eive/eive-obsw
eive/eive-obsw
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Update to v1.8.0 #100

Merged
muellerr merged 125 commits from develop into main 2021-09-24 10:17:43 +02:00
Conversation 0 Commits 125 Files Changed 67 +207 -216
4 changed files with 207 additions and 216 deletions
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33
bsp_q7s/boardconfig/busConf.h
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@ -19,18 +19,18 @@ static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";
/**************************************************************/ /**************************************************************/
/** OBC1E */ /** OBC1E */
/**************************************************************/ /**************************************************************/
static constexpr char GPIO_MULTIPURPOSE_1V8_OBC1D[] = "gpiochip4"; static constexpr char GPIO_MULTIPURPOSE_1V8_OBC1D[] = "/amba_pl/gpio@42020000";
static const char* const GPIO_GYRO_ADIS_CHIP = GPIO_MULTIPURPOSE_1V8_OBC1D; static const char* const GPIO_GYRO_ADIS_LABEL = GPIO_MULTIPURPOSE_1V8_OBC1D;
static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 0; // Package Pin: W20 static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 0; // Package Pin: W20
static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 2; // AA22 static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 2; // AA22
/**************************************************************/ /**************************************************************/
/** OBC1F B0 */ /** OBC1F B0 */
/**************************************************************/ /**************************************************************/
static constexpr char GPIO_FLEX_OBC1F_B0[] = "gpiochip5"; static constexpr char GPIO_FLEX_OBC1F_B0[] = "/amba_pl/gpio@42030000";
static const char* const GPIO_ACS_BOARD_DEFAULT_CHIP = GPIO_FLEX_OBC1F_B0; static const char* const GPIO_ACS_BOARD_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
static const char* const GPIO_RW_DEFAULT_CHIP = GPIO_FLEX_OBC1F_B0; static const char* const GPIO_RW_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
static const char* const GPIO_RAD_SENSOR_CHIP = GPIO_FLEX_OBC1F_B0; static const char* const GPIO_RAD_SENSOR_LABEL = GPIO_FLEX_OBC1F_B0;
static constexpr uint32_t GPIO_RW_0_CS = 7; // B20 static constexpr uint32_t GPIO_RW_0_CS = 7; // B20
static constexpr uint32_t GPIO_RW_1_CS = 3; // G22 static constexpr uint32_t GPIO_RW_1_CS = 3; // G22
@ -40,7 +40,6 @@ static constexpr uint32_t GPIO_RW_3_CS = 6; // B19
static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 18; // N22 static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 18; // N22
static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 1; // M21 static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 1; // M21
static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5; // C18 static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5; // C18
// MGM_2 is part of gpiochip6
static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16; // A16 static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16; // A16
static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10; // C17 static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10; // C17
@ -56,16 +55,16 @@ static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19; // R18
/**************************************************************/ /**************************************************************/
/** OBC1F B1 */ /** OBC1F B1 */
/**************************************************************/ /**************************************************************/
static constexpr char GPIO_FLEX_OBC1F_B1[] = "gpiochip6"; static constexpr char GPIO_FLEX_OBC1F_B1[] = "/amba_pl/gpio@42030000";
static const char* const GPIO_MGM2_LIS3_CHIP = GPIO_FLEX_OBC1F_B1; static const char* const GPIO_MGM2_LIS3_LABEL = GPIO_FLEX_OBC1F_B1;
static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0; // D18 static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0; // D18
/**************************************************************/ /**************************************************************/
/** OBC1C */ /** OBC1C */
/**************************************************************/ /**************************************************************/
static constexpr char GPIO_3V3_OBC1C[] = "gpiochip7"; static constexpr char GPIO_3V3_OBC1C[] = "/amba_pl/gpio@42040000";
static const char* const GPIO_HEATER_CHIP = GPIO_3V3_OBC1C; static const char* const GPIO_HEATER_LABEL = GPIO_3V3_OBC1C;
static const char* const GPIO_SOLAR_ARR_DEPL_CHIP = GPIO_3V3_OBC1C; static const char* const GPIO_SOLAR_ARR_DEPL_LABEL = GPIO_3V3_OBC1C;
static constexpr uint32_t GPIO_HEATER_0_PIN = 6; static constexpr uint32_t GPIO_HEATER_0_PIN = 6;
static constexpr uint32_t GPIO_HEATER_1_PIN = 12; static constexpr uint32_t GPIO_HEATER_1_PIN = 12;
static constexpr uint32_t GPIO_HEATER_2_PIN = 7; static constexpr uint32_t GPIO_HEATER_2_PIN = 7;
@ -79,10 +78,18 @@ static constexpr uint32_t GPIO_GYRO_2_ENABLE = 18; // F22
static constexpr uint32_t GPIO_SOL_DEPL_SA_0_PIN = 4; static constexpr uint32_t GPIO_SOL_DEPL_SA_0_PIN = 4;
static constexpr uint32_t GPIO_SOL_DEPL_SA_1_PIN = 2; static constexpr uint32_t GPIO_SOL_DEPL_SA_1_PIN = 2;
static constexpr char GPIO_RW_SPI_MUX_CHIP[] = "gpiochip11"; static constexpr char GPIO_RW_SPI_MUX_LABEL[] = "zynq_gpio";
// Uses EMIO interface to PL, starts at 54 // Uses EMIO interface to PL, starts at 54
static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 54; static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 54;
static constexpr uint32_t SPI_MUX_BIT_1 = 13;
static constexpr uint32_t SPI_MUX_BIT_2 = 14;
static constexpr uint32_t SPI_MUX_BIT_3 = 15;
static constexpr uint32_t SPI_MUX_BIT_4 = 16;
static constexpr uint32_t SPI_MUX_BIT_5 = 17;
static constexpr uint32_t SPI_MUX_BIT_6 = 9;
static constexpr uint32_t EN_RW_CS = 17;
} }
#endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */ #endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */

311
bsp_q7s/core/ObjectFactory.cpp
View File

@ -109,7 +109,7 @@ void Factory::setStaticFrameworkObjectIds() {
TmPacketBase::timeStamperId = objects::TIME_STAMPER; TmPacketBase::timeStamperId = objects::TIME_STAMPER;
} }
void ObjectFactory::produce(void* args){ void ObjectFactory::produce(void* args) {
ObjectFactory::setStatics(); ObjectFactory::setStatics();
ObjectFactory::produceGenericObjects(); ObjectFactory::produceGenericObjects();
LinuxLibgpioIF* gpioComIF = nullptr; LinuxLibgpioIF* gpioComIF = nullptr;
@ -137,8 +137,8 @@ void ObjectFactory::produce(void* args){
createRtdComponents(); createRtdComponents();
#endif /* Q7S_ADD_RTD_DEVICES == 1 */ #endif /* Q7S_ADD_RTD_DEVICES == 1 */
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV); q7s::I2C_DEFAULT_DEV);
new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie); new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
createReactionWheelComponents(gpioComIF); createReactionWheelComponents(gpioComIF);
@ -180,8 +180,8 @@ void ObjectFactory::produce(void* args){
auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50); tmtcBridge->setMaxNumberOfPacketsStored(50);
auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE); auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
sif::info << "Created TCP server for TMTC commanding with listener port " << sif::info << "Created TCP server for TMTC commanding with listener port "
tcpServer->getTcpPort() << std::endl; << tcpServer->getTcpPort() << std::endl;
#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */ #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
/* Test Task */ /* Test Task */
@ -207,19 +207,17 @@ void ObjectFactory::createTmpComponents() {
#endif #endif
/* Temperature sensors */ /* Temperature sensors */
Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler( Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(objects::TMP1075_HANDLER_1,
objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
i2cCookieTmp1075tcs1);
(void) tmp1075Handler_1; (void) tmp1075Handler_1;
Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler( Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(objects::TMP1075_HANDLER_2,
objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
i2cCookieTmp1075tcs2);
(void) tmp1075Handler_2; (void) tmp1075Handler_2;
} }
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF, void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF, UartComIF** uartComIF,
UartComIF** uartComIF, SpiComIF** spiComIF) { SpiComIF** spiComIF) {
if(gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) { if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer" sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
<< std::endl; << std::endl;
} }
@ -240,23 +238,19 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
} }
void ObjectFactory::createPcduComponents() { void ObjectFactory::createPcduComponents() {
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
addresses::P60DOCK); CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
addresses::PDU1); CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
addresses::PDU2);
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
addresses::ACU);
/* Device Handler */ /* Device Handler */
P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER,
objects::CSP_COM_IF, p60DockCspCookie); objects::CSP_COM_IF, p60DockCspCookie);
PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER, PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
objects::CSP_COM_IF, pdu1CspCookie); pdu1CspCookie);
PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER, PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
objects::CSP_COM_IF, pdu2CspCookie); pdu2CspCookie);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
objects::CSP_COM_IF, acuCspCookie); acuCspCookie);
new PCDUHandler(objects::PCDU_HANDLER, 50); new PCDUHandler(objects::PCDU_HANDLER, 50);
/** /**
@ -271,8 +265,8 @@ void ObjectFactory::createPcduComponents() {
void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) { void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookieRadSensor = new GpioCookie; GpioCookie* gpioCookieRadSensor = new GpioCookie;
GpiodRegular* chipSelectRadSensor = new GpiodRegular(q7s::GPIO_RAD_SENSOR_CHIP, GpiodRegular* chipSelectRadSensor = new GpiodRegular("Chip Select Radiation Sensor", gpio::OUT,
q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, 1); 1, q7s::GPIO_RAD_SENSOR_LABEL, q7s::GPIO_RAD_SENSOR_CS);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor); gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
gpioComIF->addGpios(gpioCookieRadSensor); gpioComIF->addGpios(gpioCookieRadSensor);
@ -282,8 +276,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor); new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
} }
void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComIF* spiComIF) {
SpiComIF* spiComIF) {
GpioCookie* gpioCookieSus = new GpioCookie(); GpioCookie* gpioCookieSus = new GpioCookie();
GpioCallback* susgpio = nullptr; GpioCallback* susgpio = nullptr;
@ -400,46 +393,46 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) { void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
GpioCookie* gpioCookieAcsBoard = new GpioCookie(); GpioCookie* gpioCookieAcsBoard = new GpioCookie();
GpiodRegular* gpio = nullptr; GpiodRegular* gpio = nullptr;
gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_0_ADIS_CS, gpio = new GpiodRegular("CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
"CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH); q7s::GPIO_GYRO_0_ADIS_CS);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_1_L3G_CS, gpio = new GpiodRegular("CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH,
"CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH); q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_1_L3G_CS);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_2_ADIS_CS, gpio = new GpiodRegular("CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
"CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH); q7s::GPIO_GYRO_2_ADIS_CS);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_3_L3G_CS, gpio = new GpiodRegular("CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH,
"CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH); q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_3_L3G_CS);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_0_LIS3_CS, gpio = new GpiodRegular("CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH,
"CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH); q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_0_LIS3_CS);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_1_RM3100_CS, gpio = new GpiodRegular("CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH,
"CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH); q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_1_RM3100_CS);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_MGM2_LIS3_CHIP, q7s::GPIO_MGM_2_LIS3_CS, gpio = new GpiodRegular("CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH, q7s::GPIO_MGM2_LIS3_LABEL,
"CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH); q7s::GPIO_MGM_2_LIS3_CS);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_3_RM3100_CS, gpio = new GpiodRegular("CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH,
"CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH); q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_3_RM3100_CS);
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
// GNSS reset pins are active low // GNSS reset pins are active low
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_RESET_GNSS_0, gpio = new GpiodRegular("GNSS_0_NRESET", gpio::OUT, gpio::HIGH,
"GNSS_0_NRESET", gpio::OUT, gpio::HIGH); q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_0);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_RESET_GNSS_1, gpio = new GpiodRegular("GNSS_1_NRESET", gpio::OUT, gpio::HIGH,
"GNSS_1_NRESET", gpio::OUT, gpio::HIGH); q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_1);
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
// Enable pins must be pulled low for regular operations // Enable pins must be pulled low for regular operations
gpio = new GpiodRegular(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE, gpio = new GpiodRegular("GYRO_0_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_FLEX_OBC1F_B0,
"GYRO_0_ENABLE", gpio::OUT, gpio::LOW); q7s::GPIO_GYRO_0_ENABLE);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
gpio = new GpiodRegular(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE, gpio = new GpiodRegular("GYRO_2_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_3V3_OBC1C,
"GYRO_2_ENABLE", gpio::OUT, gpio::LOW); q7s::GPIO_GYRO_2_ENABLE);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
// TODO: Add enable pins for GPS as soon as new interface board design is finished // TODO: Add enable pins for GPS as soon as new interface board design is finished
@ -448,8 +441,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
std::string spiDev = q7s::SPI_DEFAULT_DEV; std::string spiDev = q7s::SPI_DEFAULT_DEV;
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev, SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiCookie, 0); spiCookie, 0);
mgmLis3Handler->setStartUpImmediately(); mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true); mgmLis3Handler->setToGoToNormalMode(true);
@ -457,8 +450,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A); spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true); mgmRm3100Handler->setToGoToNormalMode(true);
@ -466,8 +459,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev, spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiCookie, 0); spiCookie, 0);
mgmLis3Handler2->setStartUpImmediately(); mgmLis3Handler2->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler2->setToGoToNormalMode(true); mgmLis3Handler2->setToGoToNormalMode(true);
@ -475,8 +468,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev, spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B); spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true); mgmRm3100Handler->setToGoToNormalMode(true);
@ -487,14 +480,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev, spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
spi::DEFAULT_ADIS16507_SPEED); spi::DEFAULT_ADIS16507_SPEED);
auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiCookie); spiCookie);
adisHandler->setStartUpImmediately(); adisHandler->setStartUpImmediately();
// Gyro 1 Side A // Gyro 1 Side A
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiCookie, 0); spiCookie, 0);
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setGoNormalModeAtStartup(); gyroL3gHandler->setGoNormalModeAtStartup();
@ -503,14 +496,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev, spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
spi::DEFAULT_ADIS16507_SPEED); spi::DEFAULT_ADIS16507_SPEED);
adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiCookie); spiCookie);
adisHandler->setStartUpImmediately(); adisHandler->setStartUpImmediately();
// Gyro 3 Side B // Gyro 3 Side B
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiCookie, 0); spiCookie, 0);
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setGoNormalModeAtStartup(); gyroL3gHandler->setGoNormalModeAtStartup();
@ -549,40 +542,37 @@ void ObjectFactory::createHeaterComponents() {
GpioCookie* heaterGpiosCookie = new GpioCookie; GpioCookie* heaterGpiosCookie = new GpioCookie;
/* Pin H2-11 on stack connector */ /* Pin H2-11 on stack connector */
GpiodRegular* gpioConfigHeater0 = new GpiodRegular("Heater0", gpio::OUT, 0, "axi_gpio_q7_3v3", GpiodRegular* gpioConfigHeater0 = new GpiodRegular("Heater0", gpio::OUT, 0,
q7s::GPIO_HEATER_0_PIN); q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_0_PIN);
// GpiodRegular* gpioConfigHeater0 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
// q7s::GPIO_HEATER_0_PIN, "Heater0", gpio::OUT, 0);
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0); heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
/* Pin H2-12 on stack connector */ /* Pin H2-12 on stack connector */
GpiodRegular* gpioConfigHeater1 = new GpiodRegular(q7s::GPIO_HEATER_CHIP, GpiodRegular* gpioConfigHeater1 = new GpiodRegular("Heater1", gpio::OUT, 0,
q7s::GPIO_HEATER_1_PIN, "Heater1", gpio::OUT, 0); q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_1_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1); heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
/* Pin H2-13 on stack connector */ /* Pin H2-13 on stack connector */
GpiodRegular* gpioConfigHeater2 = new GpiodRegular(q7s::GPIO_HEATER_CHIP, GpiodRegular* gpioConfigHeater2 = new GpiodRegular("Heater2", gpio::OUT, 0,
q7s::GPIO_HEATER_2_PIN, "Heater2", gpio::OUT, 0); q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_2_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2); heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
GpiodRegular* gpioConfigHeater3 = new GpiodRegular(q7s::GPIO_HEATER_CHIP, GpiodRegular* gpioConfigHeater3 = new GpiodRegular("Heater3", gpio::OUT, 0,
q7s::GPIO_HEATER_3_PIN, "Heater3", gpio::OUT, 0); q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_3_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3); heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
GpiodRegular* gpioConfigHeater4 = new GpiodRegular(q7s::GPIO_HEATER_CHIP, GpiodRegular* gpioConfigHeater4 = new GpiodRegular("Heater4", gpio::OUT, 0,
q7s::GPIO_HEATER_4_PIN, "Heater4", gpio::OUT, 0); q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_4_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4); heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
GpiodRegular* gpioConfigHeater5 = new GpiodRegular(q7s::GPIO_HEATER_CHIP, GpiodRegular* gpioConfigHeater5 = new GpiodRegular("Heater5", gpio::OUT, 0,
q7s::GPIO_HEATER_5_PIN, "Heater5", gpio::OUT, 0); q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_5_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5); heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
GpiodRegular* gpioConfigHeater6 = new GpiodRegular(q7s::GPIO_HEATER_CHIP, GpiodRegular* gpioConfigHeater6 = new GpiodRegular("Heater6", gpio::OUT, 0,
q7s::GPIO_HEATER_6_PIN, "Heater6", gpio::OUT, 0); q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_6_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6); heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
GpiodRegular* gpioConfigHeater7 = new GpiodRegular(q7s::GPIO_HEATER_CHIP, GpiodRegular* gpioConfigHeater7 = new GpiodRegular("Heater7", gpio::OUT, 0,
q7s::GPIO_HEATER_7_PIN, "Heater7", gpio::OUT, 0); q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_7_PIN);
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7); heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@ -592,11 +582,11 @@ void ObjectFactory::createHeaterComponents() {
void ObjectFactory::createSolarArrayDeploymentComponents() { void ObjectFactory::createSolarArrayDeploymentComponents() {
GpioCookie* solarArrayDeplCookie = new GpioCookie; GpioCookie* solarArrayDeplCookie = new GpioCookie;
GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP, GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular("DeplSA0", gpio::OUT, 0,
q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, 0); q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_0_PIN);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0); solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP, GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular("DeplSA1", gpio::OUT, 0,
q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, 0); q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_1_PIN);
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1); solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);
//TODO: Find out burn time. For now set to 1000 ms. //TODO: Find out burn time. For now set to 1000 ms.
@ -668,69 +658,62 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
gpioComIF->addGpios(rtdGpioCookie); gpioComIF->addGpios(rtdGpioCookie);
SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3, SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3, q7s::SPI_DEFAULT_DEV,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4, q7s::SPI_DEFAULT_DEV,
SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5, q7s::SPI_DEFAULT_DEV,
spi::SpiModes::MODE_1, spi::RTD_SPEED); Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5, SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6, q7s::SPI_DEFAULT_DEV,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7, q7s::SPI_DEFAULT_DEV,
SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8, q7s::SPI_DEFAULT_DEV,
spi::SpiModes::MODE_1, spi::RTD_SPEED); Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7, SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9, q7s::SPI_DEFAULT_DEV,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10, SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::SpiModes::MODE_1, spi::RTD_SPEED); spi::RTD_SPEED);
SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11, SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::SpiModes::MODE_1, spi::RTD_SPEED); spi::RTD_SPEED);
SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12, SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::SpiModes::MODE_1, spi::RTD_SPEED); spi::RTD_SPEED);
SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13, SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::SpiModes::MODE_1, spi::RTD_SPEED); spi::RTD_SPEED);
SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14, SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::SpiModes::MODE_1, spi::RTD_SPEED); spi::RTD_SPEED);
SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15, SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::SpiModes::MODE_1, spi::RTD_SPEED); spi::RTD_SPEED);
SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16, SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16,
std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE, std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
spi::SpiModes::MODE_1, spi::RTD_SPEED); spi::SpiModes::MODE_1, spi::RTD_SPEED);
SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17, SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::SpiModes::MODE_1, spi::RTD_SPEED); spi::RTD_SPEED);
SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18, SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18,
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
spi::SpiModes::MODE_1, spi::RTD_SPEED); spi::RTD_SPEED);
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3, Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId spiRtdIc3, 0); // 0 is switchId
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4, Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiRtdIc4, 0); spiRtdIc4, 0);
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5, Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiRtdIc5, 0); spiRtdIc5, 0);
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6, Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiRtdIc6, 0); spiRtdIc6, 0);
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7, Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiRtdIc7, 0); spiRtdIc7, 0);
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8, Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiRtdIc8, 0); spiRtdIc8, 0);
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9, Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9, objects::SPI_COM_IF,
objects::SPI_COM_IF, spiRtdIc9, 0); spiRtdIc9, 0);
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10, Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10,
objects::SPI_COM_IF, spiRtdIc10, 0); objects::SPI_COM_IF, spiRtdIc10, 0);
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11, Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11,
@ -770,30 +753,30 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) { void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
GpioCookie* gpioCookieRw = new GpioCookie; GpioCookie* gpioCookieRw = new GpioCookie;
GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT, GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT, gpio::HIGH,
gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1); gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT, GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT, gpio::HIGH,
gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2); gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT, GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT, gpio::HIGH,
gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3); gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT, GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT, gpio::HIGH,
gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4); gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
GpiodRegular* enRw1 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_0_CS, GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0,
"Enable reaction wheel 1", gpio::OUT, 0); q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS);
gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1); gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
GpiodRegular* enRw2 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_1_CS, GpiodRegular* enRw2 = new GpiodRegular("Enable reaction wheel 2", gpio::OUT, 0,
"Enable reaction wheel 2", gpio::OUT, 0); q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS);
gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2); gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
GpiodRegular* enRw3 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_2_CS, GpiodRegular* enRw3 = new GpiodRegular("Enable reaction wheel 3", gpio::OUT, 0,
"Enable reaction wheel 3", gpio::OUT, 0); q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS);
gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3); gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
GpiodRegular* enRw4 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_3_CS, GpiodRegular* enRw4 = new GpiodRegular("Enable reaction wheel 4", gpio::OUT, 0,
"Enable reaction wheel 4", gpio::OUT, 0); q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_3_CS);
gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4); gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
/** /**
@ -801,8 +784,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
* the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core. * the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
* Per default the PS SPI is selected (EMIO = 0). * Per default the PS SPI is selected (EMIO = 0).
*/ */
GpiodRegular* spiMux = new GpiodRegular(q7s::GPIO_RW_SPI_MUX_CHIP, q7s::GPIO_RW_SPI_MUX_CS, GpiodRegular* spiMux = new GpiodRegular("EMIO 0 SPI Mux", gpio::OUT, 0,
"EMIO 0 SPI Mux", gpio::OUT, 0); q7s::GPIO_RW_SPI_MUX_LABEL, q7s::GPIO_RW_SPI_MUX_CS);
gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux); gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
gpioComIF->addGpios(gpioCookieRw); gpioComIF->addGpios(gpioCookieRw);

29
bsp_q7s/gpio/gpioCallbacks.cpp
View File

@ -1,4 +1,5 @@
#include "gpioCallbacks.h" #include "gpioCallbacks.h"
#include "busConf.h"
#include <devices/gpioIds.h> #include <devices/gpioIds.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h> #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
@ -24,29 +25,29 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
GpioCookie* spiMuxGpios = new GpioCookie; GpioCookie* spiMuxGpios = new GpioCookie;
/** Setting mux bit 1 to low will disable IC21 on the interface board */ /** Setting mux bit 1 to low will disable IC21 on the interface board */
GpiodRegular* spiMuxBit1 = new GpiodRegular(std::string("gpiochip7"), 13, GpiodRegular* spiMuxBit1 = new GpiodRegular(std::string("SPI Mux Bit 1"), gpio::OUT, 0,
std::string("SPI Mux Bit 1"), gpio::OUT, 0); q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_1);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit1); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit1);
/** Setting mux bit 2 to low disables IC1 on the TCS board */ /** Setting mux bit 2 to low disables IC1 on the TCS board */
GpiodRegular* spiMuxBit2 = new GpiodRegular(std::string("gpiochip7"), 14, GpiodRegular* spiMuxBit2 = new GpiodRegular(std::string("SPI Mux Bit 2"), gpio::OUT, 0,
std::string("SPI Mux Bit 2"), gpio::OUT, 0); q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_2);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit2); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit2);
/** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */ /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
GpiodRegular* spiMuxBit3 = new GpiodRegular(std::string("gpiochip7"), 15, GpiodRegular* spiMuxBit3 = new GpiodRegular(std::string("SPI Mux Bit 3"), gpio::OUT, 0,
std::string("SPI Mux Bit 3"), gpio::OUT, 0); q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_3);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit3); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit3);
/** The following gpios can take arbitrary initial values */ /** The following gpios can take arbitrary initial values */
GpiodRegular* spiMuxBit4 = new GpiodRegular(std::string("gpiochip7"), 16, GpiodRegular* spiMuxBit4 = new GpiodRegular(std::string("SPI Mux Bit 4"), gpio::OUT, 0,
std::string("SPI Mux Bit 4"), gpio::OUT, 0); q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_4);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit4); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit4);
GpiodRegular* spiMuxBit5 = new GpiodRegular(std::string("gpiochip7"), 17, GpiodRegular* spiMuxBit5 = new GpiodRegular(std::string("SPI Mux Bit 5"), gpio::OUT, 0,
std::string("SPI Mux Bit 5"), gpio::OUT, 0); q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_5);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit5); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit5);
GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("gpiochip7"), 9, GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("SPI Mux Bit 6"), gpio::OUT, 0,
std::string("SPI Mux Bit 6"), gpio::OUT, 0); q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_6);
spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6);
GpiodRegular* enRwDecoder = new GpiodRegular(std::string("gpiochip5"), 17, GpiodRegular* enRwDecoder = new GpiodRegular(std::string("EN_RW_CS"), gpio::OUT, 1,
std::string("EN_RW_CS"), gpio::OUT, 1); q7s::GPIO_FLEX_OBC1F_B1, q7s::EN_RW_CS);
spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder); spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
result = gpioComInterface->addGpios(spiMuxGpios); result = gpioComInterface->addGpios(spiMuxGpios);

48
linux/boardtest/SpiTestClass.cpp
View File

@ -299,7 +299,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
void SpiTestClass::acsInit() { void SpiTestClass::acsInit() {
GpioCookie* gpioCookie = new GpioCookie(); GpioCookie* gpioCookie = new GpioCookie();
GpiodRegular* gpio = nullptr; GpiodRegular* gpio = nullptr;
#ifdef RASPBERRY_PI #ifdef RASPBERRY_PI
std::string rpiGpioName = "gpiochip0"; std::string rpiGpioName = "gpiochip0";
gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3", gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
gpio::Direction::OUT, 1); gpio::Direction::OUT, 1);
@ -328,43 +328,43 @@ void SpiTestClass::acsInit() {
gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100", gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
gpio::Direction::OUT, 1); gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
#elif defined(XIPHOS_Q7S) #elif defined(XIPHOS_Q7S)
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, mgm0Lis3mdlChipSelect, gpio = new GpiodRegular("MGM_0_LIS3", gpio::Direction::OUT, gpio::HIGH,
"MGM_0_LIS3", gpio::Direction::OUT, gpio::HIGH); q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm0Lis3mdlChipSelect);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, mgm1Rm3100ChipSelect, gpio = new GpiodRegular("MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH,
"MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH); q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm1Rm3100ChipSelect);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_MGM2_LIS3_CHIP, mgm2Lis3mdlChipSelect, gpio = new GpiodRegular("MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_MGM2_LIS3_LABEL,
"MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH); mgm2Lis3mdlChipSelect);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, mgm3Rm3100ChipSelect, gpio = new GpiodRegular("MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH,
"MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH); q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm3Rm3100ChipSelect);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, gyro0AdisChipSelect, gpio = new GpiodRegular("GYRO_0_ADIS", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
"GYRO_0_ADIS", gpio::Direction::OUT, gpio::HIGH); gyro0AdisChipSelect);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, gyro1L3gd20ChipSelect, gpio = new GpiodRegular("GYRO_1_L3G", gpio::Direction::OUT, gpio::HIGH,
"GYRO_1_L3G", gpio::Direction::OUT, gpio::HIGH); q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro1L3gd20ChipSelect);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, gyro2AdisChipSelect, gpio = new GpiodRegular("GYRO_2_ADIS", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
"GYRO_2_ADIS", gpio::Direction::OUT, gpio::HIGH); gyro2AdisChipSelect);
gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, gyro3L3gd20ChipSelect, gpio = new GpiodRegular("GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH,
"GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH); q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro3L3gd20ChipSelect);
gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio); gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
// Enable pins must be pulled low for regular operations // Enable pins must be pulled low for regular operations
gpio = new GpiodRegular(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE, gpio = new GpiodRegular("GYRO_0_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_FLEX_OBC1F_B0,
"GYRO_0_ENABLE", gpio::OUT, gpio::LOW); q7s::GPIO_GYRO_0_ENABLE);
gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio); gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
gpio = new GpiodRegular(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE, gpio = new GpiodRegular("GYRO_2_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_3V3_OBC1C,
"GYRO_2_ENABLE", gpio::OUT, gpio::LOW); q7s::GPIO_GYRO_2_ENABLE);
gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio); gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
#endif #endif
if(gpioIF != nullptr) { if (gpioIF != nullptr) {
gpioIF->addGpios(gpioCookie); gpioIF->addGpios(gpioCookie);
} }
} }