merged develop

bsp_q7s/boardconfig/busConf.h

@@ -8,14 +8,12 @@ static constexpr char SPI_RW_DEV[] = "/dev/spidev3.0";
 
 static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-1";
 
+static constexpr char UART_GNSS_DEV[] = "/dev/ttyUL0";
 static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL2";
 static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL3";
 static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL4";
 static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL7";
 
-static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0";
-static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL0";
-
 static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
 static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
 static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
@@ -31,6 +29,8 @@ namespace gpioNames {
     static constexpr char MGM_3_CS[] = "mgm_3_rm3100_chip_select";
     static constexpr char RESET_GNSS_0[] = "reset_gnss_0";
     static constexpr char RESET_GNSS_1[] = "reset_gnss_1";
+    static constexpr char GNSS_0_ENABLE[] = "enable_gnss_0";
+    static constexpr char GNSS_1_ENABLE[] = "enable_gnss_1";
     static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
     static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
     static constexpr char HEATER_0[] = "heater0";
@@ -54,7 +54,7 @@ namespace gpioNames {
     static constexpr char EN_RW_2[] = "enable_rw_2";
     static constexpr char EN_RW_3[] = "enable_rw_3";
     static constexpr char EN_RW_4[] = "enable_rw_4";
-    static constexpr char SPI_MUX_SELECT[] = "spi_mux_select";
+    static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
     static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
     static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
     static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -51,11 +51,6 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
         return result;
     }
 
-    /** Disconnect PS SPI peripheral and select AXI SPI core */
-    if(gpioIF->pullHigh(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
-        sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio high" << std::endl;
-    }
-
     /** Sending frame start sign */
     writeBuffer[0] = 0x7E;
     writeSize = 1;
@@ -239,10 +234,5 @@ void closeSpi (gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
     if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;;
     }
-
-    /** Route SPI interface again to PS SPI peripheral */
-    if(gpioIF->pullLow(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
-        sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio low" << std::endl;
-    }
 }
 }

bsp_q7s/core/ObjectFactory.cpp

@@ -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,

linux/fsfwconfig/devices/gpioIds.h

@@ -27,6 +27,8 @@ enum gpioId_t {
 
     GNSS_0_NRESET,
     GNSS_1_NRESET,
+    GNSS_0_ENABLE,
+    GNSS_1_ENABLE,
 
     GYRO_0_ENABLE,
     GYRO_2_ENABLE,