eive/eive-obsw
eive/eive-obsw
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solved all merge conflicts

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This commit is contained in:
Martin Zietz 2021-03-22 13:09:06 +01:00
parent 862a546637
commit e44773fee3
8 changed files with 158 additions and 54 deletions
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19
bsp_q7s/ObjectFactory.cpp
View File

@ -8,10 +8,7 @@
#include <bsp_q7s/devices/HeaterHandler.h>
#include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>
<<<<<<< HEAD
#include <bsp_q7s/gpio/gpioCallbacks.h>
=======
>>>>>>> develop
#include <mission/core/GenericFactory.h>
#include <mission/devices/PDU1Handler.h>
@ -20,13 +17,10 @@
#include <mission/devices/PCDUHandler.h>
#include <mission/devices/P60DockHandler.h>
#include <mission/devices/Tmp1075Handler.h>
<<<<<<< HEAD
#include <mission/devices/Max31865PT1000Handler.h>
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
#include <mission/devices/SyrlinksHkHandler.h>
=======
>>>>>>> develop
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
@ -127,18 +121,11 @@ void ObjectFactory::produce(){
* Setting PCDU devices to mode normal immediately after start up because PCDU is always
* running.
*/
<<<<<<< HEAD
/** For now this needs to be commented out because there is no PCDU connected to the OBC */
// p60dockhandler->setModeNormal();
// pdu1handler->setModeNormal();
// pdu2handler->setModeNormal();
// acuhandler->setModeNormal();
=======
//p60dockhandler->setModeNormal();
//pdu1handler->setModeNormal();
//pdu2handler->setModeNormal();
//acuhandler->setModeNormal();
>>>>>>> develop
#endif
/* Temperature sensors */
Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
@ -224,10 +211,10 @@ void ObjectFactory::produce(){
SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiMode::MODE_1, 2000000);
spi::SpiModes::MODE_1, 2000000);
SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiMode::MODE_1, 2000000);
spi::SpiModes::MODE_1, 2000000);
new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF, spiRtdIc4, 0);

11
fsfwconfig/objects/systemObjectList.h
View File

@ -43,14 +43,6 @@ namespace objects {
ACU_HANDLER = 0x44000004,
TMP1075_HANDLER_1 = 0x44000005,
TMP1075_HANDLER_2 = 0x44000006,
MGM_0_LIS3_HANDLER = 0x4400007,
MGM_1_RM3100_HANDLER = 0x44000008,
MGM_2_LIS3_HANDLER = 0x44000009,
MGM_3_RM3100_HANDLER = 0x44000010,
GYRO_0_ADIS_HANDLER = 0x44000011,
GYRO_1_L3G_HANDLER = 0x44000012,
GYRO_2_L3G_HANDLER = 0x44000013,
MGM_0_LIS3_HANDLER = 0x4400007,
MGM_1_RM3100_HANDLER = 0x44000008,
MGM_2_LIS3_HANDLER = 0x44000009,
@ -62,10 +54,7 @@ namespace objects {
/* Custom device handler */
PCDU_HANDLER = 0x44001000,
SOLAR_ARRAY_DEPL_HANDLER = 0x44001001,
<<<<<<< HEAD
SYRLINKS_HK_HANDLER = 0x44000009,
=======
>>>>>>> develop
/* 0x54 ('T') for thermal objects */
HEATER_HANDLER = 0x54000003,

141
fsfwconfig/pollingsequence/pollingSequenceFactory.cpp Normal file
View File

@ -0,0 +1,141 @@
#include "pollingSequenceFactory.h"
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfwconfig/objects/systemObjectList.h>
ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
{
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
sif::error << "PollingSequence::initialize has errors!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::P60DOCK_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU1_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::PDU2_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Initialization of GomSpace PST failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Initialization of ACS Board PST failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}

14
linux/boardtest/SpiTestClass.cpp
View File

@ -296,37 +296,37 @@ void SpiTestClass::acsInit() {
{
GpiodRegular gpio(rpiGpioName, mgm0Lis3ChipSelect, "MGM_0_LIS3",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, &gpio);
}
{
GpiodRegular gpio(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, &gpio);
}
{
GpiodRegular gpio(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, &gpio);
}
{
GpiodRegular gpio(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, &gpio);
}
{
GpiodRegular gpio(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, &gpio);
}
{
GpiodRegular gpio(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, &gpio);
}
{
GpiodRegular gpio(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, &gpio);
}
if(gpioIF != nullptr) {
gpioIF->addGpios(gpioCookie);

9
linux/boardtest/SpiTestClass.h
View File

@ -47,14 +47,6 @@ private:
uint8_t mgm3Rm3100ChipSelect = 27;
static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
<<<<<<< HEAD
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed);
void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
bool autoIncrement);
uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
=======
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
@ -75,7 +67,6 @@ private:
size_t len);
void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
uint8_t* reply, size_t len);
>>>>>>> develop
};

4
linux/gpio/LinuxLibgpioIF.cpp
View File

@ -88,12 +88,8 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
lineNum = regularGpio->lineNum;
lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) {
<<<<<<< HEAD
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line for GPIO with id "
<< gpioId << std::endl;
=======
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line" << std::endl;
>>>>>>> develop
gpiod_chip_close(chip);
return RETURN_FAILED;
}

2
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -1,4 +1,4 @@
#include <fsfw/datapool/PoolReadHelper.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include "MGMHandlerLIS3MDL.h"
#include <fsfw/datapool/PoolReadGuard.h>

12
mission/devices/SyrlinksHkHandler.cpp
View File

@ -1,7 +1,7 @@
#include <mission/devices/SyrlinksHkHandler.h>
#include <fsfwconfig/OBSWConfig.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadHelper.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfwconfig/OBSWConfig.h>
SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
@ -364,7 +364,7 @@ ReturnValue_t SyrlinksHkHandler::verifyReply(const uint8_t* packet, uint8_t size
}
void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
PoolReadHelper readHelper(&rxDataset);
PoolReadGuard readHelper(&rxDataset);
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
rxDataset.rxStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
offset += 2;
@ -396,7 +396,7 @@ void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
}
void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
PoolReadHelper readHelper(&txDataset);
PoolReadGuard readHelper(&txDataset);
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
txDataset.txStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
#if OBSW_VERBOSE_LEVEL >= 1 && SYRLINKS_DEBUG == 1
@ -406,7 +406,7 @@ void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
}
void SyrlinksHkHandler::parseTxWaveformReply(const uint8_t* packet) {
PoolReadHelper readHelper(&txDataset);
PoolReadGuard readHelper(&txDataset);
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
txDataset.txWaveform = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
#if OBSW_VERBOSE_LEVEL >= 1 && SYRLINKS_DEBUG == 1
@ -416,7 +416,7 @@ void SyrlinksHkHandler::parseTxWaveformReply(const uint8_t* packet) {
}
void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
PoolReadHelper readHelper(&txDataset);
PoolReadGuard readHelper(&txDataset);
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
txDataset.txAgcValue = agcValueHighByte << 8 | convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
#if OBSW_VERBOSE_LEVEL >= 1 && SYRLINKS_DEBUG == 1
@ -425,7 +425,7 @@ void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
}
void SyrlinksHkHandler::parseAgcHighByte(const uint8_t* packet) {
PoolReadHelper readHelper(&txDataset);
PoolReadGuard readHelper(&txDataset);
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
agcValueHighByte = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
}