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

12
bsp_linux_board/ObjectFactory.cpp
View File

@ -6,7 +6,7 @@
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "tmtc/apid.h" #include "tmtc/apid.h"
#include "tmtc/pusIds.h" #include "tmtc/pusIds.h"
#include "devices/spi.h" #include "spiConf.h"
#include <linux/boardtest/LibgpiodTest.h> #include <linux/boardtest/LibgpiodTest.h>
#include <linux/boardtest/SpiTestClass.h> #include <linux/boardtest/SpiTestClass.h>
@ -16,6 +16,7 @@
#include <mission/utility/TmFunnel.h> #include <mission/utility/TmFunnel.h>
#include <mission/devices/MGMHandlerLIS3MDL.h> #include <mission/devices/MGMHandlerLIS3MDL.h>
#include <mission/devices/MGMHandlerRM3100.h> #include <mission/devices/MGMHandlerRM3100.h>
#include <mission/devices/GyroADIS16507Handler.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h> #include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h> #include <fsfw/tmtcservices/CommandingServiceBase.h>
@ -120,4 +121,13 @@ void ObjectFactory::produce(){
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
#endif /* RPI_TEST_ACS_BOARD == 1 */ #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_ADD_GPIO_TEST 0
#define RPI_LOOPBACK_TEST_GPIO 0 #define RPI_LOOPBACK_TEST_GPIO 0
#define RPI_TEST_ADIS16507 1
/* Only one of those 2 should be enabled! */ /* Only one of those 2 should be enabled! */
#define RPI_ADD_SPI_TEST 0 #define RPI_ADD_SPI_TEST 0
#define RPI_TEST_ACS_BOARD 0 #define RPI_TEST_ACS_BOARD 0

11
linux/fsfwconfig/devices/spi.h → common/config/spiConf.h
View File

@ -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 <cstdint>
#include <fsfw_hal/linux/spi/spiDefinitions.h> #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 uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;
static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3; 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_ */

2
fsfw_hal

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

2
linux/fsfwconfig/OBSWConfig.h
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@ -19,6 +19,8 @@ debugging. */
#define OBSW_VERBOSE_LEVEL 1 #define OBSW_VERBOSE_LEVEL 1
#define OBSW_PRINT_MISSED_DEADLINES 1 #define OBSW_PRINT_MISSED_DEADLINES 1
#define OBSW_ADD_TEST_CODE 1 #define OBSW_ADD_TEST_CODE 1
#define OBSW_ADD_TEST_PST 1
#define TEST_LIBGPIOD 0 #define TEST_LIBGPIOD 0
#define TEST_RADIATION_SENSOR_HANDLER 1 #define TEST_RADIATION_SENSOR_HANDLER 1
#define TEST_SUS_HANDLER 1 #define TEST_SUS_HANDLER 1

85
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -471,28 +471,38 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
thisSequence->addSlot(objects::ACU_HANDLER, thisSequence->addSlot(objects::ACU_HANDLER,
length * 0.8, DeviceHandlerIF::GET_READ); 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 #if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8, thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0, thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2, thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4, thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8, thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
@ -519,18 +529,18 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0, thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.2, thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.4, thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.6, thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.8, thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0, thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2, thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
@ -540,14 +550,23 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8, thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
#endif #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;
} }
return HasReturnvaluesIF::RETURN_OK;
sif::error << "PollingSequence::initialize has errors!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
} }
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) { ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {

2
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

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

10
mission/devices/GyroADIS16507Handler.cpp
View File

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

10
mission/devices/GyroADIS16507Handler.h
View File

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

3
mission/devices/devicedefinitions/GyroADIS16507Definitions.h
View File

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