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

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muellerr merged 125 commits from develop into main 2021-09-24 10:17:43 +02:00
Conversation 0 Commits 125 Files Changed 67 +91 -78
5 changed files with 91 additions and 78 deletions
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9
bsp_q7s/boardconfig/busConf.h
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@ -15,14 +15,15 @@ static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8";
static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0"; static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0";
static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2"; static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";
static constexpr char GPIO_GYRO_ADIS_CHIP[] = "gpiochip4";
static constexpr char GPIO_ACS_BOARD_DEFAULT_CHIP[] = "gpiochip5"; static constexpr char GPIO_ACS_BOARD_DEFAULT_CHIP[] = "gpiochip5";
static constexpr char GPIO_MGM2_LIS3_CHIP[] = "gpiochip6"; static constexpr char GPIO_MGM2_LIS3_CHIP[] = "gpiochip6";
// TODO: Determine new pins, additional ADIS gyro device // TODO: Determine new pins, additional ADIS gyro device
static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 1; static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 0;
static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 7; static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 18;
static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 3; static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 2;
static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 3; static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 1;
static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5; static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5;
static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16; static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;

33
bsp_q7s/boardconfig/q7sConfig.h.in
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@ -5,30 +5,37 @@
#cmakedefine01 Q7S_SIMPLE_MODE #cmakedefine01 Q7S_SIMPLE_MODE
#define Q7S_SD_NONE 0 /*******************************************************************/
#define Q7S_SD_COLD_REDUNDANT 1 /** All of the following flags should be enabled for mission code */
#define Q7S_SD_HOT_REDUNDANT 2 /*******************************************************************/
//! Timers can mess up the code when debugging
//! All of this should be enabled for mission code!
/*******************************************************************/
/** Other flags */
/*******************************************************************/
#define Q7S_SD_NONE 0
#define Q7S_SD_COLD_REDUNDANT 1
#define Q7S_SD_HOT_REDUNDANT 2
// The OBSW will perform different actions to set up the SD cards depending on the flag set here // The OBSW will perform different actions to set up the SD cards depending on the flag set here
// Set to Q7S_SD_NONE: Don't do anything // Set to Q7S_SD_NONE: Don't do anything
// Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and // Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and
// turn off the second SD card if it is on // turn off the second SD card if it is on
// Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them // Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them
#define Q7S_SD_CARD_CONFIG Q7S_SD_COLD_REDUNDANT #define Q7S_SD_CARD_CONFIG Q7S_SD_COLD_REDUNDANT
// Probably better if this is disabled for mission code. Convenient for development // Probably better if this is disabled for mission code. Convenient for development
#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1 #define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG 1
#define Q7S_ADD_RTD_DEVICES 0 #define Q7S_ADD_RTD_DEVICES 0
/* Only one of those 2 should be enabled! */ // Only one of those 2 should be enabled!
/* Add code for ACS board */
#define OBSW_ADD_ACS_BOARD 0
#if OBSW_ADD_ACS_BOARD == 0 #if OBSW_ADD_ACS_BOARD == 0
#define Q7S_ADD_SPI_TEST 0 #define Q7S_ADD_SPI_TEST 0
#endif #endif
#define Q7S_ADD_SYRLINKS_HANDLER 1 #define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
namespace config { namespace config {

63
bsp_q7s/core/ObjectFactory.cpp
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@ -1,3 +1,4 @@
#include <mission/devices/GyroADIS16507Handler.h>
#include "ObjectFactory.h" #include "ObjectFactory.h"
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "devConf.h" #include "devConf.h"
@ -386,13 +387,13 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
GpioCookie* gpioCookieAcsBoard = new GpioCookie(); GpioCookie* gpioCookieAcsBoard = new GpioCookie();
GpiodRegular* gpio = nullptr; GpiodRegular* gpio = nullptr;
// TODO: Determine new Gyro GPIO pins // TODO: Determine new Gyro GPIO pins
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_0_ADIS_CS, gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_0_ADIS_CS,
"CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH); "CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
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(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_1_L3G_CS,
"CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH); "CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_2_ADIS_CS, gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_2_ADIS_CS,
"CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH); "CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
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(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_3_L3G_CS,
@ -421,49 +422,61 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
objects::SPI_COM_IF, spiCookie); objects::SPI_COM_IF, spiCookie);
mgmLis3Handler->setStartUpImmediately(); mgmLis3Handler->setStartUpImmediately();
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);
auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmLis3Handler2->setStartUpImmediately();
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 MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER, auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie); objects::SPI_COM_IF, spiCookie);
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
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);
auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmLis3Handler2->setStartUpImmediately();
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 MGMHandlerRM3100(objects::MGM_3_RM3100_HANDLER, mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_3_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie); objects::SPI_COM_IF, spiCookie);
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
//TODO: Adis Gyro (Gyro 0 Side A)
// Commented until ACS board V2 in in clean room again // Commented until ACS board V2 in in clean room again
/* Gyro 1 Side A */ // Gyro 0 Side A
// spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
// L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
// auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spi::DEFAULT_ADIS16507_SPEED);
// spiCookie); auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER,
// gyroL3gHandler->setStartUpImmediately(); objects::SPI_COM_IF, spiCookie);
// adisHandler->setStartUpImmediately();
// /* Gyro 2 Side B */ // Gyro 1 Side A
// spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_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);
// gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF, auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER,
// spiCookie); objects::SPI_COM_IF, spiCookie);
// gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
// Gyro 2 Side B
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
spi::DEFAULT_ADIS16507_SPEED);
adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER,
objects::SPI_COM_IF, spiCookie);
adisHandler->setStartUpImmediately();
// Gyro 3 Side B
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);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER,
objects::SPI_COM_IF, spiCookie);
gyroL3gHandler->setStartUpImmediately();
auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV, auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV,
UartModes::CANONICAL, 9600, uart::HYPERION_GPS_REPLY_MAX_BUFFER); UartModes::CANONICAL, 9600, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
auto uartCookieGps1 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_1_DEV, auto uartCookieGps1 = new UartCookie(objects::GPS1_HANDLER, q7s::UART_GNSS_1_DEV,
UartModes::CANONICAL, 9600, uart::HYPERION_GPS_REPLY_MAX_BUFFER); UartModes::CANONICAL, 9600, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
uartCookieGps1->setToFlushInput(true); uartCookieGps1->setToFlushInput(true);
uartCookieGps1->setReadCycles(6); uartCookieGps1->setReadCycles(6);
new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookieGps0); new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookieGps0, true);
new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF, uartCookieGps1); new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF, uartCookieGps1, true);
} }
void ObjectFactory::createHeaterComponents() { void ObjectFactory::createHeaterComponents() {

2
linux/fsfwconfig/OBSWConfig.h.in
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@ -36,6 +36,8 @@ debugging. */
#define OBSW_ADD_STAR_TRACKER 0 #define OBSW_ADD_STAR_TRACKER 0
#define OBSW_ADD_PLOC_SUPERVISOR 0 #define OBSW_ADD_PLOC_SUPERVISOR 0
#define OBSW_ADD_PLOC_MPSOC 0 #define OBSW_ADD_PLOC_MPSOC 0
#define OBSW_ADD_SUN_SENSORS 0
#define OBSW_ADD_ACS_BOARD 0
/*******************************************************************/ /*******************************************************************/
/** All of the following flags should be disabled for mission code */ /** All of the following flags should be disabled for mission code */

62
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
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@ -520,6 +520,7 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) { ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle // Length of a communication cycle
uint32_t length = thisSequence->getPeriodMs(); uint32_t length = thisSequence->getPeriodMs();
static_cast<void>(length);
#if OBSW_ADD_PLOC_MPSOC == 1 #if OBSW_ADD_PLOC_MPSOC == 1
thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0, thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
@ -550,56 +551,45 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
#if Q7S_ADD_SYRLINKS_HANDLER == 1 #if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
#endif
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
#endif
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
#endif
#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
#endif
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
#endif
#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
#endif
#if OBSW_ADD_ACS_BOARD == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
#endif
#if Q7S_ADD_SYRLINKS_HANDLER == 1
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
#endif #endif
#if OBSW_ADD_ACS_BOARD == 1 #if OBSW_ADD_ACS_BOARD == 1
#if OBSW_ADD_GPS_0 == 1
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8, thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
#endif /* OBSW_ADD_GPS_0 == 1 */
#if OBSW_ADD_GPS_1 == 1
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8, thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
#endif #endif /* OBSW_ADD_GPS_1 == 1 */
#endif /* OBSW_ADD_ACS_BOARD == 1 */
#if OBSW_ADD_STAR_TRACKER == 1 #if OBSW_ADD_STAR_TRACKER == 1
thisSequence->addSlot(objects::START_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::START_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);