eive/eive-obsw
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Merge branch 'meier/gpioNaming' into meier/ptme

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This commit is contained in:
Jakob Meier
2021-09-20 19:11:22 +02:00
parent ddd8ff2180 c4ba578285
commit e2c26efe4a
30 changed files with 630 additions and 1233 deletions
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4
bsp_q7s/core/InitMission.cpp
View File

@ -289,13 +289,17 @@ void initmission::createPusTasks(TaskFactory &factory,
void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
std::vector<PeriodicTaskIF*>& taskVec) {
#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#endif
PeriodicTaskIF* testTask = factory.createPeriodicTask(
"TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
#if OBSW_ADD_TEST_TASK == 1
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
}
#endif /* OBSW_ADD_TEST_TASK == 1 */
#if OBSW_ADD_SPI_TEST_CODE == 1
result = testTask->addComponent(objects::SPI_TEST);

351
bsp_q7s/core/ObjectFactory.cpp
View File

@ -35,7 +35,6 @@
#include "mission/devices/GyroADIS16507Handler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/MGMHandlerLIS3MDL.h"
#include "mission/devices/PlocMPSoCHandler.h"
#include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h"
@ -52,6 +51,7 @@
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/i2c/I2cCookie.h"
@ -111,7 +111,7 @@ void Factory::setStaticFrameworkObjectIds() {
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}
void ObjectFactory::produce(void* args){
void ObjectFactory::produce(void* args) {
ObjectFactory::setStatics();
ObjectFactory::produceGenericObjects();
LinuxLibgpioIF* gpioComIF = nullptr;
@ -139,8 +139,8 @@ void ObjectFactory::produce(void* args){
createRtdComponents();
#endif /* Q7S_ADD_RTD_DEVICES == 1 */
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ,
IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
q7s::I2C_DEFAULT_DEV);
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
createReactionWheelComponents(gpioComIF);
@ -197,13 +197,13 @@ void ObjectFactory::produce(void* args){
auto udpBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
sif::info << "Created UDP server for TMTC commanding with listener port " <<
udpBridge->getUdpPort() << std::endl;
udpBridge->getUdpPort() << std::endl;
#else
auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50);
auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
sif::info << "Created TCP server for TMTC commanding with listener port " <<
tcpServer->getTcpPort() << std::endl;
sif::info << "Created TCP server for TMTC commanding with listener port "
<< tcpServer->getTcpPort() << std::endl;
#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
/* Test Task */
@ -229,19 +229,17 @@ void ObjectFactory::createTmpComponents() {
#endif
/* Temperature sensors */
Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
i2cCookieTmp1075tcs1);
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);
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) {
if(gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF, UartComIF** uartComIF,
SpiComIF** spiComIF) {
if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
<< std::endl;
}
@ -262,23 +260,19 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
}
void ObjectFactory::createPcduComponents() {
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);
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);
/* Device Handler */
P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER,
objects::CSP_COM_IF, p60DockCspCookie);
PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER,
objects::CSP_COM_IF, pdu1CspCookie);
PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER,
objects::CSP_COM_IF, pdu2CspCookie);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER,
objects::CSP_COM_IF, acuCspCookie);
PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
pdu1CspCookie);
PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
pdu2CspCookie);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
acuCspCookie);
new PCDUHandler(objects::PCDU_HANDLER, 50);
/**
@ -293,8 +287,8 @@ void ObjectFactory::createPcduComponents() {
void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookieRadSensor = new GpioCookie;
GpiodRegular* chipSelectRadSensor = new GpiodRegular(q7s::GPIO_RAD_SENSOR_CHIP,
q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, 1);
GpiodRegular* chipSelectRadSensor = new GpiodRegular("Chip Select Radiation Sensor", gpio::OUT,
1, q7s::GPIO_RAD_SENSOR_LABEL, q7s::GPIO_RAD_SENSOR_CS);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
gpioComIF->addGpios(gpioCookieRadSensor);
@ -304,8 +298,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
}
void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
SpiComIF* spiComIF) {
void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComIF* spiComIF) {
GpioCookie* gpioCookieSus = new GpioCookie();
GpioCallback* susgpio = nullptr;
@ -422,46 +415,46 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
GpiodRegular* gpio = nullptr;
gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_0_ADIS_CS,
"CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
gpio = new GpiodRegular("CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
q7s::GPIO_GYRO_0_ADIS_CS);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_1_L3G_CS,
"CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH);
gpio = new GpiodRegular("CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_1_L3G_CS);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_2_ADIS_CS,
"CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
gpio = new GpiodRegular("CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
q7s::GPIO_GYRO_2_ADIS_CS);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_3_L3G_CS,
"CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH);
gpio = new GpiodRegular("CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_3_L3G_CS);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_0_LIS3_CS,
"CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH);
gpio = new GpiodRegular("CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_0_LIS3_CS);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_1_RM3100_CS,
"CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH);
gpio = new GpiodRegular("CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_1_RM3100_CS);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_MGM2_LIS3_CHIP, q7s::GPIO_MGM_2_LIS3_CS,
"CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH);
gpio = new GpiodRegular("CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH, q7s::GPIO_MGM2_LIS3_LABEL,
q7s::GPIO_MGM_2_LIS3_CS);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_3_RM3100_CS,
"CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH);
gpio = new GpiodRegular("CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_3_RM3100_CS);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
// GNSS reset pins are active low
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_RESET_GNSS_0,
"GNSS_0_NRESET", gpio::OUT, gpio::HIGH);
gpio = new GpiodRegular("GNSS_0_NRESET", gpio::OUT, gpio::HIGH,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_0);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_RESET_GNSS_1,
"GNSS_1_NRESET", gpio::OUT, gpio::HIGH);
gpio = new GpiodRegular("GNSS_1_NRESET", gpio::OUT, gpio::HIGH,
q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_1);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
// Enable pins must be pulled low for regular operations
gpio = new GpiodRegular(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
"GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
gpio = new GpiodRegular("GYRO_0_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_FLEX_OBC1F_B0,
q7s::GPIO_GYRO_0_ENABLE);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
gpio = new GpiodRegular(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
"GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
gpio = new GpiodRegular("GYRO_2_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_3V3_OBC1C,
q7s::GPIO_GYRO_2_ENABLE);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
// TODO: Add enable pins for GPS as soon as new interface board design is finished
@ -470,58 +463,78 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
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 MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie);
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
spiCookie, 0);
mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true);
#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, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true);
#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);
auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie);
auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
spiCookie, 0);
mgmLis3Handler2->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler2->setToGoToNormalMode(true);
#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, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true);
#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,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
spi::DEFAULT_ADIS16507_SPEED);
auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER,
objects::SPI_COM_IF, spiCookie);
auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie);
adisHandler->setStartUpImmediately();
// 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, 0);
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, 0);
gyroL3gHandler->setStartUpImmediately();
//gyroL3gHandler->setGoNormalModeAtStartup();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setGoNormalModeAtStartup();
#endif
// Gyro 2 Side B
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
spi::DEFAULT_ADIS16507_SPEED);
adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER,
objects::SPI_COM_IF, spiCookie);
adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie);
adisHandler->setStartUpImmediately();
// 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, 0);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, 0);
gyroL3gHandler->setStartUpImmediately();
//gyroL3gHandler->setGoNormalModeAtStartup();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setGoNormalModeAtStartup();
#endif
bool debugGps = false;
#if OBSW_DEBUG_GPS == 1
debugGps = true;
#endif
resetArgsGnss1.gnss1 = true;
resetArgsGnss1.gpioComIF = gpioComIF;
resetArgsGnss1.waitPeriodMs = 100;
@ -537,11 +550,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
uartCookieGps1->setToFlushInput(true);
uartCookieGps1->setReadCycles(6);
auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
uartCookieGps0, true);
uartCookieGps0, debugGps);
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
gpsHandler0->setStartUpImmediately();
auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
uartCookieGps1, true);
uartCookieGps1, debugGps);
gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1);
gpsHandler1->setStartUpImmediately();
}
@ -551,38 +564,37 @@ void ObjectFactory::createHeaterComponents() {
GpioCookie* heaterGpiosCookie = new GpioCookie;
/* Pin H2-11 on stack connector */
GpiodRegular* gpioConfigHeater0 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
q7s::GPIO_HEATER_0_PIN, "Heater0", gpio::OUT, 0);
GpiodRegular* gpioConfigHeater0 = new GpiodRegular("Heater0", gpio::OUT, 0,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_0_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
/* Pin H2-12 on stack connector */
GpiodRegular* gpioConfigHeater1 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
q7s::GPIO_HEATER_1_PIN, "Heater1", gpio::OUT, 0);
GpiodRegular* gpioConfigHeater1 = new GpiodRegular("Heater1", gpio::OUT, 0,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_1_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
/* Pin H2-13 on stack connector */
GpiodRegular* gpioConfigHeater2 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
q7s::GPIO_HEATER_2_PIN, "Heater2", gpio::OUT, 0);
GpiodRegular* gpioConfigHeater2 = new GpiodRegular("Heater2", gpio::OUT, 0,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_2_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
GpiodRegular* gpioConfigHeater3 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
q7s::GPIO_HEATER_3_PIN, "Heater3", gpio::OUT, 0);
GpiodRegular* gpioConfigHeater3 = new GpiodRegular("Heater3", gpio::OUT, 0,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_3_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
GpiodRegular* gpioConfigHeater4 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
q7s::GPIO_HEATER_4_PIN, "Heater4", gpio::OUT, 0);
GpiodRegular* gpioConfigHeater4 = new GpiodRegular("Heater4", gpio::OUT, 0,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_4_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
GpiodRegular* gpioConfigHeater5 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
q7s::GPIO_HEATER_5_PIN, "Heater5", gpio::OUT, 0);
GpiodRegular* gpioConfigHeater5 = new GpiodRegular("Heater5", gpio::OUT, 0,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_5_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
GpiodRegular* gpioConfigHeater6 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
q7s::GPIO_HEATER_6_PIN, "Heater6", gpio::OUT, 0);
GpiodRegular* gpioConfigHeater6 = new GpiodRegular("Heater6", gpio::OUT, 0,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_6_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
GpiodRegular* gpioConfigHeater7 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
q7s::GPIO_HEATER_7_PIN, "Heater7", gpio::OUT, 0);
GpiodRegular* gpioConfigHeater7 = new GpiodRegular("Heater7", gpio::OUT, 0,
q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_7_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@ -592,11 +604,11 @@ void ObjectFactory::createHeaterComponents() {
void ObjectFactory::createSolarArrayDeploymentComponents() {
GpioCookie* solarArrayDeplCookie = new GpioCookie;
GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, 0);
GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular("DeplSA0", gpio::OUT, 0,
q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_0_PIN);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, 0);
GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular("DeplSA1", gpio::OUT, 0,
q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_1_PIN);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);
//TODO: Find out burn time. For now set to 1000 ms.
@ -668,69 +680,62 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
gpioComIF->addGpios(rtdGpioCookie);
SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9, q7s::SPI_DEFAULT_DEV,
Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16,
std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::RTD_SPEED);
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3,
objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4,
objects::SPI_COM_IF, spiRtdIc4, 0);
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5,
objects::SPI_COM_IF, spiRtdIc5, 0);
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6,
objects::SPI_COM_IF, spiRtdIc6, 0);
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7,
objects::SPI_COM_IF, spiRtdIc7, 0);
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8,
objects::SPI_COM_IF, spiRtdIc8, 0);
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9,
objects::SPI_COM_IF, spiRtdIc9, 0);
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF,
spiRtdIc3, 0); // 0 is switchId
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF,
spiRtdIc4, 0);
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5, objects::SPI_COM_IF,
spiRtdIc5, 0);
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6, objects::SPI_COM_IF,
spiRtdIc6, 0);
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7, objects::SPI_COM_IF,
spiRtdIc7, 0);
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8, objects::SPI_COM_IF,
spiRtdIc8, 0);
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9, objects::SPI_COM_IF,
spiRtdIc9, 0);
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10,
objects::SPI_COM_IF, spiRtdIc10, 0);
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11,
@ -770,30 +775,30 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookieRw = new GpioCookie;
GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT,
gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT, gpio::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT,
gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT, gpio::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT,
gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT, gpio::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT,
gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT, gpio::HIGH,
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
GpiodRegular* enRw1 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_0_CS,
"Enable reaction wheel 1", gpio::OUT, 0);
GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0,
q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS);
gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
GpiodRegular* enRw2 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_1_CS,
"Enable reaction wheel 2", gpio::OUT, 0);
GpiodRegular* enRw2 = new GpiodRegular("Enable reaction wheel 2", gpio::OUT, 0,
q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS);
gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
GpiodRegular* enRw3 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_2_CS,
"Enable reaction wheel 3", gpio::OUT, 0);
GpiodRegular* enRw3 = new GpiodRegular("Enable reaction wheel 3", gpio::OUT, 0,
q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS);
gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
GpiodRegular* enRw4 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_3_CS,
"Enable reaction wheel 4", gpio::OUT, 0);
GpiodRegular* enRw4 = new GpiodRegular("Enable reaction wheel 4", gpio::OUT, 0,
q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_3_CS);
gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
/**
@ -801,8 +806,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
* the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
* Per default the PS SPI is selected (EMIO = 0).
*/
GpiodRegular* spiMux = new GpiodRegular(q7s::GPIO_RW_SPI_MUX_CHIP, q7s::GPIO_RW_SPI_MUX_CS,
"EMIO 0 SPI Mux", gpio::OUT, 0);
GpiodRegular* spiMux = new GpiodRegular("EMIO 0 SPI Mux", gpio::OUT, 0,
q7s::GPIO_RW_SPI_MUX_LABEL, q7s::GPIO_RW_SPI_MUX_CS);
gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
gpioComIF->addGpios(gpioCookieRw);
@ -844,11 +849,15 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#endif
#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
#if OBSW_TEST_GPIO_LABEL == 1
/* Configure MIO0 as input */
GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
std::string("MIO0"), gpio::IN, 0);
GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::OUT, 0, "/amba_pl/gpio@41200000", 0);
#else
/* Configure MIO0 as input */
GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
#endif /* OBSW_TEST_GPIO_LABEL == 1 */
GpioCookie* gpioCookie = new GpioCookie;
gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
gpioCookie->addGpio(gpioIds::TEST_ID_0, testGpio);
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#endif