Merge remote-tracking branch 'origin/develop' into thermal_controller

2023-03-24 21:15:29 +01:00
parent 9c8fc84053 61c26fe53a
commit f71972609c
187 changed files with 2110 additions and 1427 deletions
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -1,15 +1,17 @@
 #include "ObjectFactory.h"

 #include <fsfw/subsystem/Subsystem.h>
-#include <linux/devices/AcsBoardPolling.h>
-#include <linux/devices/ImtqPollingTask.h>
-#include <linux/devices/RwPollingTask.h>
-#include <mission/devices/GyrL3gCustomHandler.h>
-#include <mission/devices/MgmLis3CustomHandler.h>
-#include <mission/devices/MgmRm3100CustomHandler.h>
+#include <linux/acs/AcsBoardPolling.h>
+#include <linux/acs/ImtqPollingTask.h>
+#include <linux/acs/RwPollingTask.h>
+#include <linux/acs/startracker/StrComHandler.h>
+#include <linux/com/SyrlinksComHandler.h>
+#include <mission/acs/GyrL3gCustomHandler.h>
+#include <mission/acs/MgmLis3CustomHandler.h>
+#include <mission/acs/MgmRm3100CustomHandler.h>
+#include <mission/system/acs/ImtqAssembly.h>
 #include <mission/system/fdir/StrFdir.h>
 #include <mission/system/objects/CamSwitcher.h>
-#include <mission/system/objects/ImtqAssembly.h>
 #include <mission/system/objects/StrAssembly.h>
 #include <mission/system/objects/SyrlinksAssembly.h>
 #include <mission/tmtc/LiveTmTask.h>
@@ -31,6 +33,7 @@
 #include "eive/definitions.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "linux/ObjectFactory.h"
+#include "linux/acs/startracker/StarTrackerHandler.h"
 #include "linux/boardtest/I2cTestClass.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
@@ -44,8 +47,6 @@
 #include "linux/devices/ploc/PlocMPSoCHelper.h"
 #include "linux/devices/ploc/PlocMemoryDumper.h"
 #include "linux/devices/ploc/PlocSupervisorHandler.h"
-#include "linux/devices/startracker/StarTrackerHandler.h"
-#include "linux/devices/startracker/StrHelper.h"
 #include "linux/ipcore/AxiPtmeConfig.h"
 #include "linux/ipcore/PapbVcInterface.h"
 #include "linux/ipcore/PdecHandler.h"
@@ -53,16 +54,16 @@
 #include "linux/ipcore/PtmeConfig.h"
 #include "mission/config/configfile.h"
 #include "mission/csp/CspCookie.h"
-#include "mission/system/fdir/AcsBoardFdir.h"
+#include "mission/system/acs/AcsBoardFdir.h"
+#include "mission/system/acs/AcsSubsystem.h"
+#include "mission/system/acs/RwAssembly.h"
+#include "mission/system/acs/SusFdir.h"
+#include "mission/system/acs/acsModeTree.h"
+#include "mission/system/com/SyrlinksFdir.h"
+#include "mission/system/com/comModeTree.h"
 #include "mission/system/fdir/GomspacePowerFdir.h"
 #include "mission/system/fdir/RtdFdir.h"
-#include "mission/system/fdir/SusFdir.h"
-#include "mission/system/fdir/SyrlinksFdir.h"
-#include "mission/system/objects/AcsSubsystem.h"
-#include "mission/system/objects/RwAssembly.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
-#include "mission/system/tree/acsModeTree.h"
-#include "mission/system/tree/comModeTree.h"
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/system/tree/tcsModeTree.h"
 #include "mission/tmtc/tmFilters.h"
@@ -74,13 +75,13 @@ using gpio::Levels;
 #if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
-#include <mission/devices/GyrAdis1650XHandler.h>
-#include <mission/devices/ImtqHandler.h>
+#include <mission/acs/GyrAdis1650XHandler.h>
+#include <mission/acs/ImtqHandler.h>
+#include <mission/acs/rwHelpers.h>
+#include <mission/com/SyrlinksHandler.h>
 #include <mission/devices/PcduHandler.h>
 #include <mission/devices/Pdu1Handler.h>
 #include <mission/devices/Pdu2Handler.h>
-#include <mission/devices/SyrlinksHandler.h>
-#include <mission/devices/devicedefinitions/rwHelpers.h>
 #include <mission/tmtc/VirtualChannelWithQueue.h>

 #include <sstream>
@@ -101,6 +102,9 @@ using gpio::Levels;
 #include "fsfw_hal/linux/serial/SerialCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "mission/acs/RwHandler.h"
+#include "mission/com/CcsdsIpCoreHandler.h"
+#include "mission/com/syrlinksDefs.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/ACUHandler.h"
 #include "mission/devices/BpxBatteryHandler.h"
@@ -109,16 +113,13 @@ using gpio::Levels;
 #include "mission/devices/P60DockHandler.h"
 #include "mission/devices/PayloadPcduHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
-#include "mission/devices/RwHandler.h"
 #include "mission/devices/SolarArrayDeploymentHandler.h"
 #include "mission/devices/Tmp1075Handler.h"
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
-#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
-#include "mission/system/objects/AcsBoardAssembly.h"
-#include "mission/tmtc/CcsdsIpCoreHandler.h"
+#include "mission/system/acs/AcsBoardAssembly.h"
 #include "mission/tmtc/TmFunnelHandler.h"

 ResetArgs RESET_ARGS_GNSS;
@@ -179,7 +180,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
  *gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);

  /* Communication interfaces */
-  new CspComIF(objects::CSP_COM_IF);
+  new CspComIF(objects::CSP_COM_IF, "CSP_ROUTER", 60);
  *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
  *uartComIF = new SerialComIF(objects::UART_COM_IF);
  *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
@@ -592,16 +593,17 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc

 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
  auto* syrlinksUartCookie =
-      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+      new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, serial::SYRLINKS_BAUD,
                       syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
  syrlinksUartCookie->setParityEven();

+  new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
  auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
  syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
  auto syrlinksHandler =
-      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
-                          power::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
+      new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER,
+                          syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
  syrlinksHandler->setPowerSwitcher(pwrSwitcher);
  syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
 #if OBSW_DEBUG_SYRLINKS == 1
@@ -623,8 +625,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
  mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
  gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
  auto mpsocCookie =
-      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
-                       mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
+                       serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
  mpsocCookie->setNoFixedSizeReply();
  auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
  auto* mpsocHandler = new PlocMPSoCHandler(
@@ -639,9 +641,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
  auto supvGpioCookie = new GpioCookie;
  supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
  gpioComIF->addGpios(supvGpioCookie);
-  auto supervisorCookie =
-      new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
-                       uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+  auto supervisorCookie = new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER,
+                                           q7s::UART_PLOC_SUPERVSIOR_DEV, serial::PLOC_SUPV_BAUD,
+                                           supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
  supervisorCookie->setNoFixedSizeReply();
  auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
  auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
@@ -748,10 +750,13 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
+  // Initialise to low and then pull high to do a PTME reset, which puts the PTME in reset
+  // state. It will be put out of reset in the CCSDS handler initialize function.
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
-                                    gpio::Direction::OUT, gpio::Levels::HIGH);
+                                    gpio::Direction::OUT, gpio::Levels::LOW);
  gpioCookiePtmeIp->addGpio(gpioIds::PTME_RESETN, gpio);
  gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
+
  // Creating virtual channel interfaces
  VirtualChannelIF* vc0 =
      new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY,
@@ -777,7 +782,7 @@ ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {

  PtmeGpios gpios;
  gpios.enableTxClock = gpioIds::RS485_EN_TX_CLOCK;
-  gpios.enableTxData = gpioIds::RS485_EN_TX_CLOCK;
+  gpios.enableTxData = gpioIds::RS485_EN_TX_DATA;
  gpios.ptmeResetn = gpioIds::PTME_RESETN;

  *args.ipCoreHandler =
@@ -931,10 +936,10 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
  auto* strAssy = new StrAssembly(objects::STR_ASSY);
  strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
  auto* starTrackerCookie =
-      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
+      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, serial::STAR_TRACKER_BAUD,
                       startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
  starTrackerCookie->setNoFixedSizeReply();
-  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
+  StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF);

  const char* paramJsonFile = nullptr;
 #ifdef EGSE
@@ -951,8 +956,13 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
  }
  auto strFdir = new StrFdir(objects::STAR_TRACKER);
  auto starTracker =
+<<<<<<< HEAD
      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
                             paramJsonFile, strHelper, power::PDU1_CH2_STAR_TRACKER_5V);
+=======
+      new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie,
+                             paramJsonFile, strComIF, pcdu::PDU1_CH2_STAR_TRACKER_5V);
+>>>>>>> origin/develop
  starTracker->setPowerSwitcher(pwrSwitcher);
  starTracker->connectModeTreeParent(*strAssy);
  starTracker->setCustomFdir(strFdir);