eive/eive-obsw
eive/eive-obsw
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this should do the job
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Robin Müller 2022-09-30 13:30:22 +02:00
parent d10ff4efa6
commit dcd0a650f0
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GPG Key ID: 71B58F8A3CDFA9AC
6 changed files with 41 additions and 79 deletions
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53
bsp_q7s/core/ObjectFactory.cpp
View File

@ -43,7 +43,6 @@
#include "mission/system/fdir/SusFdir.h" #include "mission/system/fdir/SusFdir.h"
#include "mission/system/fdir/SyrlinksFdir.h" #include "mission/system/fdir/SyrlinksFdir.h"
#include "mission/system/objects/RwAssembly.h" #include "mission/system/objects/RwAssembly.h"
#include "mission/system/objects/SusAssembly.h"
#include "mission/system/objects/TcsBoardAssembly.h" #include "mission/system/objects/TcsBoardAssembly.h"
#include "mission/system/tree/acsModeTree.h" #include "mission/system/tree/acsModeTree.h"
#include "tmtc/pusIds.h" #include "tmtc/pusIds.h"
@ -341,11 +340,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
SpiCookie* spiCookie = SpiCookie* spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE, new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, auto mgmLis3Handler0 = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, spi::LIS3_TRANSITION_DELAY); spiCookie, spi::LIS3_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER); fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
mgmLis3Handler->setCustomFdir(fdir); mgmLis3Handler0->setCustomFdir(fdir);
assemblyChildren.push_back(*mgmLis3Handler); assemblyChildren.push_back(*mgmLis3Handler0);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
mgmLis3Handler->setStartUpImmediately(); mgmLis3Handler->setStartUpImmediately();
mgmLis3Handler->setToGoToNormalMode(true); mgmLis3Handler->setToGoToNormalMode(true);
@ -356,12 +355,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
spiCookie = spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE, new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler = auto mgmRm3100Handler1 =
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
spi::RM3100_TRANSITION_DELAY); spi::RM3100_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER); fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
mgmRm3100Handler->setCustomFdir(fdir); mgmRm3100Handler1->setCustomFdir(fdir);
assemblyChildren.push_back(*mgmRm3100Handler); assemblyChildren.push_back(*mgmRm3100Handler1);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
mgmRm3100Handler->setToGoToNormalMode(true); mgmRm3100Handler->setToGoToNormalMode(true);
@ -372,11 +371,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
spiCookie = spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE, new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, auto* mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, spi::LIS3_TRANSITION_DELAY); spiCookie, spi::LIS3_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER); fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
mgmLis3Handler->setCustomFdir(fdir); mgmLis3Handler2->setCustomFdir(fdir);
assemblyChildren.push_back(*mgmLis3Handler); assemblyChildren.push_back(*mgmLis3Handler2);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
mgmLis3Handler->setStartUpImmediately(); mgmLis3Handler->setStartUpImmediately();
mgmLis3Handler->setToGoToNormalMode(true); mgmLis3Handler->setToGoToNormalMode(true);
@ -387,11 +386,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
spiCookie = spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE, new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, auto* mgmRm3100Handler3 = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, spi::RM3100_TRANSITION_DELAY); spiCookie, spi::RM3100_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER); fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
mgmRm3100Handler->setCustomFdir(fdir); mgmRm3100Handler3->setCustomFdir(fdir);
assemblyChildren.push_back(*mgmRm3100Handler); assemblyChildren.push_back(*mgmRm3100Handler3);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
mgmRm3100Handler->setToGoToNormalMode(true); mgmRm3100Handler->setToGoToNormalMode(true);
@ -420,12 +419,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
// Gyro 1 Side A // Gyro 1 Side A
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE, spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto gyroL3gHandler = new GyroHandlerL3GD20H( auto gyroL3gHandler1 = new GyroHandlerL3GD20H(
objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY); objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER); fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
gyroL3gHandler->setCustomFdir(fdir); gyroL3gHandler1->setCustomFdir(fdir);
assemblyChildren.push_back(*gyroL3gHandler); assemblyChildren.push_back(*gyroL3gHandler1);
static_cast<void>(gyroL3gHandler);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
gyroL3gHandler->setToGoToNormalMode(true); gyroL3gHandler->setToGoToNormalMode(true);
@ -449,11 +447,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
// Gyro 3 Side B // Gyro 3 Side B
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE, spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, auto gyroL3gHandler3 = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, spi::L3G_TRANSITION_DELAY); spiCookie, spi::L3G_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER); fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
gyroL3gHandler->setCustomFdir(fdir); gyroL3gHandler3->setCustomFdir(fdir);
assemblyChildren.push_back(*gyroL3gHandler); assemblyChildren.push_back(*gyroL3gHandler3);
#if OBSW_TEST_ACS == 1 #if OBSW_TEST_ACS == 1
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
gyroL3gHandler->setToGoToNormalMode(true); gyroL3gHandler->setToGoToNormalMode(true);
@ -478,9 +476,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
new AcsBoardAssembly(objects::ACS_BOARD_ASS, pwrSwitcher, acsBoardHelper, gpioComIF); new AcsBoardAssembly(objects::ACS_BOARD_ASS, pwrSwitcher, acsBoardHelper, gpioComIF);
acsAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM); acsAss->connectModeTreeParent(satsystem::ACS_SUBSYSTEM);
static_cast<void>(acsAss); static_cast<void>(acsAss);
auto assQueueId = acsAss->getCommandQueue();
for (auto& assChild : assemblyChildren) { for (auto& assChild : assemblyChildren) {
assChild.get().setParentQueue(assQueueId); ReturnValue_t result = assChild.get().connectModeTreeParent(*acsAss);
if(result != returnvalue::OK) {
sif::error << "Connecting assembly for ACS board component " <<
assChild.get().getObjectId() << " failed" << std::endl;
}
} }
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */ #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
} }
@ -693,7 +694,13 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
RwHelper rwHelper(rwIds); RwHelper rwHelper(rwIds);
auto* rwAss = new RwAssembly(objects::RW_ASS, objects::NO_OBJECT, pwrSwitcher, auto* rwAss = new RwAssembly(objects::RW_ASS, objects::NO_OBJECT, pwrSwitcher,
pcdu::Switches::PDU2_CH2_RW_5V, rwHelper); pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
static_cast<void>(rwAss); for (uint8_t idx = 0; idx < rws.size(); idx++) {
ReturnValue_t result = rws[idx]->connectModeTreeParent(*rwAss);
if(result != returnvalue::OK) {
sif::error << "Connecting RW " << static_cast<int>(idx) << " to RW assembly failed"
<< std::endl;
}
}
#endif /* OBSW_ADD_RW == 1 */ #endif /* OBSW_ADD_RW == 1 */
} }

2
fsfw

@ -1 +1 @@
Subproject commit f824004897e29bf90c2b02578625ba3d51786fdf Subproject commit 10dd8552446e409e40d830e25fb0eed927995764

12
linux/ObjectFactory.cpp
View File

@ -167,7 +167,11 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
static_cast<void>(susAss); static_cast<void>(susAss);
for (auto& sus : susHandlers) { for (auto& sus : susHandlers) {
if (sus != nullptr) { if (sus != nullptr) {
sus->setParentQueue(susAss->getCommandQueue()); ReturnValue_t result = sus->connectModeTreeParent(*susAss);
if(result != returnvalue::OK) {
sif::error << "Connecting SUS " << sus->getObjectId() <<
" to SUS assembly failed" << std::endl;
}
#if OBSW_TEST_SUS == 1 #if OBSW_TEST_SUS == 1
sus->setStartUpImmediately(); sus->setStartUpImmediately();
sus->setToGoToNormalMode(true); sus->setToGoToNormalMode(true);
@ -294,7 +298,11 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
rtds[idx] = rtds[idx] =
new Max31865EiveHandler(rtdInfos[idx].first, objects::SPI_RTD_COM_IF, rtdLowLevelCookie); new Max31865EiveHandler(rtdInfos[idx].first, objects::SPI_RTD_COM_IF, rtdLowLevelCookie);
rtds[idx]->setDeviceInfo(idx, rtdInfos[idx].second); rtds[idx]->setDeviceInfo(idx, rtdInfos[idx].second);
rtds[idx]->setParentQueue(tcsBoardAss->getCommandQueue()); ReturnValue_t result = rtds[idx]->connectModeTreeParent(*tcsBoardAss);
if(result != returnvalue::OK) {
sif::error << "Connecting RTD " << static_cast<int>(idx) << " to RTD Assembly failed"
<< std::endl;
}
rtdFdir = new RtdFdir(rtdInfos[idx].first); rtdFdir = new RtdFdir(rtdInfos[idx].first);
rtds[idx]->setCustomFdir(rtdFdir); rtds[idx]->setCustomFdir(rtdFdir);
#if OBSW_DEBUG_RTD == 1 #if OBSW_DEBUG_RTD == 1

37
mission/system/objects/AcsBoardAssembly.cpp
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@ -275,42 +275,5 @@ void AcsBoardAssembly::refreshHelperModes() {
} }
ReturnValue_t AcsBoardAssembly::initialize() { ReturnValue_t AcsBoardAssembly::initialize() {
// TODO: Fix this
// ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
// if (result != returnvalue::OK) {
// return result;
// }
// result = registerChild(helper.gyro1L3gIdSideA);
// if (result != returnvalue::OK) {
// return result;
// }
// result = registerChild(helper.gyro2AdisIdSideB);
// if (result != returnvalue::OK) {
// return result;
// }
// result = registerChild(helper.gyro3L3gIdSideB);
// if (result != returnvalue::OK) {
// return result;
// }
// result = registerChild(helper.mgm0Lis3IdSideA);
// if (result != returnvalue::OK) {
// return result;
// }
// result = registerChild(helper.mgm1Rm3100IdSideA);
// if (result != returnvalue::OK) {
// return result;
// }
// result = registerChild(helper.mgm2Lis3IdSideB);
// if (result != returnvalue::OK) {
// return result;
// }
// result = registerChild(helper.mgm3Rm3100IdSideB);
// if (result != returnvalue::OK) {
// return result;
// }
// result = registerChild(helper.gpsId);
// if (result != returnvalue::OK) {
// return result;
// }
return AssemblyBase::initialize(); return AssemblyBase::initialize();
} }

8
mission/system/objects/RwAssembly.cpp
View File

@ -168,14 +168,6 @@ bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
} }
ReturnValue_t RwAssembly::initialize() { ReturnValue_t RwAssembly::initialize() {
ReturnValue_t result = returnvalue::OK;
// TODO: Fix this
// for (const auto& obj : helper.rwIds) {
// result = registerChild(obj);
// if (result != returnvalue::OK) {
// return result;
// }
// }
return SubsystemBase::initialize(); return SubsystemBase::initialize();
} }

8
mission/system/objects/SusAssembly.cpp
View File

@ -121,14 +121,6 @@ ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wan
} }
ReturnValue_t SusAssembly::initialize() { ReturnValue_t SusAssembly::initialize() {
ReturnValue_t result = returnvalue::OK;
// TODO: Fix this
// for (const auto& id : helper.susIds) {
// result = registerChild(id);
// if (result != returnvalue::OK) {
// return result;
// }
// }
return AssemblyBase::initialize(); return AssemblyBase::initialize();
} }