITE_FAILURE;
|
||||
}
|
||||
|
||||
@ -87,33 +99,39 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
}
|
||||
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
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||||
closeSpi(gpioId, gpioIF, mutex);
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closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
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||||
return RwHandler::SPI_WRITE_FAILURE;
|
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}
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||||
idx++;
|
||||
}
|
||||
|
||||
/** Sending frame end sign */
|
||||
writeBuffer[0] = 0x7E;
|
||||
writeBuffer[0] = FLAG_BYTE;
|
||||
writeSize = 1;
|
||||
|
||||
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
return RwHandler::SPI_WRITE_FAILURE;
|
||||
}
|
||||
|
||||
uint8_t* rxBuf = nullptr;
|
||||
result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
return result;
|
||||
}
|
||||
|
||||
size_t replyBufferSize = cookie->getMaxBufferSize();
|
||||
|
||||
/** There must be a delay of at least 20 ms after sending the command */
|
||||
// There must be a delay of at least 20 ms after sending the command.
|
||||
// Delay for 70 ms here and release the SPI bus for that duration.
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
usleep(RwDefinitions::SPI_REPLY_DELAY);
|
||||
result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* The reaction wheel responds with empty frames while preparing the reply data.
|
||||
@ -123,13 +141,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
for (int idx = 0; idx < 10; idx++) {
|
||||
if (read(fileDescriptor, &byteRead, 1) != 1) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
return RwHandler::SPI_READ_FAILURE;
|
||||
}
|
||||
if (idx == 0) {
|
||||
if (byteRead != FLAG_BYTE) {
|
||||
sif::error << "Invalid data, expected start marker" << std::endl;
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
return RwHandler::NO_START_MARKER;
|
||||
}
|
||||
}
|
||||
@ -140,7 +158,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
|
||||
if (idx == 9) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
|
||||
closeSpi(gpioId, gpioIF, mutex);
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||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
return RwHandler::NO_REPLY;
|
||||
}
|
||||
}
|
||||
@ -180,7 +198,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
continue;
|
||||
} else {
|
||||
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
result = RwHandler::INVALID_SUBSTITUTE;
|
||||
break;
|
||||
}
|
||||
@ -201,8 +219,9 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
result = RwHandler::SPI_READ_FAILURE;
|
||||
break;
|
||||
}
|
||||
if (byteRead != 0x7E) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
|
||||
if (byteRead != FLAG_BYTE) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
|
||||
<< std::endl;
|
||||
decodedFrameLen--;
|
||||
result = RwHandler::MISSING_END_SIGN;
|
||||
break;
|
||||
@ -213,12 +232,40 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
|
||||
|
||||
cookie->setTransferSize(decodedFrameLen);
|
||||
|
||||
closeSpi(gpioId, gpioIF, mutex);
|
||||
closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
|
||||
namespace {
|
||||
|
||||
ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
|
||||
MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
|
||||
int& fd) {
|
||||
ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
|
||||
return result;
|
||||
}
|
||||
|
||||
fd = open(devname.c_str(), flags);
|
||||
if (fd < 0) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
|
||||
return SpiComIF::OPENING_FILE_FAILED;
|
||||
}
|
||||
|
||||
// Pull SPI CS low. For now, no support for active high given
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
result = gpioIF->pullLow(gpioId);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
|
||||
return result;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
|
||||
close(fd);
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
|
||||
@ -229,4 +276,7 @@ void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
|
||||
;
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
} // namespace rwSpiCallback
|
||||
|
||||
@ -33,14 +33,5 @@ static constexpr uint8_t FLAG_BYTE = 0x7E;
|
||||
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
|
||||
size_t sendLen, void* args);
|
||||
|
||||
/**
|
||||
* @brief This function closes a spi session. Pulls the chip select to high an releases the
|
||||
* mutex.
|
||||
* @param gpioId Gpio ID of chip select
|
||||
* @param gpioIF Pointer to gpio interface to drive the chip select
|
||||
* @param mutex The spi mutex
|
||||
*/
|
||||
void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
|
||||
|
||||
} // namespace rwSpiCallback
|
||||
#endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */
|
||||
|
||||
@ -1,6 +1,7 @@
|
||||
target_sources(${OBSW_NAME} PRIVATE
|
||||
CoreController.cpp
|
||||
InitMission.cpp
|
||||
ObjectFactory.cpp
|
||||
)
|
||||
|
||||
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
|
||||
|
||||
@ -130,6 +130,12 @@ void initmission::initTasks() {
|
||||
initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
|
||||
}
|
||||
#endif /* OBSW_ADD_ACS_HANDLERS */
|
||||
#if OBSW_ADD_RW == 1
|
||||
result = sysTask->addComponent(objects::RW_ASS);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_SUS_BOARD_ASS == 1
|
||||
result = sysTask->addComponent(objects::SUS_BOARD_ASS);
|
||||
@ -258,7 +264,7 @@ void initmission::createPstTasks(TaskFactory& factory,
|
||||
/* Polling Sequence Table Default */
|
||||
#if OBSW_ADD_SPI_TEST_CODE == 0
|
||||
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
|
||||
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
|
||||
"MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
|
||||
result = pst::pstSpi(spiPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
@ -271,8 +277,23 @@ void initmission::createPstTasks(TaskFactory& factory,
|
||||
}
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_RW == 1
|
||||
FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
|
||||
"RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
|
||||
result = pst::pstSpiRw(rwPstTask);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
|
||||
} else {
|
||||
sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
|
||||
}
|
||||
} else {
|
||||
taskVec.push_back(rwPstTask);
|
||||
}
|
||||
#endif
|
||||
|
||||
FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
|
||||
"UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
|
||||
"UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
|
||||
result = pst::pstUart(uartPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
@ -285,7 +306,7 @@ void initmission::createPstTasks(TaskFactory& factory,
|
||||
}
|
||||
|
||||
FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
|
||||
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
|
||||
"GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
|
||||
result = pst::pstGpio(gpioPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
@ -298,7 +319,7 @@ void initmission::createPstTasks(TaskFactory& factory,
|
||||
}
|
||||
#if OBSW_ADD_I2C_TEST_CODE == 0
|
||||
FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
|
||||
"I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
|
||||
"I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
|
||||
result = pst::pstI2c(i2cPst);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
|
||||
|
||||
@ -1,5 +1,4 @@
|
||||
#include <mission/system/fdir/GomspacePowerFdir.h>
|
||||
#include <mission/system/fdir/SyrlinksFdir.h>
|
||||
#include "ObjectFactory.h"
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "bsp_q7s/boardtest/Q7STestTask.h"
|
||||
@ -8,7 +7,6 @@
|
||||
#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
|
||||
#include "bsp_q7s/callbacks/rwSpiCallback.h"
|
||||
#include "bsp_q7s/core/CoreController.h"
|
||||
#include "bsp_q7s/core/ObjectFactory.h"
|
||||
#include "bsp_q7s/memory/FileSystemHandler.h"
|
||||
#include "busConf.h"
|
||||
#include "ccsdsConfig.h"
|
||||
@ -38,9 +36,12 @@
|
||||
#include "linux/obc/PdecHandler.h"
|
||||
#include "linux/obc/Ptme.h"
|
||||
#include "linux/obc/PtmeConfig.h"
|
||||
#include "mission/system/RwAssembly.h"
|
||||
#include "mission/system/fdir/AcsBoardFdir.h"
|
||||
#include "mission/system/fdir/GomspacePowerFdir.h"
|
||||
#include "mission/system/fdir/RtdFdir.h"
|
||||
#include "mission/system/fdir/SusFdir.h"
|
||||
#include "mission/system/fdir/SyrlinksFdir.h"
|
||||
#include "tmtc/apid.h"
|
||||
#include "tmtc/pusIds.h"
|
||||
#if OBSW_TEST_LIBGPIOD == 1
|
||||
@ -91,11 +92,10 @@
|
||||
#include "mission/tmtc/CCSDSHandler.h"
|
||||
#include "mission/tmtc/VirtualChannel.h"
|
||||
#include "mission/utility/TmFunnel.h"
|
||||
|
||||
ResetArgs resetArgsGnss0;
|
||||
ResetArgs resetArgsGnss1;
|
||||
|
||||
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
@ -119,86 +119,7 @@ void Factory::setStaticFrameworkObjectIds() {
|
||||
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
|
||||
}
|
||||
|
||||
void ObjectFactory::produce(void* args) {
|
||||
ObjectFactory::setStatics();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
UartComIF* uartComIF = nullptr;
|
||||
SpiComIF* spiComIF = nullptr;
|
||||
I2cComIF* i2cComIF = nullptr;
|
||||
PowerSwitchIF* pwrSwitcher = nullptr;
|
||||
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
|
||||
createTmpComponents();
|
||||
new CoreController(objects::CORE_CONTROLLER);
|
||||
|
||||
gpioCallbacks::disableAllDecoder(gpioComIF);
|
||||
createPcduComponents(gpioComIF, &pwrSwitcher);
|
||||
createRadSensorComponent(gpioComIF);
|
||||
createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
|
||||
#endif
|
||||
createHeaterComponents();
|
||||
createSolarArrayDeploymentComponents();
|
||||
createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
|
||||
#if OBSW_ADD_SYRLINKS == 1
|
||||
createSyrlinksComponents(pwrSwitcher);
|
||||
#endif /* OBSW_ADD_SYRLINKS == 1 */
|
||||
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
|
||||
createPayloadComponents(gpioComIF);
|
||||
|
||||
#if OBSW_ADD_MGT == 1
|
||||
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,
|
||||
pcdu::Switches::PDU1_CH3_MGT_5V);
|
||||
imtqHandler->setPowerSwitcher(pwrSwitcher);
|
||||
static_cast<void>(imtqHandler);
|
||||
#if OBSW_TEST_IMTQ == 1
|
||||
imtqHandler->setStartUpImmediately();
|
||||
imtqHandler->setToGoToNormal(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_IMTQ == 1
|
||||
imtqHandler->setDebugMode(true);
|
||||
#endif
|
||||
#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);
|
||||
bpxHandler->setStartUpImmediately();
|
||||
bpxHandler->setToGoToNormalMode(true);
|
||||
#if OBSW_DEBUG_BPX_BATT == 1
|
||||
bpxHandler->setDebugMode(true);
|
||||
#endif
|
||||
#endif
|
||||
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
|
||||
|
||||
#if OBSW_ADD_STAR_TRACKER == 1
|
||||
UartCookie* starTrackerCookie =
|
||||
new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
|
||||
startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
|
||||
starTrackerCookie->setNoFixedSizeReply();
|
||||
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
|
||||
auto starTracker =
|
||||
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
|
||||
strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
|
||||
starTracker->setPowerSwitcher(pwrSwitcher);
|
||||
|
||||
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
|
||||
#if OBSW_USE_CCSDS_IP_CORE == 1
|
||||
createCcsdsComponents(gpioComIF);
|
||||
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
|
||||
/* Test Task */
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
createTestComponents(gpioComIF);
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
|
||||
}
|
||||
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
|
||||
|
||||
void ObjectFactory::createTmpComponents() {
|
||||
I2cCookie* i2cCookieTmp1075tcs1 =
|
||||
@ -216,8 +137,10 @@ void ObjectFactory::createTmpComponents() {
|
||||
}
|
||||
|
||||
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
|
||||
SpiComIF** spiComIF, I2cComIF** i2cComIF) {
|
||||
if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
|
||||
SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
|
||||
SpiComIF** spiRWComIF) {
|
||||
if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
|
||||
spiRWComIF == nullptr) {
|
||||
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
|
||||
<< std::endl;
|
||||
}
|
||||
@ -227,8 +150,8 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
|
||||
new CspComIF(objects::CSP_COM_IF);
|
||||
*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
|
||||
*uartComIF = new UartComIF(objects::UART_COM_IF);
|
||||
*spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
|
||||
|
||||
*spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, *gpioComIF);
|
||||
*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, *gpioComIF);
|
||||
/* Adding gpios for chip select decoding to the gpioComIf */
|
||||
q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
|
||||
}
|
||||
@ -286,12 +209,12 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
|
||||
gpioComIF->addGpios(gpioCookieRadSensor);
|
||||
gpioChecker(gpioComIF->addGpios(gpioCookieRadSensor), "RAD sensor");
|
||||
|
||||
SpiCookie* spiCookieRadSensor = new SpiCookie(
|
||||
addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
|
||||
RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
|
||||
auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF,
|
||||
SpiCookie* spiCookieRadSensor =
|
||||
new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
|
||||
spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
|
||||
auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
|
||||
spiCookieRadSensor, gpioComIF);
|
||||
static_cast<void>(radSensor);
|
||||
// The radiation sensor ADC is powered by the 5V stack connector which should always be on
|
||||
@ -402,16 +325,16 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
|
||||
gpioComIF->addGpios(gpioCookieAcsBoard);
|
||||
gpioChecker(gpioComIF->addGpios(gpioCookieAcsBoard), "ACS Board");
|
||||
AcsBoardFdir* fdir = nullptr;
|
||||
static_cast<void>(fdir);
|
||||
|
||||
#if OBSW_ADD_ACS_HANDLERS == 1
|
||||
std::string spiDev = q7s::SPI_DEFAULT_DEV;
|
||||
SpiCookie* spiCookie =
|
||||
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
|
||||
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
|
||||
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
|
||||
spiCookie, spi::LIS3_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
|
||||
mgmLis3Handler->setCustomFdir(fdir);
|
||||
@ -424,10 +347,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
|
||||
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, spi::RM3100_TRANSITION_DELAY);
|
||||
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
auto mgmRm3100Handler =
|
||||
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
|
||||
spi::RM3100_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
|
||||
mgmRm3100Handler->setCustomFdir(fdir);
|
||||
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
|
||||
@ -440,9 +364,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
|
||||
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
|
||||
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
|
||||
spiCookie, spi::LIS3_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
|
||||
mgmLis3Handler->setCustomFdir(fdir);
|
||||
@ -456,9 +380,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
|
||||
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
|
||||
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF,
|
||||
spiCookie, spi::RM3100_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
|
||||
mgmRm3100Handler->setCustomFdir(fdir);
|
||||
@ -472,11 +396,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
#endif
|
||||
// Commented until ACS board V2 in in clean room again
|
||||
// Gyro 0 Side A
|
||||
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
|
||||
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
||||
spi::DEFAULT_ADIS16507_SPEED);
|
||||
auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, ADIS1650X::Type::ADIS16505);
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
|
||||
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
|
||||
auto adisHandler =
|
||||
new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
|
||||
ADIS1650X::Type::ADIS16505);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
|
||||
adisHandler->setCustomFdir(fdir);
|
||||
adisHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
@ -489,11 +414,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
adisHandler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
// Gyro 1 Side A
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, spi::L3G_TRANSITION_DELAY);
|
||||
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
auto gyroL3gHandler = new GyroHandlerL3GD20H(
|
||||
objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
|
||||
gyroL3gHandler->setCustomFdir(fdir);
|
||||
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
@ -506,10 +430,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
// Gyro 2 Side B
|
||||
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
|
||||
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
||||
spi::DEFAULT_ADIS16507_SPEED);
|
||||
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
|
||||
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
|
||||
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
|
||||
spiCookie, ADIS1650X::Type::ADIS16505);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
|
||||
adisHandler->setCustomFdir(fdir);
|
||||
@ -519,10 +443,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
|
||||
adisHandler->setToGoToNormalModeImmediately();
|
||||
#endif
|
||||
// Gyro 3 Side B
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF,
|
||||
spiCookie, spi::L3G_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
|
||||
gyroL3gHandler->setCustomFdir(fdir);
|
||||
@ -649,7 +572,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
consumer.str(), Direction::OUT, Levels::HIGH);
|
||||
auto mpsocGpioCookie = new GpioCookie;
|
||||
mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
|
||||
gpioComIF->addGpios(mpsocGpioCookie);
|
||||
gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
|
||||
auto mpsocCookie =
|
||||
new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
|
||||
mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
|
||||
@ -678,7 +601,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
static_cast<void>(consumer);
|
||||
}
|
||||
|
||||
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
|
||||
PowerSwitchIF* pwrSwitcher) {
|
||||
using namespace gpio;
|
||||
GpioCookie* gpioCookieRw = new GpioCookie;
|
||||
GpioCallback* csRw1 =
|
||||
@ -720,50 +644,38 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookieRw);
|
||||
gpioChecker(gpioComIF->addGpios(gpioCookieRw), "RWs");
|
||||
|
||||
#if OBSW_ADD_RW == 1
|
||||
auto rw1SpiCookie =
|
||||
new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw2SpiCookie =
|
||||
new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw3SpiCookie =
|
||||
new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw4SpiCookie =
|
||||
new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
std::array<std::pair<address_t, gpioId_t>, 4> rwCookieParams = {
|
||||
{{addresses::RW1, gpioIds::CS_RW1},
|
||||
{addresses::RW2, gpioIds::CS_RW2},
|
||||
{addresses::RW3, gpioIds::CS_RW3},
|
||||
{addresses::RW4, gpioIds::CS_RW4}}};
|
||||
std::array<SpiCookie*, 4> rwCookies = {};
|
||||
std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
|
||||
std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
|
||||
gpioIds::EN_RW4};
|
||||
std::array<RwHandler*, 4> rws = {};
|
||||
for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
|
||||
rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
|
||||
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
|
||||
&rwSpiCallback::spiCallback, nullptr);
|
||||
rws[idx] = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
|
||||
rwGpioIds[idx]);
|
||||
rwCookies[idx]->setCallbackArgs(rws[idx]);
|
||||
#if OBSW_TEST_RW == 1
|
||||
rws[idx]->setStartUpImmediately();
|
||||
#endif
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rws[idx]->setDebugMode(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
auto rwHandler1 =
|
||||
new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
|
||||
rw1SpiCookie->setCallbackArgs(rwHandler1);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler1->setStartUpImmediately();
|
||||
rwHandler1->setDebugMode(true);
|
||||
#endif
|
||||
auto rwHandler2 =
|
||||
new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
|
||||
rw2SpiCookie->setCallbackArgs(rwHandler2);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler2->setStartUpImmediately();
|
||||
rwHandler2->setDebugMode(true);
|
||||
#endif
|
||||
auto rwHandler3 =
|
||||
new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
|
||||
rw3SpiCookie->setCallbackArgs(rwHandler3);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler3->setStartUpImmediately();
|
||||
rwHandler3->setDebugMode(true);
|
||||
#endif
|
||||
auto rwHandler4 =
|
||||
new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
|
||||
rw4SpiCookie->setCallbackArgs(rwHandler4);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler4->setStartUpImmediately();
|
||||
rwHandler4->setDebugMode(true);
|
||||
#endif
|
||||
RwHelper rwHelper(rwIds);
|
||||
auto* rwAss = new RwAssembly(objects::RW_ASS, objects::NO_OBJECT, pwrSwitcher,
|
||||
pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
|
||||
static_cast<void>(rwAss);
|
||||
#endif /* OBSW_ADD_RW == 1 */
|
||||
}
|
||||
|
||||
@ -802,7 +714,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookiePtmeIp);
|
||||
gpioChecker(gpioComIF->addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
|
||||
|
||||
// Creating virtual channel interfaces
|
||||
VcInterfaceIF* vc0 =
|
||||
@ -856,7 +768,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
Levels::LOW);
|
||||
gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookiePdec);
|
||||
gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");
|
||||
|
||||
new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
|
||||
q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
|
||||
@ -877,7 +789,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioRS485Chip);
|
||||
gpioChecker(gpioComIF->addGpios(gpioRS485Chip), "RS485 Transceiver");
|
||||
}
|
||||
|
||||
void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
|
||||
@ -922,14 +834,14 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, Direction::OUT,
|
||||
gpio::Levels::HIGH);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
|
||||
gpioComIF->addGpios(plPcduGpios);
|
||||
SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS,
|
||||
q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
|
||||
spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
|
||||
gpioChecker(gpioComIF->addGpios(plPcduGpios), "PL PCDU");
|
||||
SpiCookie* spiCookie =
|
||||
new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, plpcdu::MAX_ADC_REPLY_SIZE,
|
||||
spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
|
||||
// Create device handler components
|
||||
auto plPcduHandler = new PayloadPcduHandler(
|
||||
objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF, SdCardManager::instance(),
|
||||
pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
|
||||
objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, gpioComIF,
|
||||
SdCardManager::instance(), pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
|
||||
pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
|
||||
spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
|
||||
// plPcduHandler->enablePeriodicPrintout(true, 5);
|
||||
@ -956,6 +868,50 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
|
||||
UartCookie* starTrackerCookie =
|
||||
new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
|
||||
startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
|
||||
starTrackerCookie->setNoFixedSizeReply();
|
||||
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
|
||||
auto starTracker =
|
||||
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
|
||||
strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
|
||||
starTracker->setPowerSwitcher(pwrSwitcher);
|
||||
}
|
||||
|
||||
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
|
||||
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,
|
||||
pcdu::Switches::PDU1_CH3_MGT_5V);
|
||||
imtqHandler->setPowerSwitcher(pwrSwitcher);
|
||||
static_cast<void>(imtqHandler);
|
||||
#if OBSW_TEST_IMTQ == 1
|
||||
imtqHandler->setStartUpImmediately();
|
||||
imtqHandler->setToGoToNormal(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_IMTQ == 1
|
||||
imtqHandler->setDebugMode(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createBpxBatteryComponent() {
|
||||
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);
|
||||
bpxHandler->setStartUpImmediately();
|
||||
bpxHandler->setToGoToNormalMode(true);
|
||||
#if OBSW_DEBUG_BPX_BATT == 1
|
||||
bpxHandler->setDebugMode(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createMiscComponents() {
|
||||
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
|
||||
new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
|
||||
}
|
||||
|
||||
void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
|
||||
CommandMessage msg;
|
||||
ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
|
||||
@ -1,6 +1,10 @@
|
||||
#ifndef BSP_Q7S_OBJECTFACTORY_H_
|
||||
#define BSP_Q7S_OBJECTFACTORY_H_
|
||||
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
#include <string>
|
||||
|
||||
class LinuxLibgpioIF;
|
||||
class UartComIF;
|
||||
class SpiComIF;
|
||||
@ -14,7 +18,8 @@ void setStatics();
|
||||
void produce(void* args);
|
||||
|
||||
void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
|
||||
SpiComIF** spiComIF, I2cComIF** i2cComIF);
|
||||
SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
|
||||
SpiComIF** spiRwComIF);
|
||||
void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
|
||||
void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
|
||||
PowerSwitchIF* pwrSwitcher);
|
||||
@ -23,11 +28,16 @@ void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
|
||||
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
|
||||
PowerSwitchIF* pwrSwitcher);
|
||||
void createHeaterComponents();
|
||||
void createImtqComponents(PowerSwitchIF* pwrSwitcher);
|
||||
void createBpxBatteryComponent();
|
||||
void createStrComponents(PowerSwitchIF* pwrSwitcher);
|
||||
void createSolarArrayDeploymentComponents();
|
||||
void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
|
||||
void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
|
||||
void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
|
||||
void createMiscComponents();
|
||||
|
||||
void createTestComponents(LinuxLibgpioIF* gpioComIF);
|
||||
|
||||
void testAcsBrdAss(AcsBoardAssembly* assAss);
|
||||
|
||||
@ -1,126 +1,13 @@
|
||||
#include <mission/system/fdir/GomspacePowerFdir.h>
|
||||
#include <mission/system/fdir/SyrlinksFdir.h>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "bsp_q7s/boardtest/Q7STestTask.h"
|
||||
#include "bsp_q7s/callbacks/gnssCallback.h"
|
||||
#include "bsp_q7s/callbacks/pcduSwitchCb.h"
|
||||
#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
|
||||
#include "bsp_q7s/callbacks/rwSpiCallback.h"
|
||||
#include "bsp_q7s/core/CoreController.h"
|
||||
#include "bsp_q7s/core/ObjectFactory.h"
|
||||
#include "bsp_q7s/memory/FileSystemHandler.h"
|
||||
#include "busConf.h"
|
||||
#include "ccsdsConfig.h"
|
||||
#include "commonObjects.h"
|
||||
#include "devConf.h"
|
||||
#include "devices/addresses.h"
|
||||
#include "devices/gpioIds.h"
|
||||
#include "devices/powerSwitcherList.h"
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "linux/ObjectFactory.h"
|
||||
#include "linux/boardtest/I2cTestClass.h"
|
||||
#include "linux/boardtest/SpiTestClass.h"
|
||||
#include "linux/boardtest/UartTestClass.h"
|
||||
#include "linux/callbacks/gpioCallbacks.h"
|
||||
#include "linux/csp/CspComIF.h"
|
||||
#include "linux/csp/CspCookie.h"
|
||||
#include "linux/devices/GPSHyperionLinuxController.h"
|
||||
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
|
||||
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
|
||||
#include "linux/devices/ploc/PlocMPSoCHandler.h"
|
||||
#include "linux/devices/ploc/PlocMPSoCHelper.h"
|
||||
#include "linux/devices/ploc/PlocMemoryDumper.h"
|
||||
#include "linux/devices/ploc/PlocSupervisorHandler.h"
|
||||
#include "linux/devices/ploc/PlocSupvHelper.h"
|
||||
#include "linux/devices/startracker/StarTrackerHandler.h"
|
||||
#include "linux/devices/startracker/StrHelper.h"
|
||||
#include "linux/obc/AxiPtmeConfig.h"
|
||||
#include "linux/obc/PapbVcInterface.h"
|
||||
#include "linux/obc/PdecHandler.h"
|
||||
#include "linux/obc/Ptme.h"
|
||||
#include "linux/obc/PtmeConfig.h"
|
||||
#include "mission/system/SusAssembly.h"
|
||||
#include "mission/system/TcsBoardAssembly.h"
|
||||
#include "mission/system/fdir/AcsBoardFdir.h"
|
||||
#include "mission/system/fdir/RtdFdir.h"
|
||||
#include "mission/system/fdir/SusFdir.h"
|
||||
#include "tmtc/apid.h"
|
||||
#include "tmtc/pusIds.h"
|
||||
#if OBSW_TEST_LIBGPIOD == 1
|
||||
#include "linux/boardtest/LibgpiodTest.h"
|
||||
#endif
|
||||
#include <sstream>
|
||||
|
||||
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
|
||||
#include "fsfw/tmtcpacket/pus/tm.h"
|
||||
#include "fsfw/tmtcservices/CommandingServiceBase.h"
|
||||
#include "fsfw/tmtcservices/PusServiceBase.h"
|
||||
#include "fsfw_hal/common/gpio/GpioCookie.h"
|
||||
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
|
||||
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
|
||||
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
|
||||
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
|
||||
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
|
||||
#include "fsfw_hal/linux/i2c/I2cComIF.h"
|
||||
#include "fsfw_hal/linux/i2c/I2cCookie.h"
|
||||
#include "fsfw_hal/linux/spi/SpiComIF.h"
|
||||
#include "fsfw_hal/linux/spi/SpiCookie.h"
|
||||
#include "fsfw_hal/linux/uart/UartComIF.h"
|
||||
#include "fsfw_hal/linux/uart/UartCookie.h"
|
||||
#include "linux/ObjectFactory.h"
|
||||
#include "linux/callbacks/gpioCallbacks.h"
|
||||
#include "mission/core/GenericFactory.h"
|
||||
#include "mission/devices/ACUHandler.h"
|
||||
#include "mission/devices/BpxBatteryHandler.h"
|
||||
#include "mission/devices/GyroADIS1650XHandler.h"
|
||||
#include "mission/devices/HeaterHandler.h"
|
||||
#include "mission/devices/IMTQHandler.h"
|
||||
#include "mission/devices/Max31865PT1000Handler.h"
|
||||
#include "mission/devices/P60DockHandler.h"
|
||||
#include "mission/devices/PCDUHandler.h"
|
||||
#include "mission/devices/PDU1Handler.h"
|
||||
#include "mission/devices/PDU2Handler.h"
|
||||
#include "mission/devices/PayloadPcduHandler.h"
|
||||
#include "mission/devices/RadiationSensorHandler.h"
|
||||
#include "mission/devices/RwHandler.h"
|
||||
#include "mission/devices/SolarArrayDeploymentHandler.h"
|
||||
#include "mission/devices/SyrlinksHkHandler.h"
|
||||
#include "mission/devices/Tmp1075Handler.h"
|
||||
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
|
||||
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/RwDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
|
||||
#include "mission/system/AcsBoardAssembly.h"
|
||||
#include "mission/tmtc/CCSDSHandler.h"
|
||||
#include "mission/tmtc/VirtualChannel.h"
|
||||
#include "mission/utility/TmFunnel.h"
|
||||
ResetArgs resetArgsGnss0;
|
||||
ResetArgs resetArgsGnss1;
|
||||
|
||||
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
|
||||
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
|
||||
|
||||
DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
|
||||
// DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
|
||||
#if OBSW_TM_TO_PTME == 1
|
||||
TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
|
||||
#else
|
||||
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
|
||||
#endif /* OBSW_TM_TO_PTME == 1 */
|
||||
// No storage object for now.
|
||||
TmFunnel::storageDestination = objects::NO_OBJECT;
|
||||
|
||||
LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
|
||||
|
||||
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
|
||||
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
|
||||
}
|
||||
|
||||
void ObjectFactory::produce(void* args) {
|
||||
ObjectFactory::setStatics();
|
||||
@ -128,24 +15,25 @@ void ObjectFactory::produce(void* args) {
|
||||
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
UartComIF* uartComIF = nullptr;
|
||||
SpiComIF* spiComIF = nullptr;
|
||||
SpiComIF* spiMainComIF = nullptr;
|
||||
I2cComIF* i2cComIF = nullptr;
|
||||
PowerSwitchIF* pwrSwitcher = nullptr;
|
||||
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
|
||||
SpiComIF* spiRwComIF = nullptr;
|
||||
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
|
||||
createTmpComponents();
|
||||
new CoreController(objects::CORE_CONTROLLER);
|
||||
|
||||
gpioCallbacks::disableAllDecoder(gpioComIF);
|
||||
createPcduComponents(gpioComIF, &pwrSwitcher);
|
||||
createRadSensorComponent(gpioComIF);
|
||||
createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
|
||||
createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
|
||||
#endif
|
||||
createHeaterComponents();
|
||||
createSolarArrayDeploymentComponents();
|
||||
createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
|
||||
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
|
||||
#if OBSW_ADD_SYRLINKS == 1
|
||||
createSyrlinksComponents(pwrSwitcher);
|
||||
#endif /* OBSW_ADD_SYRLINKS == 1 */
|
||||
@ -153,45 +41,16 @@ void ObjectFactory::produce(void* args) {
|
||||
createPayloadComponents(gpioComIF);
|
||||
|
||||
#if OBSW_ADD_MGT == 1
|
||||
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,
|
||||
pcdu::Switches::PDU1_CH3_MGT_5V);
|
||||
imtqHandler->setPowerSwitcher(pwrSwitcher);
|
||||
static_cast<void>(imtqHandler);
|
||||
#if OBSW_TEST_IMTQ == 1
|
||||
imtqHandler->setStartUpImmediately();
|
||||
imtqHandler->setToGoToNormal(true);
|
||||
createImtqComponents(pwrSwitcher);
|
||||
#endif
|
||||
#if OBSW_DEBUG_IMTQ == 1
|
||||
imtqHandler->setDebugMode(true);
|
||||
#endif
|
||||
#endif
|
||||
createReactionWheelComponents(gpioComIF);
|
||||
createReactionWheelComponents(gpioComIF, pwrSwitcher);
|
||||
|
||||
#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);
|
||||
bpxHandler->setStartUpImmediately();
|
||||
bpxHandler->setToGoToNormalMode(true);
|
||||
#if OBSW_DEBUG_BPX_BATT == 1
|
||||
bpxHandler->setDebugMode(true);
|
||||
createBpxBatteryComponent();
|
||||
#endif
|
||||
#endif
|
||||
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
|
||||
|
||||
#if OBSW_ADD_STAR_TRACKER == 1
|
||||
UartCookie* starTrackerCookie =
|
||||
new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
|
||||
startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
|
||||
starTrackerCookie->setNoFixedSizeReply();
|
||||
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
|
||||
auto starTracker =
|
||||
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
|
||||
strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
|
||||
starTracker->setPowerSwitcher(pwrSwitcher);
|
||||
|
||||
createStrComponents(pwrSwitcher);
|
||||
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
|
||||
#if OBSW_USE_CCSDS_IP_CORE == 1
|
||||
createCcsdsComponents(gpioComIF);
|
||||
@ -200,770 +59,6 @@ void ObjectFactory::produce(void* args) {
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
createTestComponents(gpioComIF);
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
|
||||
}
|
||||
|
||||
void ObjectFactory::createTmpComponents() {
|
||||
I2cCookie* i2cCookieTmp1075tcs1 =
|
||||
new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
|
||||
I2cCookie* i2cCookieTmp1075tcs2 =
|
||||
new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
|
||||
|
||||
/* Temperature sensors */
|
||||
Tmp1075Handler* tmp1075Handler_1 =
|
||||
new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
|
||||
(void)tmp1075Handler_1;
|
||||
Tmp1075Handler* tmp1075Handler_2 =
|
||||
new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
|
||||
(void)tmp1075Handler_2;
|
||||
}
|
||||
|
||||
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
|
||||
SpiComIF** spiComIF, I2cComIF** i2cComIF) {
|
||||
if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
|
||||
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
|
||||
<< std::endl;
|
||||
}
|
||||
*gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
||||
|
||||
/* Communication interfaces */
|
||||
new CspComIF(objects::CSP_COM_IF);
|
||||
*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
|
||||
*uartComIF = new UartComIF(objects::UART_COM_IF);
|
||||
*spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
|
||||
|
||||
/* Adding gpios for chip select decoding to the gpioComIf */
|
||||
q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
|
||||
}
|
||||
|
||||
void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
|
||||
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
|
||||
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
|
||||
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
|
||||
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
|
||||
|
||||
auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
|
||||
P60DockHandler* p60dockhandler =
|
||||
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
|
||||
|
||||
auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
|
||||
PDU1Handler* pdu1handler =
|
||||
new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
|
||||
|
||||
auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
|
||||
PDU2Handler* pdu2handler =
|
||||
new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
|
||||
|
||||
auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
|
||||
ACUHandler* acuhandler =
|
||||
new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
|
||||
auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
|
||||
|
||||
/**
|
||||
* Setting PCDU devices to mode normal immediately after start up because PCDU is always
|
||||
* running.
|
||||
*/
|
||||
p60dockhandler->setModeNormal();
|
||||
pdu1handler->setModeNormal();
|
||||
pdu2handler->setModeNormal();
|
||||
acuhandler->setModeNormal();
|
||||
if (pwrSwitcher != nullptr) {
|
||||
*pwrSwitcher = pcduHandler;
|
||||
}
|
||||
#if OBSW_DEBUG_P60DOCK == 1
|
||||
p60dockhandler->setDebugMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACU == 1
|
||||
acuhandler->setDebugMode(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
|
||||
using namespace gpio;
|
||||
GpioCookie* gpioCookieRadSensor = new GpioCookie;
|
||||
std::stringstream consumer;
|
||||
consumer << "0x" << std::hex << objects::RAD_SENSOR;
|
||||
GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
|
||||
q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), Direction::OUT, Levels::HIGH);
|
||||
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
|
||||
gpioComIF->addGpios(gpioCookieRadSensor);
|
||||
|
||||
SpiCookie* spiCookieRadSensor = new SpiCookie(
|
||||
addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
|
||||
RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
|
||||
auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF,
|
||||
spiCookieRadSensor, gpioComIF);
|
||||
static_cast<void>(radSensor);
|
||||
// The radiation sensor ADC is powered by the 5V stack connector which should always be on
|
||||
radSensor->setStartUpImmediately();
|
||||
// It's a simple sensor, so just to to normal mode immediately
|
||||
radSensor->setToGoToNormalModeImmediately();
|
||||
#if OBSW_DEBUG_RAD_SENSOR == 1
|
||||
radSensor->enablePeriodicDataPrint(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
|
||||
PowerSwitchIF* pwrSwitcher) {
|
||||
using namespace gpio;
|
||||
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
|
||||
|
||||
std::stringstream consumer;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
// GNSS reset pins are active low
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
|
||||
// Enable pins must be pulled low for regular operations
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
|
||||
|
||||
// Enable pins for GNSS
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), Direction::OUT,
|
||||
Levels::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(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
|
||||
gpioComIF->addGpios(gpioCookieAcsBoard);
|
||||
AcsBoardFdir* fdir = nullptr;
|
||||
static_cast<void>(fdir);
|
||||
|
||||
#if OBSW_ADD_ACS_HANDLERS == 1
|
||||
std::string spiDev = q7s::SPI_DEFAULT_DEV;
|
||||
SpiCookie* spiCookie =
|
||||
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
|
||||
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, spi::LIS3_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
|
||||
mgmLis3Handler->setCustomFdir(fdir);
|
||||
static_cast<void>(mgmLis3Handler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmLis3Handler->setStartUpImmediately();
|
||||
mgmLis3Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
|
||||
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, spi::RM3100_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
|
||||
mgmRm3100Handler->setCustomFdir(fdir);
|
||||
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
|
||||
static_cast<void>(mgmRm3100Handler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmRm3100Handler->setStartUpImmediately();
|
||||
mgmRm3100Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
|
||||
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
||||
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, spi::LIS3_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
|
||||
mgmLis3Handler->setCustomFdir(fdir);
|
||||
mgmLis3Handler->setParent(objects::ACS_BOARD_ASS);
|
||||
static_cast<void>(mgmLis3Handler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmLis3Handler->setStartUpImmediately();
|
||||
mgmLis3Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
|
||||
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
||||
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, spi::RM3100_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
|
||||
mgmRm3100Handler->setCustomFdir(fdir);
|
||||
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmRm3100Handler->setStartUpImmediately();
|
||||
mgmRm3100Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
// Commented until ACS board V2 in in clean room again
|
||||
// Gyro 0 Side A
|
||||
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
|
||||
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
||||
spi::DEFAULT_ADIS16507_SPEED);
|
||||
auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, ADIS1650X::Type::ADIS16505);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
|
||||
adisHandler->setCustomFdir(fdir);
|
||||
adisHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
static_cast<void>(adisHandler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
adisHandler->setStartUpImmediately();
|
||||
adisHandler->setToGoToNormalModeImmediately();
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
adisHandler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
// Gyro 1 Side A
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, spi::L3G_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
|
||||
gyroL3gHandler->setCustomFdir(fdir);
|
||||
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
static_cast<void>(gyroL3gHandler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
gyroL3gHandler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
// Gyro 2 Side B
|
||||
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
|
||||
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
||||
spi::DEFAULT_ADIS16507_SPEED);
|
||||
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, ADIS1650X::Type::ADIS16505);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
|
||||
adisHandler->setCustomFdir(fdir);
|
||||
adisHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
adisHandler->setStartUpImmediately();
|
||||
adisHandler->setToGoToNormalModeImmediately();
|
||||
#endif
|
||||
// Gyro 3 Side B
|
||||
spiCookie =
|
||||
new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
|
||||
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
||||
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, spi::L3G_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
|
||||
gyroL3gHandler->setCustomFdir(fdir);
|
||||
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
gyroL3gHandler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
bool debugGps = false;
|
||||
#if OBSW_DEBUG_GPS == 1
|
||||
debugGps = true;
|
||||
#endif
|
||||
resetArgsGnss1.gnss1 = true;
|
||||
resetArgsGnss1.gpioComIF = gpioComIF;
|
||||
resetArgsGnss1.waitPeriodMs = 100;
|
||||
resetArgsGnss0.gnss1 = false;
|
||||
resetArgsGnss0.gpioComIF = gpioComIF;
|
||||
resetArgsGnss0.waitPeriodMs = 100;
|
||||
auto gpsHandler0 =
|
||||
new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
|
||||
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
|
||||
AcsBoardHelper acsBoardHelper = AcsBoardHelper(
|
||||
objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
|
||||
objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
|
||||
objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
|
||||
auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
|
||||
acsBoardHelper, gpioComIF);
|
||||
static_cast<void>(acsAss);
|
||||
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
|
||||
}
|
||||
|
||||
void ObjectFactory::createHeaterComponents() {
|
||||
using namespace gpio;
|
||||
GpioCookie* heaterGpiosCookie = new GpioCookie;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
|
||||
std::stringstream consumer;
|
||||
consumer << "0x" << std::hex << objects::HEATER_HANDLER;
|
||||
/* Pin H2-11 on stack connector */
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpio);
|
||||
/* Pin H2-12 on stack connector */
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpio);
|
||||
|
||||
/* Pin H2-13 on stack connector */
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
|
||||
|
||||
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
|
||||
objects::PCDU_HANDLER, pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
|
||||
}
|
||||
|
||||
void ObjectFactory::createSolarArrayDeploymentComponents() {
|
||||
using namespace gpio;
|
||||
GpioCookie* solarArrayDeplCookie = new GpioCookie;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
|
||||
std::stringstream consumer;
|
||||
consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
|
||||
|
||||
// TODO: Find out burn time. For now set to 1000 ms.
|
||||
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
|
||||
solarArrayDeplCookie, objects::PCDU_HANDLER,
|
||||
pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
|
||||
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
|
||||
}
|
||||
|
||||
void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
|
||||
UartCookie* syrlinksUartCookie =
|
||||
new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
|
||||
syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
|
||||
syrlinksUartCookie->setParityEven();
|
||||
|
||||
auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
|
||||
auto syrlinksHandler =
|
||||
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
|
||||
pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
|
||||
syrlinksHandler->setPowerSwitcher(pwrSwitcher);
|
||||
#if OBSW_DEBUG_SYRLINKS == 1
|
||||
syrlinksHandler->setDebugMode(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
using namespace gpio;
|
||||
std::stringstream consumer;
|
||||
#if OBSW_ADD_PLOC_MPSOC == 1
|
||||
consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
|
||||
auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
|
||||
consumer.str(), Direction::OUT, Levels::LOW);
|
||||
auto mpsocGpioCookie = new GpioCookie;
|
||||
mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
|
||||
gpioComIF->addGpios(mpsocGpioCookie);
|
||||
auto mpsocCookie =
|
||||
new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
|
||||
mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
|
||||
mpsocCookie->setNoFixedSizeReply();
|
||||
auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
|
||||
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
|
||||
plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
|
||||
objects::PLOC_SUPERVISOR_HANDLER);
|
||||
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
|
||||
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
||||
consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
|
||||
auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(),
|
||||
Direction::OUT, Levels::LOW);
|
||||
auto supvGpioCookie = new GpioCookie;
|
||||
supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
|
||||
gpioComIF->addGpios(supvGpioCookie);
|
||||
auto supervisorCookie =
|
||||
new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
|
||||
uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
|
||||
supervisorCookie->setNoFixedSizeReply();
|
||||
auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
|
||||
new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
|
||||
supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
|
||||
pcdu::PDU1_CH6_PLOC_12V, supvHelper);
|
||||
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
|
||||
static_cast<void>(consumer);
|
||||
}
|
||||
|
||||
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
using namespace gpio;
|
||||
GpioCookie* gpioCookieRw = new GpioCookie;
|
||||
GpioCallback* csRw1 =
|
||||
new GpioCallback("Chip select reaction wheel 1", Direction::OUT, Levels::HIGH,
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
|
||||
GpioCallback* csRw2 =
|
||||
new GpioCallback("Chip select reaction wheel 2", Direction::OUT, Levels::HIGH,
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
|
||||
GpioCallback* csRw3 =
|
||||
new GpioCallback("Chip select reaction wheel 3", Direction::OUT, Levels::HIGH,
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
|
||||
GpioCallback* csRw4 =
|
||||
new GpioCallback("Chip select reaction wheel 4", Direction::OUT, Levels::HIGH,
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
|
||||
|
||||
std::stringstream consumer;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
consumer << "0x" << std::hex << objects::RW1;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::RW2;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::RW3;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::RW4;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookieRw);
|
||||
|
||||
#if OBSW_ADD_RW == 1
|
||||
auto rw1SpiCookie =
|
||||
new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw2SpiCookie =
|
||||
new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw3SpiCookie =
|
||||
new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw4SpiCookie =
|
||||
new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
|
||||
auto rwHandler1 =
|
||||
new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
|
||||
rw1SpiCookie->setCallbackArgs(rwHandler1);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler1->setStartUpImmediately();
|
||||
rwHandler1->setDebugMode(true);
|
||||
#endif
|
||||
auto rwHandler2 =
|
||||
new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
|
||||
rw2SpiCookie->setCallbackArgs(rwHandler2);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler2->setStartUpImmediately();
|
||||
rwHandler2->setDebugMode(true);
|
||||
#endif
|
||||
auto rwHandler3 =
|
||||
new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
|
||||
rw3SpiCookie->setCallbackArgs(rwHandler3);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler3->setStartUpImmediately();
|
||||
rwHandler3->setDebugMode(true);
|
||||
#endif
|
||||
auto rwHandler4 =
|
||||
new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
|
||||
rw4SpiCookie->setCallbackArgs(rwHandler4);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler4->setStartUpImmediately();
|
||||
rwHandler4->setDebugMode(true);
|
||||
#endif
|
||||
#endif /* OBSW_ADD_RW == 1 */
|
||||
}
|
||||
|
||||
void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
using namespace gpio;
|
||||
// GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
|
||||
GpioCookie* gpioCookiePtmeIp = new GpioCookie;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
std::stringstream consumer;
|
||||
consumer.str("PAPB VC0");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
|
||||
consumer.str("PAPB VC0");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
|
||||
consumer.str("PAPB VC 1");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 1");
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 2");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 2");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 3");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 3");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookiePtmeIp);
|
||||
|
||||
// Creating virtual channel interfaces
|
||||
VcInterfaceIF* vc0 =
|
||||
new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
|
||||
q7s::uiomapids::PTME_VC0);
|
||||
VcInterfaceIF* vc1 =
|
||||
new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
|
||||
q7s::uiomapids::PTME_VC1);
|
||||
VcInterfaceIF* vc2 =
|
||||
new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
|
||||
q7s::uiomapids::PTME_VC2);
|
||||
VcInterfaceIF* vc3 =
|
||||
new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
|
||||
q7s::uiomapids::PTME_VC3);
|
||||
|
||||
// Creating ptme object and adding virtual channel interfaces
|
||||
Ptme* ptme = new Ptme(objects::PTME);
|
||||
ptme->addVcInterface(ccsds::VC0, vc0);
|
||||
ptme->addVcInterface(ccsds::VC1, vc1);
|
||||
ptme->addVcInterface(ccsds::VC2, vc2);
|
||||
ptme->addVcInterface(ccsds::VC3, vc3);
|
||||
|
||||
AxiPtmeConfig* axiPtmeConfig =
|
||||
new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
|
||||
PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
|
||||
#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
|
||||
// Set to high value when not sending via syrlinks
|
||||
static const uint32_t TRANSMITTER_TIMEOUT = 86400000; // 1 day
|
||||
#else
|
||||
static const uint32_t TRANSMITTER_TIMEOUT = 900000; // 15 minutes
|
||||
#endif
|
||||
CCSDSHandler* ccsdsHandler = new CCSDSHandler(
|
||||
objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
|
||||
gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
|
||||
|
||||
VirtualChannel* vc = nullptr;
|
||||
vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
||||
ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
|
||||
vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
||||
ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
|
||||
vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
||||
ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
|
||||
vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
||||
ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);
|
||||
|
||||
GpioCookie* gpioCookiePdec = new GpioCookie;
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::PDEC_HANDLER;
|
||||
// GPIO also low after linux boot (specified by device-tree)
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookiePdec);
|
||||
|
||||
new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
|
||||
q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
|
||||
|
||||
GpioCookie* gpioRS485Chip = new GpioCookie;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
|
||||
|
||||
// Default configuration enables RX channels (RXEN = LOW)
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioRS485Chip);
|
||||
}
|
||||
|
||||
void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
|
||||
PowerSwitchIF* pwrSwitcher) {
|
||||
using namespace gpio;
|
||||
// Create all GPIO components first
|
||||
GpioCookie* plPcduGpios = new GpioCookie;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
std::string consumer;
|
||||
// Switch pins are active high
|
||||
consumer = "PLPCDU_ENB_VBAT_0";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT0, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT0, gpio);
|
||||
consumer = "PLPCDU_ENB_VBAT_1";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT1, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT1, gpio);
|
||||
consumer = "PLPCDU_ENB_DRO";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_DRO, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_DRO, gpio);
|
||||
consumer = "PLPCDU_ENB_X8";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_X8, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_X8, gpio);
|
||||
consumer = "PLPCDU_ENB_TX";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_TX, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_TX, gpio);
|
||||
consumer = "PLPCDU_ENB_MPA";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_MPA, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_MPA, gpio);
|
||||
consumer = "PLPCDU_ENB_HPA";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_HPA, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_HPA, gpio);
|
||||
|
||||
// Chip select pin is active low
|
||||
consumer = "PLPCDU_ADC_CS";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, Direction::OUT,
|
||||
gpio::Levels::HIGH);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
|
||||
gpioComIF->addGpios(plPcduGpios);
|
||||
SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS,
|
||||
q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
|
||||
spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
|
||||
// Create device handler components
|
||||
auto plPcduHandler = new PayloadPcduHandler(
|
||||
objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF, SdCardManager::instance(),
|
||||
pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
|
||||
pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
|
||||
spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
|
||||
// plPcduHandler->enablePeriodicPrintout(true, 5);
|
||||
// static_cast<void>(plPcduHandler);
|
||||
#if OBSW_TEST_PL_PCDU == 1
|
||||
plPcduHandler->setStartUpImmediately();
|
||||
#endif
|
||||
#if OBSW_DEBUG_PL_PCDU == 1
|
||||
plPcduHandler->setToGoToNormalModeImmediately(true);
|
||||
plPcduHandler->enablePeriodicPrintout(true, 10);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
new Q7STestTask(objects::TEST_TASK);
|
||||
#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
|
||||
#if OBSW_ADD_UART_TEST_CODE == 1
|
||||
new UartTestClass(objects::UART_TEST);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
|
||||
CommandMessage msg;
|
||||
ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
|
||||
duallane::A_SIDE);
|
||||
ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "Sending mode command failed" << std::endl;
|
||||
}
|
||||
|
||||
createMiscComponents();
|
||||
}
|
||||
|
||||
@ -1,3 +0,0 @@
|
||||
target_sources(${OBSW_NAME} PRIVATE
|
||||
fmObjectFactory.cpp
|
||||
)
|
||||
64
bsp_q7s/fmObjectFactory.cpp
Normal file
64
bsp_q7s/fmObjectFactory.cpp
Normal file
@ -0,0 +1,64 @@
|
||||
#include "OBSWConfig.h"
|
||||
#include "bsp_q7s/core/CoreController.h"
|
||||
#include "bsp_q7s/core/ObjectFactory.h"
|
||||
#include "busConf.h"
|
||||
#include "commonObjects.h"
|
||||
#include "devConf.h"
|
||||
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
|
||||
#include "linux/ObjectFactory.h"
|
||||
#include "linux/callbacks/gpioCallbacks.h"
|
||||
#include "mission/core/GenericFactory.h"
|
||||
|
||||
void ObjectFactory::produce(void* args) {
|
||||
ObjectFactory::setStatics();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
UartComIF* uartComIF = nullptr;
|
||||
SpiComIF* spiMainComIF = nullptr;
|
||||
I2cComIF* i2cComIF = nullptr;
|
||||
PowerSwitchIF* pwrSwitcher = nullptr;
|
||||
SpiComIF* spiRwComIF = nullptr;
|
||||
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
|
||||
createTmpComponents();
|
||||
new CoreController(objects::CORE_CONTROLLER);
|
||||
|
||||
gpioCallbacks::disableAllDecoder(gpioComIF);
|
||||
createPcduComponents(gpioComIF, &pwrSwitcher);
|
||||
createRadSensorComponent(gpioComIF);
|
||||
createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
|
||||
#endif
|
||||
createHeaterComponents();
|
||||
createSolarArrayDeploymentComponents();
|
||||
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
|
||||
#if OBSW_ADD_SYRLINKS == 1
|
||||
createSyrlinksComponents(pwrSwitcher);
|
||||
#endif /* OBSW_ADD_SYRLINKS == 1 */
|
||||
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
|
||||
createPayloadComponents(gpioComIF);
|
||||
|
||||
#if OBSW_ADD_MGT == 1
|
||||
createImtqComponents(pwrSwitcher);
|
||||
#endif
|
||||
createReactionWheelComponents(gpioComIF, pwrSwitcher);
|
||||
|
||||
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
|
||||
createBpxBatteryComponent();
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_STAR_TRACKER == 1
|
||||
createStrComponents(pwrSwitcher);
|
||||
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
|
||||
#if OBSW_USE_CCSDS_IP_CORE == 1
|
||||
createCcsdsComponents(gpioComIF);
|
||||
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
|
||||
/* Test Task */
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
createTestComponents(gpioComIF);
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
|
||||
createMiscComponents();
|
||||
}
|
||||
Reference in New Issue
Block a user