Merge branch 'mueller/master' into mueller/bpx-handler
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@ -5,6 +5,7 @@
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#include "OBSWConfig.h"
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#include "bsp_q7s/boardtest/Q7STestTask.h"
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#include "bsp_q7s/callbacks/gnssCallback.h"
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#include "bsp_q7s/callbacks/pcduSwitchCb.h"
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#include "bsp_q7s/callbacks/rwSpiCallback.h"
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#include "bsp_q7s/core/CoreController.h"
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#include "bsp_q7s/devices/PlocMemoryDumper.h"
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@ -44,7 +45,7 @@
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#include "linux/devices/devicedefinitions/SusDefinitions.h"
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#include "mission/core/GenericFactory.h"
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#include "mission/devices/ACUHandler.h"
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#include "mission/devices/GPSHyperionHandler.h"
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#include "mission/devices/GPSHyperionLinuxController.h"
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#include "mission/devices/GyroADIS1650XHandler.h"
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#include "mission/devices/HeaterHandler.h"
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#include "mission/devices/IMTQHandler.h"
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@ -74,12 +75,11 @@
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#include "linux/boardtest/LibgpiodTest.h"
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#endif
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#include <linux/obc/AxiPtmeConfig.h>
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#include <linux/obc/PapbVcInterface.h>
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#include <linux/obc/PdecHandler.h>
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#include <linux/obc/Ptme.h>
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#include <linux/obc/PtmeConfig.h>
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#include <linux/obc/PtmeRateSetter.h>
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#include <linux/obc/TxRateSetterIF.h>
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ResetArgs resetArgsGnss0;
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ResetArgs resetArgsGnss1;
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@ -122,13 +122,14 @@ void ObjectFactory::produce(void* args) {
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#if BOARD_TE0720 == 0
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new CoreController(objects::CORE_CONTROLLER);
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createPcduComponents();
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createPcduComponents(gpioComIF);
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createRadSensorComponent(gpioComIF);
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createSunSensorComponents(gpioComIF, spiComIF);
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#if OBSW_ADD_ACS_BOARD == 1
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createAcsBoardComponents(gpioComIF, uartComIF);
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#endif /* OBSW_ADD_ACS_BOARD == 1 */
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#endif
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createHeaterComponents();
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createSolarArrayDeploymentComponents();
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#if OBSW_ADD_SYRLINKS == 1
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@ -139,9 +140,18 @@ void ObjectFactory::produce(void* args) {
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createRtdComponents(gpioComIF);
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#endif /* OBSW_ADD_RTD_DEVICES == 1 */
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#if OBSW_ADD_MGT == 1
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I2cCookie* imtqI2cCookie =
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new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
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new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
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auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
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static_cast<void>(imtqHandler);
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#if OBSW_DEBUG_IMTQ == 1
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imtqHandler->setToGoToNormal(true);
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imtqHandler->setStartUpImmediately();
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#else
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(void)imtqHandler;
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#endif
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#endif
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createReactionWheelComponents(gpioComIF);
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I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
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@ -236,7 +246,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
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#endif
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}
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void ObjectFactory::createPcduComponents() {
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void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF) {
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CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
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CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
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CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
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@ -246,8 +256,10 @@ void ObjectFactory::createPcduComponents() {
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new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
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PDU1Handler* pdu1handler =
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new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
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pdu1handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
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PDU2Handler* pdu2handler =
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new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
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pdu2handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
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ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
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new PCDUHandler(objects::PCDU_HANDLER, 50);
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@ -472,8 +484,15 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
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gpio::LOW);
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gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
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// Select pin. 0 for GPS side A, 1 for GPS side B
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consumer.str("");
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consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), gpio::DIR_OUT,
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gpio::LOW);
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gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
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gpioComIF->addGpios(gpioCookieAcsBoard);
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#if OBSW_ADD_ACS_HANDLERS == 1
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std::string spiDev = q7s::SPI_DEFAULT_DEV;
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SpiCookie* spiCookie =
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new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
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@ -568,8 +587,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
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resetArgsGnss0.gnss1 = false;
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resetArgsGnss0.gpioComIF = gpioComIF;
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resetArgsGnss0.waitPeriodMs = 100;
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auto gpsHandler0 = new GPSHyperionHandler(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
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auto gpsHandler0 =
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new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
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gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
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#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
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}
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void ObjectFactory::createHeaterComponents() {
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@ -895,49 +916,50 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
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GpioCookie* gpioCookiePtmeIp = new GpioCookie;
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GpiodRegularByLineName* gpio = nullptr;
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std::stringstream consumer;
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consumer << "0x" << std::hex << objects::PAPB_VC0;
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consumer.str("PAPB VC0");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::PAPB_VC0;
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consumer.str("PAPB VC0");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::PAPB_VC1;
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consumer.str("PAPB VC 1");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::PAPB_VC1;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, consumer.str());
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consumer.str("PAPB VC 1");
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gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::PAPB_VC2;
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consumer.str("PAPB VC 2");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::PAPB_VC2;
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consumer.str("PAPB VC 2");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::PAPB_VC3;
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consumer.str("PAPB VC 3");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::PAPB_VC3;
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consumer.str("PAPB VC 3");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
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gpioComIF->addGpios(gpioCookiePtmeIp);
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// Creating virtual channel interfaces
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VcInterfaceIF* vc0 = new PapbVcInterface(objects::PAPB_VC0, gpioComIF, gpioIds::VC0_PAPB_BUSY,
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gpioIds::VC0_PAPB_EMPTY, PtmeConfig::VC0_OFFSETT);
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VcInterfaceIF* vc1 = new PapbVcInterface(objects::PAPB_VC1, gpioComIF, gpioIds::VC1_PAPB_BUSY,
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gpioIds::VC1_PAPB_EMPTY, PtmeConfig::VC1_OFFSETT);
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VcInterfaceIF* vc2 = new PapbVcInterface(objects::PAPB_VC2, gpioComIF, gpioIds::VC2_PAPB_BUSY,
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gpioIds::VC2_PAPB_EMPTY, PtmeConfig::VC2_OFFSETT);
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VcInterfaceIF* vc3 = new PapbVcInterface(objects::PAPB_VC3, gpioComIF, gpioIds::VC3_PAPB_BUSY,
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gpioIds::VC3_PAPB_EMPTY, PtmeConfig::VC3_OFFSETT);
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VcInterfaceIF* vc0 =
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new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
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q7s::uiomapids::PTME_VC0);
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VcInterfaceIF* vc1 =
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new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
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q7s::uiomapids::PTME_VC1);
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VcInterfaceIF* vc2 =
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new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
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q7s::uiomapids::PTME_VC2);
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VcInterfaceIF* vc3 =
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new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
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q7s::uiomapids::PTME_VC3);
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// Creating ptme object and adding virtual channel interfaces
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Ptme* ptme = new Ptme(objects::PTME);
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@ -946,19 +968,11 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
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ptme->addVcInterface(ccsds::VC2, vc2);
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ptme->addVcInterface(ccsds::VC3, vc3);
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GpioCookie* gpioCookieRateSetter = new GpioCookie;
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consumer.str("");
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consumer << "ptme rate setter";
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// Init to low -> default bit rate is low bit rate (200 kbps in downlink with syrlinks)
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gpio = new GpiodRegularByLineName(q7s::gpioNames::BIT_RATE_SEL, consumer.str(), gpio::DIR_OUT,
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gpio::LOW);
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gpioCookieRateSetter->addGpio(gpioIds::BIT_RATE_SEL, gpio);
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gpioComIF->addGpios(gpioCookieRateSetter);
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TxRateSetterIF* txRateSetterIF = new PtmeRateSetter(gpioIds::BIT_RATE_SEL, gpioComIF);
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AxiPtmeConfig* axiPtmeConfig =
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new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
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PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
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CCSDSHandler* ccsdsHandler = new CCSDSHandler(
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objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF,
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objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
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gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
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VirtualChannel* vc = nullptr;
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@ -982,8 +996,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
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gpioComIF->addGpios(gpioCookiePdec);
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new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
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std::string(q7s::UIO_PDEC_CONFIG_MEMORY), std::string(q7s::UIO_PDEC_RAM),
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std::string(q7s::UIO_PDEC_REGISTERS));
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q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
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#if BOARD_TE0720 == 0
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GpioCookie* gpioRS485Chip = new GpioCookie;
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