test pst

bsp_linux_board/InitMission.cpp

@@ -125,10 +125,10 @@ void initmission::initTasks() {
         initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
     }
 
-#if RPI_TEST_ACS_BOARD == 1
+#if OBSW_ADD_TEST_PST == 1
-    FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
+    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
+#if OBSW_ADD_TEST_PST == 1
-    acsTask->startTask();
+    pstTestTask->startTask();
 #endif /* RPI_TEST_ACS_BOARD == 1 */
     sif::info << "Tasks started.." << std::endl;
 }

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 */
 }

bsp_linux_board/boardconfig/rpi_config.h

@@ -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

common/config/spiConf.h

@@ -1,5 +1,5 @@
-#ifndef FSFWCONFIG_DEVICES_SPI_H_
+#ifndef COMMON_CONFIG_SPICONF_H_
-#define FSFWCONFIG_DEVICES_SPI_H_
+#define COMMON_CONFIG_SPICONF_H_
 
 #include <cstdint>
 #include <fsfw_hal/linux/spi/spiDefinitions.h>
@@ -23,8 +23,9 @@ static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
 static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;
 static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
 
+static constexpr uint32_t DEFAULT_ADIS16507_SPEED = 976'000;
+static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
+
 }
 
-
+#endif /* COMMON_CONFIG_SPICONF_H_ */
-
-#endif /* FSFWCONFIG_DEVICES_SPI_H_ */

fsfw_hal

@@ -1 +1 @@
-Subproject commit 2fe1a6683606eddb76aa810f88e5cf5d8cea94e5
+Subproject commit d801319c12713d08cbdbc571ee2a922ce2f0c851

linux/fsfwconfig/OBSWConfig.h

@@ -19,6 +19,8 @@ debugging. */
 #define OBSW_VERBOSE_LEVEL              1
 #define OBSW_PRINT_MISSED_DEADLINES     1
 #define OBSW_ADD_TEST_CODE              1
+#define OBSW_ADD_TEST_PST               1
+
 #define TEST_LIBGPIOD                   0
 #define TEST_RADIATION_SENSOR_HANDLER   1
 #define TEST_SUS_HANDLER                1

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -471,6 +471,16 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
     thisSequence->addSlot(objects::ACU_HANDLER,
             length * 0.8, DeviceHandlerIF::GET_READ);
 
+    if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "Initialization of GomSpace PST failed" << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) {
+    /* Length of a communication cycle */
+    uint32_t length = thisSequence->getPeriodMs();
 #if OBSW_ADD_ACS_BOARD == 1
     thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
@@ -540,14 +550,23 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
             DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
-
 #endif
 
-    if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
+#if RPI_TEST_ADIS16507 == 1
-        sif::error << "Initialization of GomSpace PST failed" << std::endl;
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
-        return HasReturnvaluesIF::RETURN_FAILED;
+            DeviceHandlerIF::PERFORM_OPERATION);
-    }
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+#endif
+
+    if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
         return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    sif::error << "PollingSequence::initialize has errors!" << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h

@@ -34,7 +34,7 @@ ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
  */
 ReturnValue_t gomspacePstInit(FixedTimeslotTaskIF *thisSequence);
 
-ReturnValue_t pollingSequenceAcsTest(FixedTimeslotTaskIF* thisSequence);
+ReturnValue_t pollingSequenceTest(FixedTimeslotTaskIF* thisSequence);
 
 /**
  * @brief   This polling sequence will be created when the software is compiled for the TE0720.

mission/devices/GyroADIS16507Handler.cpp

@@ -6,6 +6,12 @@ GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
 }
 
 void GyroADIS16507Handler::doStartUp() {
+    if(internalState == InternalState::STARTUP) {
+        if(commandExecuted) {
+            commandExecuted = false;
+            internalState = InternalState::IDLE;
+        }
+    }
 }
 
 void GyroADIS16507Handler::doShutDown() {
@@ -39,3 +45,7 @@ ReturnValue_t GyroADIS16507Handler::interpretDeviceReply(DeviceCommandId_t id,
 
 void GyroADIS16507Handler::setNormalDatapoolEntriesInvalid() {
 }
+
+uint32_t GyroADIS16507Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+    return 5000;
+}

mission/devices/GyroADIS16507Handler.h

@@ -2,6 +2,7 @@
 #define MISSION_DEVICES_GYROADIS16507HANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include "devicedefinitions/GyroADIS16507Definitions.h"
 
 class GyroADIS16507Handler: public DeviceHandlerBase {
 public:
@@ -20,8 +21,17 @@ public:
     ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
             const uint8_t *packet) override;
     void setNormalDatapoolEntriesInvalid() override;
+    uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
 
 private:
+
+    enum class InternalState {
+        STARTUP,
+        IDLE
+    };
+
+    InternalState internalState = InternalState::STARTUP;
+    bool commandExecuted = false;
 };
 
 

mission/devices/devicedefinitions/GyroADIS16507Definitions.h

@@ -1,8 +1,11 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
 
+#include <cstddef>
+
 namespace ADIS16507 {
 
+static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
 }
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_ */