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This commit is contained in:
Jakob Meier
2022-01-03 08:07:47 +01:00
parent 7e0510115a 09db06e8b2
commit f6a0fcbe0b
4 changed files with 20 additions and 33 deletions
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33
bsp_q7s/core/ObjectFactory.cpp
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@ -474,7 +474,19 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
// TODO: Add enable pins for GPS as soon as new interface board design is finished
// Enable pins for GNSS
consumer.str("");
consumer << "0x" << std::hex << objects::GPS0_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(),
gpio::DIR_OUT, gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS1_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), gpio::DIR_OUT,
gpio::LOW);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
gpioComIF->addGpios(gpioCookieAcsBoard);
std::string spiDev = q7s::SPI_DEFAULT_DEV;
@ -558,22 +570,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
resetArgsGnss0.gnss1 = false;
resetArgsGnss0.gpioComIF = gpioComIF;
resetArgsGnss0.waitPeriodMs = 100;
auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV,
auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_DEV,
UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
uartCookieGps0->setToFlushInput(true);
uartCookieGps0->setReadCycles(6);
auto uartCookieGps1 = new UartCookie(objects::GPS1_HANDLER, q7s::UART_GNSS_1_DEV,
UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
uartCookieGps1->setToFlushInput(true);
uartCookieGps1->setReadCycles(6);
auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
uartCookieGps0, debugGps);
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
gpsHandler0->setStartUpImmediately();
auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
uartCookieGps1, debugGps);
gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1);
gpsHandler1->setStartUpImmediately();
}
void ObjectFactory::createHeaterComponents() {
@ -842,15 +846,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
gpio::LOW);
gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
/**
* This GPIO is only internally connected to the SPI MUX module and responsible to disconnect
* 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).
*/
gpio = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_SELECT,
"SPI Reaction Wheel Callback ", gpio::DIR_OUT, gpio::LOW);
gpioCookieRw->addGpio(gpioIds::SPI_MUX, gpio);
gpioComIF->addGpios(gpioCookieRw);
auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV,