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eive/eive-obsw
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System and Subsystem Init #166

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meierj merged 73 commits from mueller/system-subsystems into develop 2022-03-22 17:41:20 +01:00
Conversation 1 Commits 73 Files Changed 56 +95 -75
10 changed files with 95 additions and 75 deletions
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Showing only changes of commit e5a4065055 - Show all commits

140
bsp_q7s/core/ObjectFactory.cpp
View File

@ -8,6 +8,7 @@
#include <linux/obc/PtmeConfig.h>
#include <mission/system/AcsBoardFdir.h>
#include <mission/system/SusAssembly.h>
#include <mission/system/SusFdir.h>
#include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
@ -137,7 +138,7 @@ void ObjectFactory::produce(void* args) {
gpioCallbacks::disableAllDecoder();
createPcduComponents(gpioComIF, &pwrSwitcher);
createRadSensorComponent(gpioComIF);
createSunSensorComponents(gpioComIF, spiComIF);
createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
@ -323,7 +324,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
#endif
}
void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF) {
void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher) {
using namespace gpio;
GpioCookie* gpioCookieSus = new GpioCookie();
GpioCallback* susgpio = nullptr;
@ -367,118 +368,124 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComI
gpioComIF->addGpios(gpioCookieSus);
SusFdir* fdir = nullptr;
std::array<SusHandler*, 12> susHandlers = {};
#if OBSW_ADD_SUN_SENSORS == 1
SpiCookie* spiCookie =
new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SusHandler* susHandler0 = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_0);
susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
susHandlers[0]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SusHandler* susHandler1 = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_1);
susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
susHandlers[1]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SusHandler* susHandler2 = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_2);
susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
susHandlers[2]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SusHandler* susHandler3 = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_3);
susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
susHandlers[3]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SusHandler* susHandler4 = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_4);
susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
susHandlers[4]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SusHandler* susHandler5 = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_5);
susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
susHandlers[5]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SusHandler* susHandler6 = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_6);
susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
susHandlers[6]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SusHandler* susHandler7 = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_7);
susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
susHandlers[7]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SusHandler* susHandler8 = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_8);
susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
susHandlers[8]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SusHandler* susHandler9 = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_9);
susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
susHandlers[9]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SusHandler* susHandler10 = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_10);
susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
susHandlers[10]->setCustomFdir(fdir);
spiCookie =
new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SusHandler* susHandler11 = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
static_cast<void>(susHandler0);
static_cast<void>(susHandler1);
static_cast<void>(susHandler2);
static_cast<void>(susHandler3);
static_cast<void>(susHandler4);
static_cast<void>(susHandler5);
static_cast<void>(susHandler6);
static_cast<void>(susHandler7);
static_cast<void>(susHandler8);
static_cast<void>(susHandler9);
static_cast<void>(susHandler10);
static_cast<void>(susHandler11);
susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
fdir = new SusFdir(objects::SUS_11);
susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
susHandlers[11]->setCustomFdir(fdir);
for(auto& sus: susHandlers) {
if(sus != nullptr) {
#if OBSW_TEST_SUS == 1
susHandler0->setStartUpImmediately();
susHandler1->setStartUpImmediately();
susHandler2->setStartUpImmediately();
susHandler3->setStartUpImmediately();
susHandler4->setStartUpImmediately();
susHandler5->setStartUpImmediately();
susHandler6->setStartUpImmediately();
susHandler7->setStartUpImmediately();
susHandler8->setStartUpImmediately();
susHandler9->setStartUpImmediately();
susHandler10->setStartUpImmediately();
susHandler11->setStartUpImmediately();
susHandler0->setToGoToNormalMode(true);
susHandler1->setToGoToNormalMode(true);
susHandler2->setToGoToNormalMode(true);
susHandler3->setToGoToNormalMode(true);
susHandler4->setToGoToNormalMode(true);
susHandler5->setToGoToNormalMode(true);
susHandler6->setToGoToNormalMode(true);
susHandler7->setToGoToNormalMode(true);
susHandler8->setToGoToNormalMode(true);
susHandler9->setToGoToNormalMode(true);
susHandler10->setToGoToNormalMode(true);
susHandler11->setToGoToNormalMode(true);
sus->setStartUpImmediately();
sus->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_SUS == 1
susHandler0->enablePeriodicPrintout(true, 3);
susHandler1->enablePeriodicPrintout(true, 3);
susHandler2->enablePeriodicPrintout(true, 3);
susHandler3->enablePeriodicPrintout(true, 3);
susHandler4->enablePeriodicPrintout(true, 3);
susHandler5->enablePeriodicPrintout(true, 3);
susHandler6->enablePeriodicPrintout(true, 3);
susHandler7->enablePeriodicPrintout(true, 3);
susHandler8->enablePeriodicPrintout(true, 3);
susHandler9->enablePeriodicPrintout(true, 3);
susHandler10->enablePeriodicPrintout(true, 3);
susHandler11->enablePeriodicPrintout(true, 3);
sus->enablePeriodicPrintout(true, 3);
#endif
}
}
std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1, objects::SUS_2,
objects::SUS_3, objects::SUS_4, objects::SUS_5,
objects::SUS_6, objects::SUS_7, objects::SUS_8,
objects::SUS_9, objects::SUS_10, objects::SUS_11};
SusAssHelper susAssHelper = SusAssHelper(susIds);
auto susAss =
new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
static_cast<void>(susAss);
#endif /* OBSW_ADD_SUN_SENSORS == 1 */
}
@ -583,6 +590,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
gpioComIF->addGpios(gpioCookieAcsBoard);
AcsBoardFdir* fdir = nullptr;
static_cast<void>(fdir);
#if OBSW_ADD_ACS_HANDLERS == 1
std::string spiDev = q7s::SPI_DEFAULT_DEV;
@ -739,14 +747,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
acsBoardHelper, gpioComIF);
static_cast<void>(acsAss);
std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1, objects::SUS_2,
objects::SUS_3, objects::SUS_4, objects::SUS_5,
objects::SUS_6, objects::SUS_7, objects::SUS_8,
objects::SUS_9, objects::SUS_10, objects::SUS_11};
SusAssHelper susAssHelper = SusAssHelper(susIds);
auto susAss =
new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
static_cast<void>(susAss);
#if OBSW_TEST_ACS_BOARD_ASS == 1
CommandMessage msg;
ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,

2
bsp_q7s/core/ObjectFactory.h
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@ -18,7 +18,7 @@ void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher
void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
void createTmpComponents();
void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher);
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
PowerSwitchIF* pwrSwitcher);
void createHeaterComponents();

2
fsfw

@ -1 +1 @@
Subproject commit ddc1cdb1f5d1ee6f532c04b0419e24f8f40566cf
Subproject commit b6ed45a85cae1f1af83f352b4e6f8bb787743cb1

2
linux/fsfwconfig/OBSWConfig.h.in
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@ -48,7 +48,7 @@ debugging. */
#define OBSW_ADD_STAR_TRACKER 0
#define OBSW_ADD_PLOC_SUPERVISOR 0
#define OBSW_ADD_PLOC_MPSOC 0
#define OBSW_ADD_SUN_SENSORS 0
#define OBSW_ADD_SUN_SENSORS 1
#define OBSW_ADD_ACS_BOARD 1
#define OBSW_ADD_ACS_HANDLERS 1
#define OBSW_ADD_RW 0

2
mission/system/CMakeLists.txt
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@ -8,5 +8,7 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
TcsSubsystem.cpp
DualLanePowerStateMachine.cpp
DualLaneAssemblyBase.cpp
AcsBoardFdir.cpp
SusFdir.cpp
)

1
mission/system/DualLaneAssemblyBase.cpp
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@ -26,6 +26,7 @@ void DualLaneAssemblyBase::performChildOperation() {
// switching off or on devices.
if (not pwrStateMachine.active()) {
AssemblyBase::performChildOperation();
// TODO: Handle Event Queue
}
}

2
mission/system/SusAssembly.cpp
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@ -130,7 +130,7 @@ ReturnValue_t SusAssembly::initialize() {
return result;
}
}
return result;
return AssemblyBase::initialize();
}
bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {

2
mission/system/SusAssembly.h
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@ -15,7 +15,7 @@ struct SusAssHelper {
class PowerSwitchIF;
class SusAssembly : DualLaneAssemblyBase {
class SusAssembly : public DualLaneAssemblyBase {
public:
static constexpr uint8_t NUMBER_SUN_SENSORS_ONE_SIDE = 6;
static constexpr uint8_t NUMBER_SUN_SENSORS = 12;

6
mission/system/SusFdir.cpp Normal file
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@ -0,0 +1,6 @@
#include "SusFdir.h"
#include <common/config/commonObjects.h>
SusFdir::SusFdir(object_id_t sensorId)
: DeviceHandlerFailureIsolation(sensorId, objects::SUS_BOARD_ASS) {}

11
mission/system/SusFdir.h Normal file
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@ -0,0 +1,11 @@
#ifndef MISSION_SYSTEM_SUSFDIR_H_
#define MISSION_SYSTEM_SUSFDIR_H_
#include <fsfw/devicehandlers/DeviceHandlerFailureIsolation.h>
class SusFdir : public DeviceHandlerFailureIsolation {
public:
SusFdir(object_id_t sensorId);
};
#endif /* MISSION_SYSTEM_SUSFDIR_H_ */