eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

Update for new FSFW GPIO API #240

Closed
muellerr wants to merge 29 commits from mueller/cupdate-fsfw-gpio-api into develop
pull from: mueller/cupdate-fsfw-gpio-api
merge into: eive:develop
Conversation 1 Commits 29 Files Changed 76 +26 -59
4 changed files with 26 additions and 59 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit ac0b2e0dce - Show all commits

6
bsp_q7s/em/CMakeLists.txt
View File

@ -1,7 +1,3 @@
target_sources(${OBSW_NAME} PRIVATE target_sources(${OBSW_NAME} PRIVATE
ObjectFactory.cpp emObjectFactory.cpp
)
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
InitMission.cpp
) )

23
bsp_q7s/em/ObjectFactory.cpp → bsp_q7s/em/emObjectFactory.cpp
View File

@ -1,5 +1,3 @@
#include "bsp_q7s/core/ObjectFactory.h"
#include <mission/system/fdir/GomspacePowerFdir.h> #include <mission/system/fdir/GomspacePowerFdir.h>
#include <mission/system/fdir/SyrlinksFdir.h> #include <mission/system/fdir/SyrlinksFdir.h>
@ -10,6 +8,7 @@
#include "bsp_q7s/callbacks/q7sGpioCallbacks.h" #include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h" #include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/core/CoreController.h" #include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "bsp_q7s/memory/FileSystemHandler.h" #include "bsp_q7s/memory/FileSystemHandler.h"
#include "busConf.h" #include "busConf.h"
#include "ccsdsConfig.h" #include "ccsdsConfig.h"
@ -47,11 +46,9 @@
#include "mission/system/fdir/SusFdir.h" #include "mission/system/fdir/SusFdir.h"
#include "tmtc/apid.h" #include "tmtc/apid.h"
#include "tmtc/pusIds.h" #include "tmtc/pusIds.h"
#if OBSW_TEST_LIBGPIOD == 1 #if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h" #include "linux/boardtest/LibgpiodTest.h"
#endif #endif
#include <sstream> #include <sstream>
#include "fsfw/datapoollocal/LocalDataPoolManager.h" #include "fsfw/datapoollocal/LocalDataPoolManager.h"
@ -99,7 +96,6 @@
#include "mission/tmtc/CCSDSHandler.h" #include "mission/tmtc/CCSDSHandler.h"
#include "mission/tmtc/VirtualChannel.h" #include "mission/tmtc/VirtualChannel.h"
#include "mission/utility/TmFunnel.h" #include "mission/utility/TmFunnel.h"
ResetArgs resetArgsGnss0; ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1; ResetArgs resetArgsGnss1;
@ -114,7 +110,6 @@ void Factory::setStaticFrameworkObjectIds() {
DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER; DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
// DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT; // DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
#if OBSW_TM_TO_PTME == 1 #if OBSW_TM_TO_PTME == 1
TmFunnel::downlinkDestination = objects::CCSDS_HANDLER; TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
#else #else
@ -150,7 +145,6 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_ACS_BOARD == 1 #if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher); createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
#endif #endif
createHeaterComponents(); createHeaterComponents();
createSolarArrayDeploymentComponents(); createSolarArrayDeploymentComponents();
createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher); createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
@ -187,7 +181,6 @@ void ObjectFactory::produce(void* args) {
bpxHandler->setDebugMode(true); bpxHandler->setDebugMode(true);
#endif #endif
#endif #endif
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER); new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
#if OBSW_ADD_STAR_TRACKER == 1 #if OBSW_ADD_STAR_TRACKER == 1
@ -202,16 +195,13 @@ void ObjectFactory::produce(void* args) {
starTracker->setPowerSwitcher(pwrSwitcher); starTracker->setPowerSwitcher(pwrSwitcher);
#endif /* OBSW_ADD_STAR_TRACKER == 1 */ #endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_USE_CCSDS_IP_CORE == 1 #if OBSW_USE_CCSDS_IP_CORE == 1
createCcsdsComponents(gpioComIF); createCcsdsComponents(gpioComIF);
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */ #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
/* Test Task */ /* Test Task */
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
createTestComponents(gpioComIF); createTestComponents(gpioComIF);
#endif /* OBSW_ADD_TEST_CODE == 1 */ #endif /* OBSW_ADD_TEST_CODE == 1 */
new PlocUpdater(objects::PLOC_UPDATER); new PlocUpdater(objects::PLOC_UPDATER);
new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER); new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
} }
@ -439,7 +429,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_ACS == 1 #if OBSW_DEBUG_ACS == 1
mgmLis3Handler->enablePeriodicPrintouts(true, 10); mgmLis3Handler->enablePeriodicPrintouts(true, 10);
#endif #endif
spiCookie = spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, 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);
@ -456,7 +445,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_ACS == 1 #if OBSW_DEBUG_ACS == 1
mgmRm3100Handler->enablePeriodicPrintouts(true, 10); mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
#endif #endif
spiCookie = spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev, 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);
@ -488,7 +476,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_ACS == 1 #if OBSW_DEBUG_ACS == 1
mgmRm3100Handler->enablePeriodicPrintouts(true, 10); mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
#endif #endif
// Commented until ACS board V2 in in clean room again // Commented until ACS board V2 in in clean room again
// Gyro 0 Side A // Gyro 0 Side A
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,
@ -507,7 +494,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_ACS == 1 #if OBSW_DEBUG_ACS == 1
adisHandler->enablePeriodicPrintouts(true, 10); adisHandler->enablePeriodicPrintouts(true, 10);
#endif #endif
// Gyro 1 Side A // Gyro 1 Side A
spiCookie = spiCookie =
new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE, new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
@ -525,7 +511,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_ACS == 1 #if OBSW_DEBUG_ACS == 1
gyroL3gHandler->enablePeriodicPrintouts(true, 10); gyroL3gHandler->enablePeriodicPrintouts(true, 10);
#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,
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
@ -555,7 +540,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_ACS == 1 #if OBSW_DEBUG_ACS == 1
gyroL3gHandler->enablePeriodicPrintouts(true, 10); gyroL3gHandler->enablePeriodicPrintouts(true, 10);
#endif #endif
bool debugGps = false; bool debugGps = false;
#if OBSW_DEBUG_GPS == 1 #if OBSW_DEBUG_GPS == 1
debugGps = true; debugGps = true;
@ -681,7 +665,6 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
objects::PLOC_SUPERVISOR_HANDLER); objects::PLOC_SUPERVISOR_HANDLER);
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */ #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
#if OBSW_ADD_PLOC_SUPERVISOR == 1 #if OBSW_ADD_PLOC_SUPERVISOR == 1
consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER; consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(), auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(),
@ -765,7 +748,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
rwHandler1->setStartUpImmediately(); rwHandler1->setStartUpImmediately();
rwHandler1->setDebugMode(true); rwHandler1->setDebugMode(true);
#endif #endif
auto rwHandler2 = auto rwHandler2 =
new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2); new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
rw2SpiCookie->setCallbackArgs(rwHandler2); rw2SpiCookie->setCallbackArgs(rwHandler2);
@ -773,7 +755,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
rwHandler2->setStartUpImmediately(); rwHandler2->setStartUpImmediately();
rwHandler2->setDebugMode(true); rwHandler2->setDebugMode(true);
#endif #endif
auto rwHandler3 = auto rwHandler3 =
new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3); new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
rw3SpiCookie->setCallbackArgs(rwHandler3); rw3SpiCookie->setCallbackArgs(rwHandler3);
@ -781,7 +762,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
rwHandler3->setStartUpImmediately(); rwHandler3->setStartUpImmediately();
rwHandler3->setDebugMode(true); rwHandler3->setDebugMode(true);
#endif #endif
auto rwHandler4 = auto rwHandler4 =
new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4); new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
rw4SpiCookie->setCallbackArgs(rwHandler4); rw4SpiCookie->setCallbackArgs(rwHandler4);
@ -789,7 +769,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
rwHandler4->setStartUpImmediately(); rwHandler4->setStartUpImmediately();
rwHandler4->setDebugMode(true); rwHandler4->setDebugMode(true);
#endif #endif
#endif /* OBSW_ADD_RW == 1 */ #endif /* OBSW_ADD_RW == 1 */
} }

2
bsp_q7s/fm/CMakeLists.txt
View File

@ -1,3 +1,3 @@
target_sources(${OBSW_NAME} PRIVATE target_sources(${OBSW_NAME} PRIVATE
ObjectFactory.cpp fmObjectFactory.cpp
) )

54
bsp_q7s/fm/ObjectFactory.cpp → bsp_q7s/fm/fmObjectFactory.cpp
View File

@ -1,4 +1,5 @@
#include "bsp_q7s/core/ObjectFactory.h" #include <mission/system/fdir/GomspacePowerFdir.h>
#include <mission/system/fdir/SyrlinksFdir.h>
#include "OBSWConfig.h" #include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h" #include "bsp_q7s/boardtest/Q7STestTask.h"
@ -7,6 +8,7 @@
#include "bsp_q7s/callbacks/q7sGpioCallbacks.h" #include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h" #include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/core/CoreController.h" #include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "bsp_q7s/memory/FileSystemHandler.h" #include "bsp_q7s/memory/FileSystemHandler.h"
#include "busConf.h" #include "busConf.h"
#include "ccsdsConfig.h" #include "ccsdsConfig.h"
@ -37,18 +39,16 @@
#include "linux/obc/PdecHandler.h" #include "linux/obc/PdecHandler.h"
#include "linux/obc/Ptme.h" #include "linux/obc/Ptme.h"
#include "linux/obc/PtmeConfig.h" #include "linux/obc/PtmeConfig.h"
#include "mission/system/AcsBoardFdir.h"
#include "mission/system/RtdFdir.h"
#include "mission/system/SusAssembly.h" #include "mission/system/SusAssembly.h"
#include "mission/system/SusFdir.h"
#include "mission/system/TcsBoardAssembly.h" #include "mission/system/TcsBoardAssembly.h"
#include "mission/system/fdir/AcsBoardFdir.h"
#include "mission/system/fdir/RtdFdir.h"
#include "mission/system/fdir/SusFdir.h"
#include "tmtc/apid.h" #include "tmtc/apid.h"
#include "tmtc/pusIds.h" #include "tmtc/pusIds.h"
#if OBSW_TEST_LIBGPIOD == 1 #if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h" #include "linux/boardtest/LibgpiodTest.h"
#endif #endif
#include <sstream> #include <sstream>
#include "fsfw/datapoollocal/LocalDataPoolManager.h" #include "fsfw/datapoollocal/LocalDataPoolManager.h"
@ -96,7 +96,6 @@
#include "mission/tmtc/CCSDSHandler.h" #include "mission/tmtc/CCSDSHandler.h"
#include "mission/tmtc/VirtualChannel.h" #include "mission/tmtc/VirtualChannel.h"
#include "mission/utility/TmFunnel.h" #include "mission/utility/TmFunnel.h"
ResetArgs resetArgsGnss0; ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1; ResetArgs resetArgsGnss1;
@ -111,7 +110,6 @@ void Factory::setStaticFrameworkObjectIds() {
DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER; DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
// DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT; // DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
#if OBSW_TM_TO_PTME == 1 #if OBSW_TM_TO_PTME == 1
TmFunnel::downlinkDestination = objects::CCSDS_HANDLER; TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
#else #else
@ -147,7 +145,6 @@ void ObjectFactory::produce(void* args) {
#if OBSW_ADD_ACS_BOARD == 1 #if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher); createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
#endif #endif
createHeaterComponents(); createHeaterComponents();
createSolarArrayDeploymentComponents(); createSolarArrayDeploymentComponents();
createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher); createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
@ -184,7 +181,6 @@ void ObjectFactory::produce(void* args) {
bpxHandler->setDebugMode(true); bpxHandler->setDebugMode(true);
#endif #endif
#endif #endif
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER); new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
#if OBSW_ADD_STAR_TRACKER == 1 #if OBSW_ADD_STAR_TRACKER == 1
@ -199,16 +195,13 @@ void ObjectFactory::produce(void* args) {
starTracker->setPowerSwitcher(pwrSwitcher); starTracker->setPowerSwitcher(pwrSwitcher);
#endif /* OBSW_ADD_STAR_TRACKER == 1 */ #endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_USE_CCSDS_IP_CORE == 1 #if OBSW_USE_CCSDS_IP_CORE == 1
createCcsdsComponents(gpioComIF); createCcsdsComponents(gpioComIF);
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */ #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
/* Test Task */ /* Test Task */
#if OBSW_ADD_TEST_CODE == 1 #if OBSW_ADD_TEST_CODE == 1
createTestComponents(gpioComIF); createTestComponents(gpioComIF);
#endif /* OBSW_ADD_TEST_CODE == 1 */ #endif /* OBSW_ADD_TEST_CODE == 1 */
new PlocUpdater(objects::PLOC_UPDATER); new PlocUpdater(objects::PLOC_UPDATER);
new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER); new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
} }
@ -251,14 +244,22 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1); CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2); CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU); CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
/* Device Handler */
auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
P60DockHandler* p60dockhandler = P60DockHandler* p60dockhandler =
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie); new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
PDU1Handler* pdu1handler = PDU1Handler* pdu1handler =
new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie); new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
PDU2Handler* pdu2handler = PDU2Handler* pdu2handler =
new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie); new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
ACUHandler* acuhandler =
new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50); auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
/** /**
@ -428,7 +429,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_ACS == 1 #if OBSW_DEBUG_ACS == 1
mgmLis3Handler->enablePeriodicPrintouts(true, 10); mgmLis3Handler->enablePeriodicPrintouts(true, 10);
#endif #endif
spiCookie = spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, 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);
@ -445,7 +445,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_ACS == 1 #if OBSW_DEBUG_ACS == 1
mgmRm3100Handler->enablePeriodicPrintouts(true, 10); mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
#endif #endif
spiCookie = spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev, 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);
@ -477,7 +476,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_ACS == 1 #if OBSW_DEBUG_ACS == 1
mgmRm3100Handler->enablePeriodicPrintouts(true, 10); mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
#endif #endif
// Commented until ACS board V2 in in clean room again // Commented until ACS board V2 in in clean room again
// Gyro 0 Side A // Gyro 0 Side A
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,
@ -496,7 +494,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_ACS == 1 #if OBSW_DEBUG_ACS == 1
adisHandler->enablePeriodicPrintouts(true, 10); adisHandler->enablePeriodicPrintouts(true, 10);
#endif #endif
// Gyro 1 Side A // Gyro 1 Side A
spiCookie = spiCookie =
new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE, new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
@ -514,7 +511,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_ACS == 1 #if OBSW_DEBUG_ACS == 1
gyroL3gHandler->enablePeriodicPrintouts(true, 10); gyroL3gHandler->enablePeriodicPrintouts(true, 10);
#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,
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
@ -544,7 +540,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
#if OBSW_DEBUG_ACS == 1 #if OBSW_DEBUG_ACS == 1
gyroL3gHandler->enablePeriodicPrintouts(true, 10); gyroL3gHandler->enablePeriodicPrintouts(true, 10);
#endif #endif
bool debugGps = false; bool debugGps = false;
#if OBSW_DEBUG_GPS == 1 #if OBSW_DEBUG_GPS == 1
debugGps = true; debugGps = true;
@ -641,8 +636,10 @@ void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL); syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
syrlinksUartCookie->setParityEven(); syrlinksUartCookie->setParityEven();
auto syrlinksHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V); auto syrlinksHandler =
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
syrlinksHandler->setPowerSwitcher(pwrSwitcher); syrlinksHandler->setPowerSwitcher(pwrSwitcher);
#if OBSW_DEBUG_SYRLINKS == 1 #if OBSW_DEBUG_SYRLINKS == 1
syrlinksHandler->setDebugMode(true); syrlinksHandler->setDebugMode(true);
@ -668,7 +665,6 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
objects::PLOC_SUPERVISOR_HANDLER); objects::PLOC_SUPERVISOR_HANDLER);
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */ #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
#if OBSW_ADD_PLOC_SUPERVISOR == 1 #if OBSW_ADD_PLOC_SUPERVISOR == 1
consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER; consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(), auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(),
@ -752,7 +748,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
rwHandler1->setStartUpImmediately(); rwHandler1->setStartUpImmediately();
rwHandler1->setDebugMode(true); rwHandler1->setDebugMode(true);
#endif #endif
auto rwHandler2 = auto rwHandler2 =
new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2); new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
rw2SpiCookie->setCallbackArgs(rwHandler2); rw2SpiCookie->setCallbackArgs(rwHandler2);
@ -760,7 +755,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
rwHandler2->setStartUpImmediately(); rwHandler2->setStartUpImmediately();
rwHandler2->setDebugMode(true); rwHandler2->setDebugMode(true);
#endif #endif
auto rwHandler3 = auto rwHandler3 =
new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3); new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
rw3SpiCookie->setCallbackArgs(rwHandler3); rw3SpiCookie->setCallbackArgs(rwHandler3);
@ -768,7 +762,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
rwHandler3->setStartUpImmediately(); rwHandler3->setStartUpImmediately();
rwHandler3->setDebugMode(true); rwHandler3->setDebugMode(true);
#endif #endif
auto rwHandler4 = auto rwHandler4 =
new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4); new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
rw4SpiCookie->setCallbackArgs(rwHandler4); rw4SpiCookie->setCallbackArgs(rwHandler4);
@ -776,7 +769,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
rwHandler4->setStartUpImmediately(); rwHandler4->setStartUpImmediately();
rwHandler4->setDebugMode(true); rwHandler4->setDebugMode(true);
#endif #endif
#endif /* OBSW_ADD_RW == 1 */ #endif /* OBSW_ADD_RW == 1 */
} }