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test pst

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This commit is contained in:
Robin Müller
2021-05-24 01:20:44 +02:00
committed by Robin Mueller
parent 3dff66fc56
commit fbac40e9cd
11 changed files with 103 additions and 46 deletions
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10
bsp_linux_board/InitMission.cpp
View File

@ -125,10 +125,10 @@ void initmission::initTasks() {
initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
}
#if RPI_TEST_ACS_BOARD == 1
FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
#if OBSW_ADD_TEST_PST == 1
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
result = pst::pollingSequenceAcsTest(acsTask);
result = pst::pollingSequenceTest(pstTestTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
}
@ -170,8 +170,8 @@ void initmission::initTasks() {
testTask->startTask();
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if RPI_TEST_ACS_BOARD == 1
acsTask->startTask();
#if OBSW_ADD_TEST_PST == 1
pstTestTask->startTask();
#endif /* RPI_TEST_ACS_BOARD == 1 */
sif::info << "Tasks started.." << std::endl;
}

12
bsp_linux_board/ObjectFactory.cpp
View File

@ -6,7 +6,7 @@
#include "OBSWConfig.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"
#include "devices/spi.h"
#include "spiConf.h"
#include <linux/boardtest/LibgpiodTest.h>
#include <linux/boardtest/SpiTestClass.h>
@ -16,6 +16,7 @@
#include <mission/utility/TmFunnel.h>
#include <mission/devices/MGMHandlerLIS3MDL.h>
#include <mission/devices/MGMHandlerRM3100.h>
#include <mission/devices/GyroADIS16507Handler.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
@ -120,4 +121,13 @@ void ObjectFactory::produce(){
gyroL3gHandler->setStartUpImmediately();
#endif /* RPI_TEST_ACS_BOARD == 1 */
#if RPI_TEST_ADIS16507 == 1
std::string spiDev = "/dev/spidev0.0";
SpiCookie* 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,
nullptr, nullptr);
auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
adisGyroHandler->setStartUpImmediately();
#endif /* RPI_TEST_ADIS16507 == 1 */
}

2
bsp_linux_board/boardconfig/rpi_config.h
View File

@ -6,6 +6,8 @@
#define RPI_ADD_GPIO_TEST 0
#define RPI_LOOPBACK_TEST_GPIO 0
#define RPI_TEST_ADIS16507 1
/* Only one of those 2 should be enabled! */
#define RPI_ADD_SPI_TEST 0
#define RPI_TEST_ACS_BOARD 0