eive/eive-obsw
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meier/openGpioByName #101

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muellerr merged 7 commits from meier/openGpioByName into develop 2021-09-27 10:01:20 +02:00
Conversation 0 Commits 7 Files Changed 8 +68 -39
11 changed files with 68 additions and 39 deletions
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Showing only changes of commit d6164971df - Show all commits

6
bsp_linux_board/InitMission.cpp
View File

@ -80,7 +80,7 @@ void initmission::initTasks() {
/* PUS Services */ /* PUS Services */
std::vector<PeriodicTaskIF*> pusTasks; std::vector<PeriodicTaskIF*> pusTasks;
createPstTasks(*factory, missedDeadlineFunc, pusTasks); createPusTasks(*factory, missedDeadlineFunc, pusTasks);
std::vector<PeriodicTaskIF*> pstTasks; std::vector<PeriodicTaskIF*> pstTasks;
createPstTasks(*factory, missedDeadlineFunc, pstTasks); createPstTasks(*factory, missedDeadlineFunc, pstTasks);
@ -193,7 +193,7 @@ void initmission::createPstTasks(TaskFactory& factory,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if OBSW_ADD_SPI_TEST_CODE == 0 #if OBSW_ADD_SPI_TEST_CODE == 0
FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask( FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
"PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
missedDeadlineFunc); missedDeadlineFunc);
result = pst::pstSpi(spiPst); result = pst::pstSpi(spiPst);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
@ -235,7 +235,7 @@ void initmission::createTestTasks(TaskFactory& factory,
bool startTestPst = true; bool startTestPst = true;
static_cast<void>(startTestPst); static_cast<void>(startTestPst);
#if OBSW_ADD_TEST_PST == 1 #if OBSW_ADD_TEST_PST == 1
FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50, FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("TEST_PST", 50,
PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc); PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
result = pst::pstTest(pstTestTask); result = pst::pstTest(pstTestTask);
if(result != HasReturnvaluesIF::RETURN_OK) { if(result != HasReturnvaluesIF::RETURN_OK) {

40
bsp_linux_board/ObjectFactory.cpp
View File

@ -64,10 +64,12 @@ void ObjectFactory::produce(void* args){
ObjectFactory::produceGenericObjects(); ObjectFactory::produceGenericObjects();
#if OBSW_USE_TMTC_TCP_BRIDGE == 1 #if OBSW_USE_TMTC_TCP_BRIDGE == 1
new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50);
new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE); new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#else #else
new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
tmtcBridge->setMaxNumberOfPacketsStored(50);
new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE); new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#endif #endif
@ -110,27 +112,39 @@ void ObjectFactory::produce(void* args){
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie, 0); objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler->setStartUpImmediately(); mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true);
#endif
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, spiCookie, 0); objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
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);
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie, 0); objects::SPI_COM_IF, spiCookie, 0);
mgmLis3Handler->setStartUpImmediately(); mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true);
#endif
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, spiCookie, 0); objects::SPI_COM_IF, spiCookie, 0);
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true);
#endif
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,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie); spiCookie);
adisHandler->setStartUpImmediately(); adisHandler->setStartUpImmediately();
@ -139,16 +153,24 @@ void ObjectFactory::produce(void* args){
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, 0); spiCookie, 0);
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
gyroL3gHandler->setToGoToNormalMode(true);
#endif
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,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie, 0); spiCookie);
gyroL3gHandler->setStartUpImmediately(); adisHandler->setStartUpImmediately();
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);
adisHandler = new GyroADIS16507Handler(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie); spiCookie, 0);
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
gyroL3gHandler->setToGoToNormalMode(true);
#endif
#endif /* RPI_TEST_ACS_BOARD == 1 */ #endif /* RPI_TEST_ACS_BOARD == 1 */

11
bsp_linux_board/boardconfig/rpiConfig.h.in
View File

@ -19,13 +19,14 @@
/* Adapt these values accordingly */ /* Adapt these values accordingly */
namespace gpio { namespace gpio {
static constexpr uint8_t MGM_0_BCM_PIN = 0; static constexpr uint8_t MGM_0_BCM_PIN = 17;
static constexpr uint8_t MGM_1_BCM_PIN = 1; static constexpr uint8_t MGM_1_BCM_PIN = 27;
static constexpr uint8_t MGM_2_BCM_PIN = 17; static constexpr uint8_t MGM_2_BCM_PIN = 22;
static constexpr uint8_t MGM_3_BCM_PIN = 27; static constexpr uint8_t MGM_3_BCM_PIN = 23;
static constexpr uint8_t GYRO_0_BCM_PIN = 5; static constexpr uint8_t GYRO_0_BCM_PIN = 5;
static constexpr uint8_t GYRO_1_BCM_PIN = 6; static constexpr uint8_t GYRO_1_BCM_PIN = 6;
static constexpr uint8_t GYRO_2_BCM_PIN = 4; static constexpr uint8_t GYRO_2_BCM_PIN = 13;
static constexpr uint8_t GYRO_3_BCM_PIN = 19;
} }
#endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */ #endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */

16
bsp_q7s/core/ObjectFactory.cpp
View File

@ -444,7 +444,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
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, objects::SPI_COM_IF, auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
spiCookie, 0); spiCookie, spi::LIS3_TRANSITION_DELAY);
mgmLis3Handler->setStartUpImmediately(); mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler->setToGoToNormalMode(true); mgmLis3Handler->setToGoToNormalMode(true);
@ -453,7 +453,7 @@ 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, objects::SPI_COM_IF, auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A); spiCookie, spi::RM3100_TRANSITION_DELAY);
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true); mgmRm3100Handler->setToGoToNormalMode(true);
@ -462,7 +462,7 @@ 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, objects::SPI_COM_IF, auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
spiCookie, 0); spiCookie, spi::LIS3_TRANSITION_DELAY);
mgmLis3Handler2->setStartUpImmediately(); mgmLis3Handler2->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
mgmLis3Handler2->setToGoToNormalMode(true); mgmLis3Handler2->setToGoToNormalMode(true);
@ -471,7 +471,7 @@ 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, objects::SPI_COM_IF, mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B); spiCookie, spi::RM3100_TRANSITION_DELAY);
mgmRm3100Handler->setStartUpImmediately(); mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
mgmRm3100Handler->setToGoToNormalMode(true); mgmRm3100Handler->setToGoToNormalMode(true);
@ -489,10 +489,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
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, objects::SPI_COM_IF, auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, 0); spiCookie, spi::L3G_TRANSITION_DELAY);
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setGoNormalModeAtStartup(); gyroL3gHandler->setToGoToNormalMode(true);
#endif #endif
// Gyro 2 Side B // Gyro 2 Side B
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,
@ -505,10 +505,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
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, objects::SPI_COM_IF, gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie, 0); spiCookie, spi::L3G_TRANSITION_DELAY);
gyroL3gHandler->setStartUpImmediately(); gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
gyroL3gHandler->setGoNormalModeAtStartup(); gyroL3gHandler->setToGoToNormalMode(true);
#endif #endif
bool debugGps = false; bool debugGps = false;

5
common/config/devConf.h
View File

@ -10,14 +10,17 @@
*/ */
namespace spi { namespace spi {
/* Default values, changing them is not supported for now */ // Default values, changing them is not supported for now
static constexpr uint32_t DEFAULT_LIS3_SPEED = 976'000; static constexpr uint32_t DEFAULT_LIS3_SPEED = 976'000;
static constexpr uint32_t LIS3_TRANSITION_DELAY = 10000;
static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3; static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000; static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000;
static constexpr uint32_t RM3100_TRANSITION_DELAY = 10000;
static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3; static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_L3G_SPEED = 976'000; static constexpr uint32_t DEFAULT_L3G_SPEED = 976'000;
static constexpr uint32_t L3G_TRANSITION_DELAY = 10000;
static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3; 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;

2
fsfw

@ -1 +1 @@
Subproject commit 5c56eda61077e3aef00d32133c5546987b476e8c Subproject commit c9b343ebcd92de1d214a9b1d7abafee4a7e79888

1
linux/fsfwconfig/FSFWConfig.h.in
View File

@ -78,5 +78,6 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0 #define FSFW_HAL_L3GD20_GYRO_DEBUG 0
#define FSFW_HAL_RM3100_MGM_DEBUG 0 #define FSFW_HAL_RM3100_MGM_DEBUG 0
#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0 #define FSFW_HAL_LIS3MDL_MGM_DEBUG 0
#define FSFW_HAL_ADIS16507_GYRO_DEBUG 0
#endif /* CONFIG_FSFWCONFIG_H_ */ #endif /* CONFIG_FSFWCONFIG_H_ */

10
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -476,15 +476,15 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, // thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85,
// DeviceHandlerIF::GET_READ); // DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION); DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.35, thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.35,
DeviceHandlerIF::SEND_WRITE); DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
DeviceHandlerIF::GET_WRITE); DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75, thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.75,
DeviceHandlerIF::SEND_READ); DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85,
DeviceHandlerIF::GET_READ); DeviceHandlerIF::GET_READ);
} }

7
mission/devices/GyroADIS16507Handler.cpp
View File

@ -1,8 +1,7 @@
#include "GyroADIS16507Handler.h"
#include <fsfw/action/HasActionsIF.h> #include <fsfw/action/HasActionsIF.h>
#include <fsfw/datapool/PoolReadGuard.h> #include <fsfw/datapool/PoolReadGuard.h>
#include "GyroADIS16507Handler.h"
#if OBSW_ADIS16507_LINUX_COM_IF == 1 #if OBSW_ADIS16507_LINUX_COM_IF == 1
#include "fsfw_hal/linux/utility.h" #include "fsfw_hal/linux/utility.h"
#include "fsfw_hal/linux/spi/SpiCookie.h" #include "fsfw_hal/linux/spi/SpiCookie.h"
@ -16,7 +15,7 @@ GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
object_id_t deviceCommunication, CookieIF * comCookie): object_id_t deviceCommunication, CookieIF * comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this), DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
configDataset(this), breakCountdown() { configDataset(this), breakCountdown() {
#if OBSW_DEBUG_ADIS16507 == 1 #if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(5); debugDivider = new PeriodicOperationDivider(5);
#endif #endif
@ -285,7 +284,7 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
primaryDataset.setValidity(true, true); primaryDataset.setValidity(true, true);
} }
#if OBSW_DEBUG_ADIS16507 == 1 #if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
if(debugDivider->checkAndIncrement()) { if(debugDivider->checkAndIncrement()) {
sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl; sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
sif::info << "X: " << primaryDataset.angVelocX.value << std::endl; sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;

8
mission/devices/GyroADIS16507Handler.h
View File

@ -1,11 +1,13 @@
#ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_ #ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
#define MISSION_DEVICES_GYROADIS16507HANDLER_H_ #define MISSION_DEVICES_GYROADIS16507HANDLER_H_
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "FSFWConfig.h"
#include "devicedefinitions/GyroADIS16507Definitions.h" #include "devicedefinitions/GyroADIS16507Definitions.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#if OBSW_ADIS16507_LINUX_COM_IF == 1 #if OBSW_ADIS16507_LINUX_COM_IF == 1
class SpiComIF; class SpiComIF;
class SpiCookie; class SpiCookie;
@ -69,7 +71,7 @@ private:
const uint8_t *sendData, size_t sendLen, void* args); const uint8_t *sendData, size_t sendLen, void* args);
#endif #endif
#if OBSW_DEBUG_ADIS16507 == 1 #if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
PeriodicOperationDivider* debugDivider; PeriodicOperationDivider* debugDivider;
#endif #endif
Countdown breakCountdown; Countdown breakCountdown;

1
mission/devices/devicedefinitions/GyroADIS16507Definitions.h
View File

@ -1,6 +1,7 @@
#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 "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/datapoollocal/StaticLocalDataSet.h" #include "fsfw/datapoollocal/StaticLocalDataSet.h"
#include <cstddef> #include <cstddef>