test pst

bsp_linux_board/ObjectFactory.cpp

@@ -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 */
 }