Update for new FSFW GPIO API #240
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@ -29,6 +29,7 @@ if(TGT_BSP)
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option(LINUX_CROSS_COMPILE ON)
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option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
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elseif(TGT_BSP MATCHES "arm/q7s")
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option(EIVE_Q7S_EM "Build configuration for the EM" OFF)
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option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
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endif()
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option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
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@ -53,8 +54,26 @@ include(EiveHelpers)
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option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
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option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
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set(OBSW_ADD_STAR_TRACKER 0)
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set(OBSW_DEBUG_STARTRACKER 0)
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if(EIVE_Q7S_EM)
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set(OBSW_Q7S_EM 1 CACHE STRING "Q7S EM configuration")
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set(INIT_VAL 0)
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else()
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set(OBSW_Q7S_EM 0 CACHE STRING "Q7S EM configuration")
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set(INIT_VAL 1)
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endif()
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set(OBSW_ADD_MGT ${INIT_VAL} CACHE STRING "Add MGT module" )
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set(OBSW_ADD_BPX_BATTERY_HANDLER ${INIT_VAL} CACHE STRING "Add MGT module")
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set(OBSW_ADD_STAR_TRACKER ${INIT_VAL} CACHE STRING "Add Startracker module")
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set(OBSW_ADD_SUN_SENSORS ${INIT_VAL} CACHE STRING "Add sun sensor module")
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set(OBSW_ADD_SUS_BOARD_ASS ${INIT_VAL} CACHE STRING "Add sun sensor board assembly")
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set(OBSW_ADD_ACS_BOARD ${INIT_VAL} CACHE STRING "Add ACS board module")
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set(OBSW_ADD_ACS_HANDLERS ${INIT_VAL} CACHE STRING "Add ACS handlers")
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set(OBSW_ADD_RTD_DEVICES ${INIT_VAL} CACHE STRING "Add RTD devices")
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set(OBSW_ADD_RAD_SENSORS ${INIT_VAL} CACHE STRING "Add Rad Sensor module")
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set(OBSW_ADD_PL_PCDU ${INIT_VAL} CACHE STRING "Add Payload PCDU modukle")
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set(OBSW_ADD_SYRLINKS ${INIT_VAL} CACHE STRING "Add Syrlinks module")
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set(OBSW_ADD_TMP_DEVICES ${INIT_VAL} CACHE STRING "Add TMP devices")
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set(OBSW_ADD_GOMSPACE_PCDU ${INIT_VAL} CACHE STRING "Add GomSpace PCDU modules")
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################################################################################
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# Pre-Sources preparation
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@ -188,7 +207,7 @@ endif()
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# Configuration files
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configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
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configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
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configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
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configure_file(${BSP_PATH}/OBSWConfig.h.in OBSWConfig.h)
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if(TGT_BSP MATCHES "arm/q7s")
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configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
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elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
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122
bsp_hosted/OBSWConfig.h.in
Normal file
122
bsp_hosted/OBSWConfig.h.in
Normal file
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@ -0,0 +1,122 @@
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/**
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* @brief This file can be used to add preprocessor define for conditional
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* code inclusion exclusion or various other project constants and
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* properties in one place.
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*/
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#ifndef FSFWCONFIG_OBSWCONFIG_H_
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#define FSFWCONFIG_OBSWCONFIG_H_
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#include "commonConfig.h"
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#include "OBSWVersion.h"
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/*******************************************************************/
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/** All of the following flags should be enabled for mission code */
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/*******************************************************************/
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#define OBSW_ENABLE_TIMERS 1
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#define OBSW_ADD_STAR_TRACKER 0
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#define OBSW_ADD_PLOC_SUPERVISOR 0
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#define OBSW_ADD_PLOC_MPSOC 0
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#define OBSW_ADD_SUN_SENSORS 0
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#define OBSW_ADD_MGT 0
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#define OBSW_ADD_ACS_BOARD 0
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#define OBSW_ADD_ACS_HANDLERS 0
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#define OBSW_ADD_GPS_0 0
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#define OBSW_ADD_GPS_1 0
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#define OBSW_ADD_RW 0
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#define OBSW_ADD_BPX_BATTERY_HANDLER 0
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#define OBSW_ADD_RTD_DEVICES 0
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#define OBSW_ADD_PL_PCDU 0
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#define OBSW_ADD_TMP_DEVICES 0
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#define OBSW_ADD_RAD_SENSORS 0
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#define OBSW_ADD_SYRLINKS 0
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#define OBSW_STAR_TRACKER_GROUND_CONFIG 1
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// This is a really tricky switch.. It initializes the PCDU switches to their default states
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// at powerup. I think it would be better
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// to leave it off for now. It makes testing a lot more difficult and it might mess with
|
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// something the operators might want to do by giving the software too much intelligence
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// at the wrong place. The system component might command all the Switches accordingly anyway
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#define OBSW_INITIALIZE_SWITCHES 0
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#define OBSW_ENABLE_PERIODIC_HK 0
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/*******************************************************************/
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/** All of the following flags should be disabled for mission code */
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/*******************************************************************/
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// Can be used to switch device to NORMAL mode immediately
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#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
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#define OBSW_PRINT_MISSED_DEADLINES 1
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#define OBSW_SYRLINKS_SIMULATED 1
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#define OBSW_ADD_TEST_CODE 0
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#define OBSW_ADD_TEST_TASK 0
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#define OBSW_ADD_TEST_PST 0
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// If this is enabled, all other SPI code should be disabled
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#define OBSW_ADD_SPI_TEST_CODE 0
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// If this is enabled, all other I2C code should be disabled
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#define OBSW_ADD_I2C_TEST_CODE 0
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#define OBSW_ADD_UART_TEST_CODE 0
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#define OBSW_TEST_ACS 0
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#define OBSW_DEBUG_ACS 0
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#define OBSW_TEST_SUS 0
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#define OBSW_DEBUG_SUS 0
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#define OBSW_TEST_RTD 0
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#define OBSW_DEBUG_RTD 0
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#define OBSW_TEST_RAD_SENSOR 0
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#define OBSW_DEBUG_RAD_SENSOR 0
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#define OBSW_TEST_PL_PCDU 0
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#define OBSW_DEBUG_PL_PCDU 0
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#define OBSW_TEST_BPX_BATT 0
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#define OBSW_DEBUG_BPX_BATT 0
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#define OBSW_TEST_IMTQ 0
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#define OBSW_DEBUG_IMTQ 0
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#define OBSW_TEST_RW 0
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#define OBSW_DEBUG_RW 0
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#define OBSW_TEST_LIBGPIOD 0
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#define OBSW_TEST_PLOC_HANDLER 0
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#define OBSW_TEST_CCSDS_BRIDGE 0
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#define OBSW_TEST_CCSDS_PTME 0
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#define OBSW_TEST_TE7020_HEATER 0
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#define OBSW_TEST_GPIO_OPEN_BY_LABEL 0
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#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME 0
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#define OBSW_DEBUG_P60DOCK 0
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#define OBSW_PRINT_CORE_HK 0
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#define OBSW_DEBUG_PDU1 0
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#define OBSW_DEBUG_PDU2 0
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#define OBSW_DEBUG_GPS 0
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#define OBSW_DEBUG_ACU 0
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#define OBSW_DEBUG_SYRLINKS 0
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#define OBSW_DEBUG_PDEC_HANDLER 0
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#define OBSW_DEBUG_PLOC_SUPERVISOR 0
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#define OBSW_DEBUG_PLOC_MPSOC 0
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#define OBSW_DEBUG_STARTRACKER 0
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#define OBSW_TCP_SERVER_WIRETAPPING 0
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/*******************************************************************/
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/** CMake Defines */
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/*******************************************************************/
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#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
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#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
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#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
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#ifdef RASPBERRY_PI
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#include "rpiConfig.h"
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#elif defined(XIPHOS_Q7S)
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#include "q7sConfig.h"
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#endif
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#ifdef __cplusplus
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#include "objects/systemObjectList.h"
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#include "events/subsystemIdRanges.h"
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#include "returnvalues/classIds.h"
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#endif
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#endif /* FSFWCONFIG_OBSWCONFIG_H_ */
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@ -1,11 +0,0 @@
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# add main and others
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CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
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CSRC += $(wildcard $(CURRENTPATH)/*.c)
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CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c)
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CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
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CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c)
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INCLUDES += $(CURRENTPATH)/boardconfig
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INCLUDES += $(CURRENTPATH)/fsfwconfig
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122
bsp_linux_board/OBSWConfig.h.in
Normal file
122
bsp_linux_board/OBSWConfig.h.in
Normal file
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@ -0,0 +1,122 @@
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/**
|
||||
* @brief This file can be used to add preprocessor define for conditional
|
||||
* code inclusion exclusion or various other project constants and
|
||||
* properties in one place.
|
||||
*/
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#ifndef FSFWCONFIG_OBSWCONFIG_H_
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#define FSFWCONFIG_OBSWCONFIG_H_
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#include "commonConfig.h"
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#include "OBSWVersion.h"
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/*******************************************************************/
|
||||
/** All of the following flags should be enabled for mission code */
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||||
/*******************************************************************/
|
||||
|
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#define OBSW_ENABLE_TIMERS 1
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#define OBSW_ADD_STAR_TRACKER 0
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#define OBSW_ADD_PLOC_SUPERVISOR 0
|
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#define OBSW_ADD_PLOC_MPSOC 0
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#define OBSW_ADD_SUN_SENSORS 0
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#define OBSW_ADD_MGT 0
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#define OBSW_ADD_ACS_BOARD 0
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#define OBSW_ADD_ACS_HANDLERS 0
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#define OBSW_ADD_GPS_0 0
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#define OBSW_ADD_GPS_1 0
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#define OBSW_ADD_RW 0
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#define OBSW_ADD_BPX_BATTERY_HANDLER 0
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#define OBSW_ADD_RTD_DEVICES 0
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#define OBSW_ADD_PL_PCDU 0
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#define OBSW_ADD_TMP_DEVICES 0
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#define OBSW_ADD_RAD_SENSORS 0
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#define OBSW_ADD_SYRLINKS 0
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#define OBSW_STAR_TRACKER_GROUND_CONFIG 1
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||||
|
||||
// This is a really tricky switch.. It initializes the PCDU switches to their default states
|
||||
// at powerup. I think it would be better
|
||||
// to leave it off for now. It makes testing a lot more difficult and it might mess with
|
||||
// something the operators might want to do by giving the software too much intelligence
|
||||
// at the wrong place. The system component might command all the Switches accordingly anyway
|
||||
#define OBSW_INITIALIZE_SWITCHES 0
|
||||
#define OBSW_ENABLE_PERIODIC_HK 0
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||||
|
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/*******************************************************************/
|
||||
/** All of the following flags should be disabled for mission code */
|
||||
/*******************************************************************/
|
||||
|
||||
// Can be used to switch device to NORMAL mode immediately
|
||||
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
|
||||
#define OBSW_PRINT_MISSED_DEADLINES 1
|
||||
|
||||
#define OBSW_SYRLINKS_SIMULATED 1
|
||||
#define OBSW_ADD_TEST_CODE 0
|
||||
#define OBSW_ADD_TEST_TASK 0
|
||||
#define OBSW_ADD_TEST_PST 0
|
||||
// If this is enabled, all other SPI code should be disabled
|
||||
#define OBSW_ADD_SPI_TEST_CODE 0
|
||||
// If this is enabled, all other I2C code should be disabled
|
||||
#define OBSW_ADD_I2C_TEST_CODE 0
|
||||
#define OBSW_ADD_UART_TEST_CODE 0
|
||||
|
||||
#define OBSW_TEST_ACS 0
|
||||
#define OBSW_DEBUG_ACS 0
|
||||
#define OBSW_TEST_SUS 0
|
||||
#define OBSW_DEBUG_SUS 0
|
||||
#define OBSW_TEST_RTD 0
|
||||
#define OBSW_DEBUG_RTD 0
|
||||
#define OBSW_TEST_RAD_SENSOR 0
|
||||
#define OBSW_DEBUG_RAD_SENSOR 0
|
||||
#define OBSW_TEST_PL_PCDU 0
|
||||
#define OBSW_DEBUG_PL_PCDU 0
|
||||
#define OBSW_TEST_BPX_BATT 0
|
||||
#define OBSW_DEBUG_BPX_BATT 0
|
||||
#define OBSW_TEST_IMTQ 0
|
||||
#define OBSW_DEBUG_IMTQ 0
|
||||
#define OBSW_TEST_RW 0
|
||||
#define OBSW_DEBUG_RW 0
|
||||
|
||||
#define OBSW_TEST_LIBGPIOD 0
|
||||
#define OBSW_TEST_PLOC_HANDLER 0
|
||||
#define OBSW_TEST_CCSDS_BRIDGE 0
|
||||
#define OBSW_TEST_CCSDS_PTME 0
|
||||
#define OBSW_TEST_TE7020_HEATER 0
|
||||
#define OBSW_TEST_GPIO_OPEN_BY_LABEL 0
|
||||
#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME 0
|
||||
#define OBSW_DEBUG_P60DOCK 0
|
||||
|
||||
#define OBSW_PRINT_CORE_HK 0
|
||||
#define OBSW_DEBUG_PDU1 0
|
||||
#define OBSW_DEBUG_PDU2 0
|
||||
#define OBSW_DEBUG_GPS 0
|
||||
#define OBSW_DEBUG_ACU 0
|
||||
#define OBSW_DEBUG_SYRLINKS 0
|
||||
|
||||
#define OBSW_DEBUG_PDEC_HANDLER 0
|
||||
#define OBSW_DEBUG_PLOC_SUPERVISOR 0
|
||||
#define OBSW_DEBUG_PLOC_MPSOC 0
|
||||
#define OBSW_DEBUG_STARTRACKER 0
|
||||
#define OBSW_TCP_SERVER_WIRETAPPING 0
|
||||
|
||||
/*******************************************************************/
|
||||
/** CMake Defines */
|
||||
/*******************************************************************/
|
||||
#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
|
||||
|
||||
#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
|
||||
#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
|
||||
|
||||
#ifdef RASPBERRY_PI
|
||||
#include "rpiConfig.h"
|
||||
#elif defined(XIPHOS_Q7S)
|
||||
#include "q7sConfig.h"
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include "objects/systemObjectList.h"
|
||||
#include "events/subsystemIdRanges.h"
|
||||
#include "returnvalues/classIds.h"
|
||||
|
||||
#endif
|
||||
|
||||
#endif /* FSFWCONFIG_OBSWCONFIG_H_ */
|
||||
|
|
@ -13,6 +13,7 @@ add_subdirectory(simple)
|
|||
|
||||
target_sources(${OBSW_NAME} PUBLIC
|
||||
main.cpp
|
||||
obsw.cpp
|
||||
)
|
||||
|
||||
add_subdirectory(boardtest)
|
||||
|
|
@ -20,6 +21,13 @@ add_subdirectory(boardtest)
|
|||
add_subdirectory(boardconfig)
|
||||
add_subdirectory(comIF)
|
||||
add_subdirectory(core)
|
||||
|
||||
if(EIVE_Q7S_EM)
|
||||
add_subdirectory(em)
|
||||
else()
|
||||
add_subdirectory(fm)
|
||||
endif()
|
||||
|
||||
add_subdirectory(memory)
|
||||
add_subdirectory(callbacks)
|
||||
add_subdirectory(xadc)
|
||||
|
|
|
|||
126
bsp_q7s/OBSWConfig.h.in
Normal file
126
bsp_q7s/OBSWConfig.h.in
Normal file
|
|
@ -0,0 +1,126 @@
|
|||
/**
|
||||
* @brief This file can be used to add preprocessor define for conditional
|
||||
* code inclusion exclusion or various other project constants and
|
||||
* properties in one place.
|
||||
*/
|
||||
#ifndef FSFWCONFIG_OBSWCONFIG_H_
|
||||
#define FSFWCONFIG_OBSWCONFIG_H_
|
||||
|
||||
#include "commonConfig.h"
|
||||
#include "q7sConfig.h"
|
||||
#include "OBSWVersion.h"
|
||||
|
||||
/*******************************************************************/
|
||||
/** All of the following flags should be enabled for mission code */
|
||||
/*******************************************************************/
|
||||
|
||||
#define OBSW_USE_CCSDS_IP_CORE 1
|
||||
// Set to 1 if all telemetry should be sent to the PTME IP Core
|
||||
#define OBSW_TM_TO_PTME 0
|
||||
// Set to 1 if telecommands are received via the PDEC IP Core
|
||||
#define OBSW_TC_FROM_PDEC 0
|
||||
|
||||
#define OBSW_ENABLE_TIMERS 1
|
||||
#define OBSW_ADD_GOMSPACE_PCDU @OBSW_ADD_GOMSPACE_PCDU@
|
||||
#define OBSW_ADD_MGT @OBSW_ADD_MGT@
|
||||
#define OBSW_ADD_BPX_BATTERY_HANDLER @OBSW_ADD_BPX_BATTERY_HANDLER@
|
||||
#define OBSW_ADD_STAR_TRACKER @OBSW_ADD_STAR_TRACKER@
|
||||
#define OBSW_ADD_PLOC_SUPERVISOR 0
|
||||
#define OBSW_ADD_PLOC_MPSOC 0
|
||||
#define OBSW_ADD_SUN_SENSORS @OBSW_ADD_SUN_SENSORS@
|
||||
#define OBSW_ADD_SUS_BOARD_ASS @OBSW_ADD_SUS_BOARD_ASS@
|
||||
#define OBSW_ADD_ACS_BOARD @OBSW_ADD_ACS_BOARD@
|
||||
#define OBSW_ADD_ACS_HANDLERS @OBSW_ADD_ACS_HANDLERS@
|
||||
#define OBSW_ADD_RW 0
|
||||
#define OBSW_ADD_RTD_DEVICES @OBSW_ADD_RTD_DEVICES@
|
||||
#define OBSW_ADD_TMP_DEVICES @OBSW_ADD_TMP_DEVICES@
|
||||
#define OBSW_ADD_RAD_SENSORS @OBSW_ADD_RAD_SENSORS@
|
||||
#define OBSW_ADD_PL_PCDU @OBSW_ADD_PL_PCDU@
|
||||
#define OBSW_ADD_SYRLINKS @OBSW_ADD_SYRLINKS@
|
||||
#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT 0
|
||||
|
||||
// This is a really tricky switch.. It initializes the PCDU switches to their default states
|
||||
// at powerup. I think it would be better
|
||||
// to leave it off for now. It makes testing a lot more difficult and it might mess with
|
||||
// something the operators might want to do by giving the software too much intelligence
|
||||
// at the wrong place. The system component might command all the Switches accordingly anyway
|
||||
#define OBSW_INITIALIZE_SWITCHES 0
|
||||
#define OBSW_ENABLE_PERIODIC_HK 0
|
||||
|
||||
/*******************************************************************/
|
||||
/** All of the following flags should be disabled for mission code */
|
||||
/*******************************************************************/
|
||||
|
||||
// Can be used to switch device to NORMAL mode immediately
|
||||
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
|
||||
#define OBSW_PRINT_MISSED_DEADLINES 1
|
||||
|
||||
#define OBSW_STAR_TRACKER_GROUND_CONFIG 1
|
||||
#define OBSW_SYRLINKS_SIMULATED 1
|
||||
#define OBSW_ADD_TEST_CODE 0
|
||||
#define OBSW_ADD_TEST_TASK 0
|
||||
#define OBSW_ADD_TEST_PST 0
|
||||
// If this is enabled, all other SPI code should be disabled
|
||||
#define OBSW_ADD_SPI_TEST_CODE 0
|
||||
// If this is enabled, all other I2C code should be disabled
|
||||
#define OBSW_ADD_I2C_TEST_CODE 0
|
||||
#define OBSW_ADD_UART_TEST_CODE 0
|
||||
|
||||
#define OBSW_TEST_ACS 0
|
||||
#define OBSW_DEBUG_ACS 0
|
||||
#define OBSW_TEST_SUS 0
|
||||
#define OBSW_DEBUG_SUS 0
|
||||
#define OBSW_TEST_RTD 0
|
||||
#define OBSW_DEBUG_RTD 0
|
||||
#define OBSW_TEST_RAD_SENSOR 0
|
||||
#define OBSW_DEBUG_RAD_SENSOR 0
|
||||
#define OBSW_TEST_PL_PCDU 0
|
||||
#define OBSW_DEBUG_PL_PCDU 0
|
||||
#define OBSW_TEST_BPX_BATT 0
|
||||
#define OBSW_DEBUG_BPX_BATT 0
|
||||
#define OBSW_TEST_IMTQ 0
|
||||
#define OBSW_DEBUG_IMTQ 0
|
||||
#define OBSW_TEST_RW 0
|
||||
#define OBSW_DEBUG_RW 0
|
||||
|
||||
#define OBSW_TEST_LIBGPIOD 0
|
||||
#define OBSW_TEST_PLOC_HANDLER 0
|
||||
#define OBSW_TEST_CCSDS_BRIDGE 0
|
||||
#define OBSW_TEST_CCSDS_PTME 0
|
||||
#define OBSW_TEST_TE7020_HEATER 0
|
||||
#define OBSW_TEST_GPIO_OPEN_BY_LABEL 0
|
||||
#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME 0
|
||||
#define OBSW_DEBUG_P60DOCK 0
|
||||
|
||||
#define OBSW_PRINT_CORE_HK 0
|
||||
#define OBSW_DEBUG_PDU1 0
|
||||
#define OBSW_DEBUG_PDU2 0
|
||||
#define OBSW_DEBUG_GPS 0
|
||||
#define OBSW_DEBUG_ACU 0
|
||||
#define OBSW_DEBUG_SYRLINKS 0
|
||||
|
||||
#define OBSW_DEBUG_PDEC_HANDLER 0
|
||||
#define OBSW_DEBUG_PLOC_SUPERVISOR 0
|
||||
#define OBSW_DEBUG_PLOC_MPSOC 0
|
||||
#define OBSW_DEBUG_STARTRACKER 0
|
||||
|
||||
#define OBSW_TCP_SERVER_WIRETAPPING 0
|
||||
|
||||
/*******************************************************************/
|
||||
/** CMake Defines */
|
||||
/*******************************************************************/
|
||||
#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
|
||||
|
||||
#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
|
||||
#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include "objects/systemObjectList.h"
|
||||
#include "events/subsystemIdRanges.h"
|
||||
#include "returnvalues/classIds.h"
|
||||
|
||||
#endif
|
||||
|
||||
#endif /* FSFWCONFIG_OBSWCONFIG_H_ */
|
||||
|
|
@ -3,6 +3,8 @@
|
|||
|
||||
#include <cstdint>
|
||||
|
||||
#define OBSW_Q7S_EM @OBSW_Q7S_EM@
|
||||
|
||||
/*******************************************************************/
|
||||
/** All of the following flags should be enabled for mission code */
|
||||
/*******************************************************************/
|
||||
|
|
|
|||
|
|
@ -1,8 +1,6 @@
|
|||
target_sources(${OBSW_NAME} PRIVATE
|
||||
CoreController.cpp
|
||||
obsw.cpp
|
||||
InitMission.cpp
|
||||
ObjectFactory.cpp
|
||||
)
|
||||
|
||||
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
|
||||
|
|
|
|||
|
|
@ -1,10 +1,10 @@
|
|||
#include "InitMission.h"
|
||||
#include "bsp_q7s/core/InitMission.h"
|
||||
|
||||
#include <iostream>
|
||||
#include <vector>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "ObjectFactory.h"
|
||||
#include "bsp_q7s/core/ObjectFactory.h"
|
||||
#include "fsfw/objectmanager/ObjectManager.h"
|
||||
#include "fsfw/objectmanager/ObjectManagerIF.h"
|
||||
#include "fsfw/platform.h"
|
||||
|
|
@ -294,6 +294,7 @@ void initmission::createPstTasks(TaskFactory& factory,
|
|||
}
|
||||
#endif
|
||||
|
||||
#if OBSW_ADD_GOMSPACE_PCDU == 1
|
||||
FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
|
||||
"GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
|
||||
result = pst::pstGompaceCan(gomSpacePstTask);
|
||||
|
|
@ -303,6 +304,7 @@ void initmission::createPstTasks(TaskFactory& factory,
|
|||
}
|
||||
}
|
||||
taskVec.push_back(gomSpacePstTask);
|
||||
#endif
|
||||
}
|
||||
|
||||
void initmission::createPusTasks(TaskFactory& factory,
|
||||
|
|
|
|||
|
|
@ -1,5 +0,0 @@
|
|||
#include "ParameterHandler.h"
|
||||
|
||||
ParameterHandler::ParameterHandler(std::string mountPrefix) : mountPrefix(mountPrefix) {}
|
||||
|
||||
void ParameterHandler::setMountPrefix(std::string prefix) { mountPrefix = prefix; }
|
||||
|
|
@ -1,20 +0,0 @@
|
|||
#ifndef BSP_Q7S_CORE_PARAMETERHANDLER_H_
|
||||
#define BSP_Q7S_CORE_PARAMETERHANDLER_H_
|
||||
|
||||
#include <nlohmann/json.hpp>
|
||||
#include <string>
|
||||
|
||||
class ParameterHandler {
|
||||
public:
|
||||
ParameterHandler(std::string mountPrefix);
|
||||
|
||||
void setMountPrefix(std::string prefix);
|
||||
|
||||
void setUpDummyParameter();
|
||||
|
||||
private:
|
||||
std::string mountPrefix;
|
||||
DummyParameter dummyParam;
|
||||
};
|
||||
|
||||
#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */
|
||||
7
bsp_q7s/em/CMakeLists.txt
Normal file
7
bsp_q7s/em/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,7 @@
|
|||
target_sources(${OBSW_NAME} PRIVATE
|
||||
ObjectFactory.cpp
|
||||
)
|
||||
|
||||
target_sources(${SIMPLE_OBSW_NAME} PRIVATE
|
||||
InitMission.cpp
|
||||
)
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
#include "ObjectFactory.h"
|
||||
#include "bsp_q7s/core/ObjectFactory.h"
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "bsp_q7s/boardtest/Q7STestTask.h"
|
||||
3
bsp_q7s/fm/CMakeLists.txt
Normal file
3
bsp_q7s/fm/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,3 @@
|
|||
target_sources(${OBSW_NAME} PRIVATE
|
||||
ObjectFactory.cpp
|
||||
)
|
||||
980
bsp_q7s/fm/ObjectFactory.cpp
Normal file
980
bsp_q7s/fm/ObjectFactory.cpp
Normal file
|
|
@ -0,0 +1,980 @@
|
|||
#include "bsp_q7s/core/ObjectFactory.h"
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include "bsp_q7s/boardtest/Q7STestTask.h"
|
||||
#include "bsp_q7s/callbacks/gnssCallback.h"
|
||||
#include "bsp_q7s/callbacks/pcduSwitchCb.h"
|
||||
#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
|
||||
#include "bsp_q7s/callbacks/rwSpiCallback.h"
|
||||
#include "bsp_q7s/core/CoreController.h"
|
||||
#include "bsp_q7s/memory/FileSystemHandler.h"
|
||||
#include "busConf.h"
|
||||
#include "ccsdsConfig.h"
|
||||
#include "devConf.h"
|
||||
#include "devices/addresses.h"
|
||||
#include "devices/gpioIds.h"
|
||||
#include "devices/powerSwitcherList.h"
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "linux/ObjectFactory.h"
|
||||
#include "linux/boardtest/I2cTestClass.h"
|
||||
#include "linux/boardtest/SpiTestClass.h"
|
||||
#include "linux/boardtest/UartTestClass.h"
|
||||
#include "linux/callbacks/gpioCallbacks.h"
|
||||
#include "linux/csp/CspComIF.h"
|
||||
#include "linux/csp/CspCookie.h"
|
||||
#include "linux/devices/GPSHyperionLinuxController.h"
|
||||
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
|
||||
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
|
||||
#include "linux/devices/ploc/PlocMPSoCHandler.h"
|
||||
#include "linux/devices/ploc/PlocMPSoCHelper.h"
|
||||
#include "linux/devices/ploc/PlocMemoryDumper.h"
|
||||
#include "linux/devices/ploc/PlocSupervisorHandler.h"
|
||||
#include "linux/devices/ploc/PlocUpdater.h"
|
||||
#include "linux/devices/startracker/StarTrackerHandler.h"
|
||||
#include "linux/devices/startracker/StrHelper.h"
|
||||
#include "linux/obc/AxiPtmeConfig.h"
|
||||
#include "linux/obc/PapbVcInterface.h"
|
||||
#include "linux/obc/PdecHandler.h"
|
||||
#include "linux/obc/Ptme.h"
|
||||
#include "linux/obc/PtmeConfig.h"
|
||||
#include "mission/system/AcsBoardFdir.h"
|
||||
#include "mission/system/RtdFdir.h"
|
||||
#include "mission/system/SusAssembly.h"
|
||||
#include "mission/system/SusFdir.h"
|
||||
#include "mission/system/TcsBoardAssembly.h"
|
||||
#include "tmtc/apid.h"
|
||||
#include "tmtc/pusIds.h"
|
||||
|
||||
#if OBSW_TEST_LIBGPIOD == 1
|
||||
#include "linux/boardtest/LibgpiodTest.h"
|
||||
#endif
|
||||
|
||||
#include <sstream>
|
||||
|
||||
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
|
||||
#include "fsfw/tmtcpacket/pus/tm.h"
|
||||
#include "fsfw/tmtcservices/CommandingServiceBase.h"
|
||||
#include "fsfw/tmtcservices/PusServiceBase.h"
|
||||
#include "fsfw_hal/common/gpio/GpioCookie.h"
|
||||
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
|
||||
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
|
||||
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
|
||||
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
|
||||
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
|
||||
#include "fsfw_hal/linux/i2c/I2cComIF.h"
|
||||
#include "fsfw_hal/linux/i2c/I2cCookie.h"
|
||||
#include "fsfw_hal/linux/spi/SpiComIF.h"
|
||||
#include "fsfw_hal/linux/spi/SpiCookie.h"
|
||||
#include "fsfw_hal/linux/uart/UartComIF.h"
|
||||
#include "fsfw_hal/linux/uart/UartCookie.h"
|
||||
#include "mission/core/GenericFactory.h"
|
||||
#include "mission/devices/ACUHandler.h"
|
||||
#include "mission/devices/BpxBatteryHandler.h"
|
||||
#include "mission/devices/GyroADIS1650XHandler.h"
|
||||
#include "mission/devices/HeaterHandler.h"
|
||||
#include "mission/devices/IMTQHandler.h"
|
||||
#include "mission/devices/Max31865PT1000Handler.h"
|
||||
#include "mission/devices/P60DockHandler.h"
|
||||
#include "mission/devices/PCDUHandler.h"
|
||||
#include "mission/devices/PDU1Handler.h"
|
||||
#include "mission/devices/PDU2Handler.h"
|
||||
#include "mission/devices/PayloadPcduHandler.h"
|
||||
#include "mission/devices/RadiationSensorHandler.h"
|
||||
#include "mission/devices/RwHandler.h"
|
||||
#include "mission/devices/SolarArrayDeploymentHandler.h"
|
||||
#include "mission/devices/SusHandler.h"
|
||||
#include "mission/devices/SyrlinksHkHandler.h"
|
||||
#include "mission/devices/Tmp1075Handler.h"
|
||||
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
|
||||
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/RwDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/SusDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
|
||||
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
|
||||
#include "mission/system/AcsBoardAssembly.h"
|
||||
#include "mission/tmtc/CCSDSHandler.h"
|
||||
#include "mission/tmtc/VirtualChannel.h"
|
||||
#include "mission/utility/TmFunnel.h"
|
||||
|
||||
ResetArgs resetArgsGnss0;
|
||||
ResetArgs resetArgsGnss1;
|
||||
|
||||
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
|
||||
|
||||
void Factory::setStaticFrameworkObjectIds() {
|
||||
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
PusServiceBase::packetDestination = objects::TM_FUNNEL;
|
||||
|
||||
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
|
||||
CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
|
||||
|
||||
DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
|
||||
// DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
|
||||
|
||||
#if OBSW_TM_TO_PTME == 1
|
||||
TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
|
||||
#else
|
||||
TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
|
||||
#endif /* OBSW_TM_TO_PTME == 1 */
|
||||
// No storage object for now.
|
||||
TmFunnel::storageDestination = objects::NO_OBJECT;
|
||||
|
||||
LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
|
||||
|
||||
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
|
||||
TmPacketBase::timeStamperId = objects::TIME_STAMPER;
|
||||
}
|
||||
|
||||
void ObjectFactory::produce(void* args) {
|
||||
ObjectFactory::setStatics();
|
||||
ObjectFactory::produceGenericObjects();
|
||||
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
UartComIF* uartComIF = nullptr;
|
||||
SpiComIF* spiComIF = nullptr;
|
||||
I2cComIF* i2cComIF = nullptr;
|
||||
PowerSwitchIF* pwrSwitcher = nullptr;
|
||||
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
|
||||
createTmpComponents();
|
||||
new CoreController(objects::CORE_CONTROLLER);
|
||||
|
||||
gpioCallbacks::disableAllDecoder(gpioComIF);
|
||||
createPcduComponents(gpioComIF, &pwrSwitcher);
|
||||
createRadSensorComponent(gpioComIF);
|
||||
createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
|
||||
#endif
|
||||
|
||||
createHeaterComponents();
|
||||
createSolarArrayDeploymentComponents();
|
||||
createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
|
||||
#if OBSW_ADD_SYRLINKS == 1
|
||||
createSyrlinksComponents(pwrSwitcher);
|
||||
#endif /* OBSW_ADD_SYRLINKS == 1 */
|
||||
createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
|
||||
createPayloadComponents(gpioComIF);
|
||||
|
||||
#if OBSW_ADD_MGT == 1
|
||||
I2cCookie* imtqI2cCookie =
|
||||
new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
|
||||
auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
|
||||
pcdu::Switches::PDU1_CH3_MGT_5V);
|
||||
imtqHandler->setPowerSwitcher(pwrSwitcher);
|
||||
static_cast<void>(imtqHandler);
|
||||
#if OBSW_TEST_IMTQ == 1
|
||||
imtqHandler->setStartUpImmediately();
|
||||
imtqHandler->setToGoToNormal(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_IMTQ == 1
|
||||
imtqHandler->setDebugMode(true);
|
||||
#endif
|
||||
#endif
|
||||
createReactionWheelComponents(gpioComIF);
|
||||
|
||||
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
|
||||
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
|
||||
BpxBatteryHandler* bpxHandler =
|
||||
new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
|
||||
bpxHandler->setStartUpImmediately();
|
||||
bpxHandler->setToGoToNormalMode(true);
|
||||
#if OBSW_DEBUG_BPX_BATT == 1
|
||||
bpxHandler->setDebugMode(true);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
|
||||
|
||||
#if OBSW_ADD_STAR_TRACKER == 1
|
||||
UartCookie* starTrackerCookie =
|
||||
new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
|
||||
startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
|
||||
starTrackerCookie->setNoFixedSizeReply();
|
||||
StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
|
||||
auto starTracker =
|
||||
new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
|
||||
strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
|
||||
starTracker->setPowerSwitcher(pwrSwitcher);
|
||||
|
||||
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
|
||||
|
||||
#if OBSW_USE_CCSDS_IP_CORE == 1
|
||||
createCcsdsComponents(gpioComIF);
|
||||
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
|
||||
|
||||
/* Test Task */
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
createTestComponents(gpioComIF);
|
||||
#endif /* OBSW_ADD_TEST_CODE == 1 */
|
||||
|
||||
new PlocUpdater(objects::PLOC_UPDATER);
|
||||
new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
|
||||
}
|
||||
|
||||
void ObjectFactory::createTmpComponents() {
|
||||
I2cCookie* i2cCookieTmp1075tcs1 =
|
||||
new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
|
||||
I2cCookie* i2cCookieTmp1075tcs2 =
|
||||
new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
|
||||
|
||||
/* Temperature sensors */
|
||||
Tmp1075Handler* tmp1075Handler_1 =
|
||||
new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
|
||||
(void)tmp1075Handler_1;
|
||||
Tmp1075Handler* tmp1075Handler_2 =
|
||||
new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
|
||||
(void)tmp1075Handler_2;
|
||||
}
|
||||
|
||||
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
|
||||
SpiComIF** spiComIF, I2cComIF** i2cComIF) {
|
||||
if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
|
||||
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
|
||||
<< std::endl;
|
||||
}
|
||||
*gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
||||
|
||||
/* Communication interfaces */
|
||||
new CspComIF(objects::CSP_COM_IF);
|
||||
*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
|
||||
*uartComIF = new UartComIF(objects::UART_COM_IF);
|
||||
*spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
|
||||
|
||||
/* Adding gpios for chip select decoding to the gpioComIf */
|
||||
q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
|
||||
}
|
||||
|
||||
void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
|
||||
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
|
||||
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
|
||||
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
|
||||
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
|
||||
/* Device Handler */
|
||||
P60DockHandler* p60dockhandler =
|
||||
new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
|
||||
PDU1Handler* pdu1handler =
|
||||
new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
|
||||
PDU2Handler* pdu2handler =
|
||||
new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
|
||||
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
|
||||
auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
|
||||
|
||||
/**
|
||||
* Setting PCDU devices to mode normal immediately after start up because PCDU is always
|
||||
* running.
|
||||
*/
|
||||
p60dockhandler->setModeNormal();
|
||||
pdu1handler->setModeNormal();
|
||||
pdu2handler->setModeNormal();
|
||||
acuhandler->setModeNormal();
|
||||
if (pwrSwitcher != nullptr) {
|
||||
*pwrSwitcher = pcduHandler;
|
||||
}
|
||||
#if OBSW_DEBUG_P60DOCK == 1
|
||||
p60dockhandler->setDebugMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACU == 1
|
||||
acuhandler->setDebugMode(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
|
||||
using namespace gpio;
|
||||
GpioCookie* gpioCookieRadSensor = new GpioCookie;
|
||||
std::stringstream consumer;
|
||||
consumer << "0x" << std::hex << objects::RAD_SENSOR;
|
||||
GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
|
||||
q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), Direction::OUT, Levels::HIGH);
|
||||
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
|
||||
gpioComIF->addGpios(gpioCookieRadSensor);
|
||||
|
||||
SpiCookie* spiCookieRadSensor = new SpiCookie(
|
||||
addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
|
||||
RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
|
||||
auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF,
|
||||
spiCookieRadSensor, gpioComIF);
|
||||
static_cast<void>(radSensor);
|
||||
// The radiation sensor ADC is powered by the 5V stack connector which should always be on
|
||||
radSensor->setStartUpImmediately();
|
||||
// It's a simple sensor, so just to to normal mode immediately
|
||||
radSensor->setToGoToNormalModeImmediately();
|
||||
#if OBSW_DEBUG_RAD_SENSOR == 1
|
||||
radSensor->enablePeriodicDataPrint(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
|
||||
PowerSwitchIF* pwrSwitcher) {
|
||||
using namespace gpio;
|
||||
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
|
||||
|
||||
std::stringstream consumer;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
// GNSS reset pins are active low
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), Direction::OUT,
|
||||
Levels::HIGH);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
|
||||
// Enable pins must be pulled low for regular operations
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
|
||||
|
||||
// Enable pins for GNSS
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
|
||||
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
|
||||
|
||||
// Select pin. 0 for GPS side A, 1 for GPS side B
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
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;
|
||||
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);
|
||||
auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, spi::LIS3_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
|
||||
mgmLis3Handler->setCustomFdir(fdir);
|
||||
static_cast<void>(mgmLis3Handler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmLis3Handler->setStartUpImmediately();
|
||||
mgmLis3Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
|
||||
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);
|
||||
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, spi::RM3100_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
|
||||
mgmRm3100Handler->setCustomFdir(fdir);
|
||||
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
|
||||
static_cast<void>(mgmRm3100Handler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmRm3100Handler->setStartUpImmediately();
|
||||
mgmRm3100Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
|
||||
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);
|
||||
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, spi::LIS3_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
|
||||
mgmLis3Handler->setCustomFdir(fdir);
|
||||
mgmLis3Handler->setParent(objects::ACS_BOARD_ASS);
|
||||
static_cast<void>(mgmLis3Handler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmLis3Handler->setStartUpImmediately();
|
||||
mgmLis3Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
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);
|
||||
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, spi::RM3100_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
|
||||
mgmRm3100Handler->setCustomFdir(fdir);
|
||||
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
mgmRm3100Handler->setStartUpImmediately();
|
||||
mgmRm3100Handler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
|
||||
// Commented until ACS board V2 in in clean room again
|
||||
// Gyro 0 Side A
|
||||
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
|
||||
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
||||
spi::DEFAULT_ADIS16507_SPEED);
|
||||
auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, ADIS1650X::Type::ADIS16505);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
|
||||
adisHandler->setCustomFdir(fdir);
|
||||
adisHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
static_cast<void>(adisHandler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
adisHandler->setStartUpImmediately();
|
||||
adisHandler->setToGoToNormalModeImmediately();
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
adisHandler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
|
||||
// Gyro 1 Side A
|
||||
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);
|
||||
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, spi::L3G_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
|
||||
gyroL3gHandler->setCustomFdir(fdir);
|
||||
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
static_cast<void>(gyroL3gHandler);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
gyroL3gHandler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
|
||||
// Gyro 2 Side B
|
||||
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
|
||||
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
||||
spi::DEFAULT_ADIS16507_SPEED);
|
||||
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
|
||||
spiCookie, ADIS1650X::Type::ADIS16505);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
|
||||
adisHandler->setCustomFdir(fdir);
|
||||
adisHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
adisHandler->setStartUpImmediately();
|
||||
adisHandler->setToGoToNormalModeImmediately();
|
||||
#endif
|
||||
// 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, spi::L3G_TRANSITION_DELAY);
|
||||
fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
|
||||
gyroL3gHandler->setCustomFdir(fdir);
|
||||
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
|
||||
#if OBSW_TEST_ACS == 1
|
||||
gyroL3gHandler->setStartUpImmediately();
|
||||
gyroL3gHandler->setToGoToNormalMode(true);
|
||||
#endif
|
||||
#if OBSW_DEBUG_ACS == 1
|
||||
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
|
||||
#endif
|
||||
|
||||
bool debugGps = false;
|
||||
#if OBSW_DEBUG_GPS == 1
|
||||
debugGps = true;
|
||||
#endif
|
||||
resetArgsGnss1.gnss1 = true;
|
||||
resetArgsGnss1.gpioComIF = gpioComIF;
|
||||
resetArgsGnss1.waitPeriodMs = 100;
|
||||
resetArgsGnss0.gnss1 = false;
|
||||
resetArgsGnss0.gpioComIF = gpioComIF;
|
||||
resetArgsGnss0.waitPeriodMs = 100;
|
||||
auto gpsHandler0 =
|
||||
new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
|
||||
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
|
||||
|
||||
AcsBoardHelper acsBoardHelper = AcsBoardHelper(
|
||||
objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
|
||||
objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
|
||||
objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
|
||||
auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
|
||||
acsBoardHelper, gpioComIF);
|
||||
static_cast<void>(acsAss);
|
||||
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
|
||||
}
|
||||
|
||||
void ObjectFactory::createHeaterComponents() {
|
||||
using namespace gpio;
|
||||
GpioCookie* heaterGpiosCookie = new GpioCookie;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
|
||||
std::stringstream consumer;
|
||||
consumer << "0x" << std::hex << objects::HEATER_HANDLER;
|
||||
/* Pin H2-11 on stack connector */
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpio);
|
||||
/* Pin H2-12 on stack connector */
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpio);
|
||||
|
||||
/* Pin H2-13 on stack connector */
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
|
||||
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
|
||||
|
||||
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
|
||||
objects::PCDU_HANDLER, pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
|
||||
}
|
||||
|
||||
void ObjectFactory::createSolarArrayDeploymentComponents() {
|
||||
using namespace gpio;
|
||||
GpioCookie* solarArrayDeplCookie = new GpioCookie;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
|
||||
std::stringstream consumer;
|
||||
consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
|
||||
|
||||
// TODO: Find out burn time. For now set to 1000 ms.
|
||||
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
|
||||
solarArrayDeplCookie, objects::PCDU_HANDLER,
|
||||
pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
|
||||
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
|
||||
}
|
||||
|
||||
void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
|
||||
UartCookie* syrlinksUartCookie =
|
||||
new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
|
||||
syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
|
||||
syrlinksUartCookie->setParityEven();
|
||||
|
||||
auto syrlinksHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF,
|
||||
syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V);
|
||||
syrlinksHandler->setPowerSwitcher(pwrSwitcher);
|
||||
#if OBSW_DEBUG_SYRLINKS == 1
|
||||
syrlinksHandler->setDebugMode(true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
using namespace gpio;
|
||||
std::stringstream consumer;
|
||||
#if OBSW_ADD_PLOC_MPSOC == 1
|
||||
consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
|
||||
auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
|
||||
consumer.str(), Direction::OUT, Levels::HIGH);
|
||||
auto mpsocGpioCookie = new GpioCookie;
|
||||
mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
|
||||
gpioComIF->addGpios(mpsocGpioCookie);
|
||||
auto mpsocCookie =
|
||||
new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
|
||||
mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
|
||||
mpsocCookie->setNoFixedSizeReply();
|
||||
auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
|
||||
new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
|
||||
plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
|
||||
objects::PLOC_SUPERVISOR_HANDLER);
|
||||
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
|
||||
|
||||
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
||||
consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
|
||||
auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(),
|
||||
Direction::OUT, Levels::HIGH);
|
||||
auto supvGpioCookie = new GpioCookie;
|
||||
supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
|
||||
gpioComIF->addGpios(supvGpioCookie);
|
||||
auto supervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
|
||||
q7s::UART_PLOC_SUPERVSIOR_DEV, uart::PLOC_SUPERVISOR_BAUD,
|
||||
supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
|
||||
supervisorCookie->setNoFixedSizeReply();
|
||||
new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
|
||||
supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
|
||||
pcdu::PDU1_CH6_PLOC_12V);
|
||||
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
|
||||
static_cast<void>(consumer);
|
||||
}
|
||||
|
||||
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
using namespace gpio;
|
||||
GpioCookie* gpioCookieRw = new GpioCookie;
|
||||
GpioCallback* csRw1 =
|
||||
new GpioCallback("Chip select reaction wheel 1", Direction::OUT, Levels::HIGH,
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
|
||||
GpioCallback* csRw2 =
|
||||
new GpioCallback("Chip select reaction wheel 2", Direction::OUT, Levels::HIGH,
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
|
||||
GpioCallback* csRw3 =
|
||||
new GpioCallback("Chip select reaction wheel 3", Direction::OUT, Levels::HIGH,
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
|
||||
GpioCallback* csRw4 =
|
||||
new GpioCallback("Chip select reaction wheel 4", Direction::OUT, Levels::HIGH,
|
||||
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
||||
gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
|
||||
|
||||
std::stringstream consumer;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
consumer << "0x" << std::hex << objects::RW1;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::RW2;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::RW3;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::RW4;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookieRw);
|
||||
|
||||
#if OBSW_ADD_RW == 1
|
||||
auto rw1SpiCookie =
|
||||
new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw2SpiCookie =
|
||||
new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw3SpiCookie =
|
||||
new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
auto rw4SpiCookie =
|
||||
new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
|
||||
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
|
||||
|
||||
auto rwHandler1 =
|
||||
new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
|
||||
rw1SpiCookie->setCallbackArgs(rwHandler1);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler1->setStartUpImmediately();
|
||||
rwHandler1->setDebugMode(true);
|
||||
#endif
|
||||
|
||||
auto rwHandler2 =
|
||||
new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
|
||||
rw2SpiCookie->setCallbackArgs(rwHandler2);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler2->setStartUpImmediately();
|
||||
rwHandler2->setDebugMode(true);
|
||||
#endif
|
||||
|
||||
auto rwHandler3 =
|
||||
new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
|
||||
rw3SpiCookie->setCallbackArgs(rwHandler3);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler3->setStartUpImmediately();
|
||||
rwHandler3->setDebugMode(true);
|
||||
#endif
|
||||
|
||||
auto rwHandler4 =
|
||||
new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
|
||||
rw4SpiCookie->setCallbackArgs(rwHandler4);
|
||||
#if OBSW_DEBUG_RW == 1
|
||||
rwHandler4->setStartUpImmediately();
|
||||
rwHandler4->setDebugMode(true);
|
||||
#endif
|
||||
|
||||
#endif /* OBSW_ADD_RW == 1 */
|
||||
}
|
||||
|
||||
void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
using namespace gpio;
|
||||
// GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
|
||||
GpioCookie* gpioCookiePtmeIp = new GpioCookie;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
std::stringstream consumer;
|
||||
consumer.str("PAPB VC0");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
|
||||
consumer.str("PAPB VC0");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
|
||||
consumer.str("PAPB VC 1");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 1");
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 2");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 2");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 3");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
|
||||
consumer.str("");
|
||||
consumer.str("PAPB VC 3");
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
|
||||
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookiePtmeIp);
|
||||
|
||||
// Creating virtual channel interfaces
|
||||
VcInterfaceIF* vc0 =
|
||||
new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
|
||||
q7s::uiomapids::PTME_VC0);
|
||||
VcInterfaceIF* vc1 =
|
||||
new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
|
||||
q7s::uiomapids::PTME_VC1);
|
||||
VcInterfaceIF* vc2 =
|
||||
new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
|
||||
q7s::uiomapids::PTME_VC2);
|
||||
VcInterfaceIF* vc3 =
|
||||
new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
|
||||
q7s::uiomapids::PTME_VC3);
|
||||
|
||||
// Creating ptme object and adding virtual channel interfaces
|
||||
Ptme* ptme = new Ptme(objects::PTME);
|
||||
ptme->addVcInterface(ccsds::VC0, vc0);
|
||||
ptme->addVcInterface(ccsds::VC1, vc1);
|
||||
ptme->addVcInterface(ccsds::VC2, vc2);
|
||||
ptme->addVcInterface(ccsds::VC3, vc3);
|
||||
|
||||
AxiPtmeConfig* axiPtmeConfig =
|
||||
new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
|
||||
PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
|
||||
#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
|
||||
// Set to high value when not sending via syrlinks
|
||||
static const uint32_t TRANSMITTER_TIMEOUT = 86400000; // 1 day
|
||||
#else
|
||||
static const uint32_t TRANSMITTER_TIMEOUT = 900000; // 15 minutes
|
||||
#endif
|
||||
CCSDSHandler* ccsdsHandler = new CCSDSHandler(
|
||||
objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
|
||||
gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
|
||||
|
||||
VirtualChannel* vc = nullptr;
|
||||
vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
||||
ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
|
||||
vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
||||
ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
|
||||
vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
||||
ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
|
||||
vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
||||
ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);
|
||||
|
||||
GpioCookie* gpioCookiePdec = new GpioCookie;
|
||||
consumer.str("");
|
||||
consumer << "0x" << std::hex << objects::PDEC_HANDLER;
|
||||
// GPIO also low after linux boot (specified by device-tree)
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), Direction::OUT,
|
||||
Levels::LOW);
|
||||
gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioCookiePdec);
|
||||
|
||||
new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
|
||||
q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
|
||||
|
||||
GpioCookie* gpioRS485Chip = new GpioCookie;
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
|
||||
|
||||
// Default configuration enables RX channels (RXEN = LOW)
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
|
||||
Direction::OUT, Levels::LOW);
|
||||
gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
|
||||
|
||||
gpioComIF->addGpios(gpioRS485Chip);
|
||||
}
|
||||
|
||||
void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
|
||||
PowerSwitchIF* pwrSwitcher) {
|
||||
using namespace gpio;
|
||||
// Create all GPIO components first
|
||||
GpioCookie* plPcduGpios = new GpioCookie;
|
||||
GpiodRegularByLineName* gpio = nullptr;
|
||||
std::string consumer;
|
||||
// Switch pins are active high
|
||||
consumer = "PLPCDU_ENB_VBAT_0";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT0, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT0, gpio);
|
||||
consumer = "PLPCDU_ENB_VBAT_1";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT1, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT1, gpio);
|
||||
consumer = "PLPCDU_ENB_DRO";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_DRO, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_DRO, gpio);
|
||||
consumer = "PLPCDU_ENB_X8";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_X8, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_X8, gpio);
|
||||
consumer = "PLPCDU_ENB_TX";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_TX, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_TX, gpio);
|
||||
consumer = "PLPCDU_ENB_MPA";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_MPA, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_MPA, gpio);
|
||||
consumer = "PLPCDU_ENB_HPA";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_HPA, consumer, Direction::OUT,
|
||||
gpio::Levels::LOW);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_HPA, gpio);
|
||||
|
||||
// Chip select pin is active low
|
||||
consumer = "PLPCDU_ADC_CS";
|
||||
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, Direction::OUT,
|
||||
gpio::Levels::HIGH);
|
||||
plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
|
||||
gpioComIF->addGpios(plPcduGpios);
|
||||
SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS,
|
||||
q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
|
||||
spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
|
||||
// Create device handler components
|
||||
auto plPcduHandler = new PayloadPcduHandler(
|
||||
objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF, SdCardManager::instance(),
|
||||
pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
|
||||
pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
|
||||
spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
|
||||
// plPcduHandler->enablePeriodicPrintout(true, 5);
|
||||
// static_cast<void>(plPcduHandler);
|
||||
#if OBSW_TEST_PL_PCDU == 1
|
||||
plPcduHandler->setStartUpImmediately();
|
||||
#endif
|
||||
#if OBSW_DEBUG_PL_PCDU == 1
|
||||
plPcduHandler->setToGoToNormalModeImmediately(true);
|
||||
plPcduHandler->enablePeriodicPrintout(true, 10);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
|
||||
new Q7STestTask(objects::TEST_TASK);
|
||||
#if OBSW_ADD_SPI_TEST_CODE == 1
|
||||
new SpiTestClass(objects::SPI_TEST, gpioComIF);
|
||||
#endif
|
||||
#if OBSW_ADD_I2C_TEST_CODE == 1
|
||||
new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
|
||||
#endif
|
||||
#if OBSW_ADD_UART_TEST_CODE == 1
|
||||
new UartTestClass(objects::UART_TEST);
|
||||
#endif
|
||||
}
|
||||
|
||||
void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
|
||||
CommandMessage msg;
|
||||
ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
|
||||
duallane::A_SIDE);
|
||||
ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "Sending mode command failed" << std::endl;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
#include "q7sConfig.h"
|
||||
|
||||
#if Q7S_SIMPLE_MODE == 0
|
||||
#include "core/obsw.h"
|
||||
#include "obsw.h"
|
||||
#else
|
||||
#include "simple/simple.h"
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -3,9 +3,9 @@
|
|||
#include <filesystem>
|
||||
#include <iostream>
|
||||
|
||||
#include "InitMission.h"
|
||||
#include "OBSWConfig.h"
|
||||
#include "commonConfig.h"
|
||||
#include "core/InitMission.h"
|
||||
#include "fsfw/tasks/TaskFactory.h"
|
||||
#include "fsfw/version.h"
|
||||
#include "watchdog/definitions.h"
|
||||
|
|
@ -6,69 +6,19 @@
|
|||
#ifndef FSFWCONFIG_OBSWCONFIG_H_
|
||||
#define FSFWCONFIG_OBSWCONFIG_H_
|
||||
|
||||
#cmakedefine RASPBERRY_PI
|
||||
#cmakedefine XIPHOS_Q7S
|
||||
#cmakedefine BEAGLEBONEBLACK
|
||||
#cmakedefine EGSE
|
||||
#cmakedefine TE0720_1CFA
|
||||
|
||||
#include "commonConfig.h"
|
||||
#include "OBSWVersion.h"
|
||||
|
||||
#define Q7S_EM 0
|
||||
|
||||
|
||||
/*******************************************************************/
|
||||
/** All of the following flags should be enabled for mission code */
|
||||
/*******************************************************************/
|
||||
|
||||
//! Timers can mess up the code when debugging
|
||||
//! All of this should be enabled for mission code!
|
||||
#if defined XIPHOS_Q7S
|
||||
|
||||
#define Q7S_EM 0
|
||||
|
||||
#define OBSW_USE_CCSDS_IP_CORE 1
|
||||
// Set to 1 if all telemetry should be sent to the PTME IP Core
|
||||
#define OBSW_TM_TO_PTME 0
|
||||
// Set to 1 if telecommands are received via the PDEC IP Core
|
||||
#define OBSW_TC_FROM_PDEC 0
|
||||
|
||||
#define OBSW_ENABLE_TIMERS 1
|
||||
#define OBSW_ADD_MGT 1
|
||||
#define OBSW_ADD_BPX_BATTERY_HANDLER 1
|
||||
#define OBSW_ADD_STAR_TRACKER @OBSW_ADD_STAR_TRACKER@
|
||||
#define OBSW_ADD_PLOC_SUPERVISOR 0
|
||||
#define OBSW_ADD_PLOC_MPSOC 0
|
||||
#define OBSW_ADD_SUN_SENSORS 1
|
||||
#define OBSW_ADD_SUS_BOARD_ASS 1
|
||||
#define OBSW_ADD_ACS_BOARD 1
|
||||
#define OBSW_ADD_ACS_HANDLERS 1
|
||||
#define OBSW_ADD_RW 0
|
||||
#define OBSW_ADD_RTD_DEVICES 1
|
||||
#define OBSW_ADD_TMP_DEVICES 1
|
||||
#define OBSW_ADD_RAD_SENSORS 1
|
||||
#define OBSW_ADD_PL_PCDU 1
|
||||
#define OBSW_ADD_SYRLINKS 1
|
||||
#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT 0
|
||||
#define OBSW_STAR_TRACKER_GROUND_CONFIG 1
|
||||
|
||||
#endif // XIPHOS_Q7S
|
||||
|
||||
// This is a really tricky switch.. It initializes the PCDU switches to their default states
|
||||
// at powerup. I think it would be better
|
||||
// to leave it off for now. It makes testing a lot more difficult and it might mess with
|
||||
// something the operators might want to do by giving the software too much intelligence
|
||||
// at the wrong place. The system component might command all the Switches accordingly anyway
|
||||
#define OBSW_INITIALIZE_SWITCHES 0
|
||||
#define OBSW_ENABLE_PERIODIC_HK 0
|
||||
|
||||
#ifdef TE0720_1CFA
|
||||
|
||||
#define OBSW_USE_CCSDS_IP_CORE 0
|
||||
// Set to 1 if all telemetry should be sent to the PTME IP Core
|
||||
#define OBSW_TM_TO_PTME 0
|
||||
// Set to 1 if telecommands are received via the PDEC IP Core
|
||||
#define OBSW_TC_FROM_PDEC 0
|
||||
|
||||
#define OBSW_ENABLE_TIMERS 1
|
||||
#define OBSW_ADD_MGT 0
|
||||
#define OBSW_ADD_BPX_BATTERY_HANDLER 0
|
||||
|
|
@ -91,7 +41,13 @@
|
|||
#define OBSW_PRINT_CORE_HK 0
|
||||
#define OBSW_INITIALIZE_SWITCHES 0
|
||||
|
||||
#endif
|
||||
// This is a really tricky switch.. It initializes the PCDU switches to their default states
|
||||
// at powerup. I think it would be better
|
||||
// to leave it off for now. It makes testing a lot more difficult and it might mess with
|
||||
// something the operators might want to do by giving the software too much intelligence
|
||||
// at the wrong place. The system component might command all the Switches accordingly anyway
|
||||
#define OBSW_INITIALIZE_SWITCHES 0
|
||||
#define OBSW_ENABLE_PERIODIC_HK 0
|
||||
|
||||
/*******************************************************************/
|
||||
/** All of the following flags should be disabled for mission code */
|
||||
|
|
@ -146,43 +102,10 @@
|
|||
|
||||
#define OBSW_DEBUG_PDEC_HANDLER 0
|
||||
|
||||
#ifdef TE0720_1CFA
|
||||
#define OBSW_DEBUG_PLOC_SUPERVISOR 1
|
||||
#define OBSW_DEBUG_PLOC_MPSOC 1
|
||||
#else
|
||||
#define OBSW_DEBUG_PLOC_SUPERVISOR 0
|
||||
#define OBSW_DEBUG_PLOC_MPSOC 0
|
||||
#endif
|
||||
|
||||
#ifdef EGSE
|
||||
#define OBSW_DEBUG_STARTRACKER 1
|
||||
#else
|
||||
#define OBSW_DEBUG_STARTRACKER 0
|
||||
#endif
|
||||
|
||||
#ifdef RASPBERRY_PI
|
||||
|
||||
#define OBSW_ENABLE_TIMERS 1
|
||||
#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_MGT 0
|
||||
#define OBSW_ADD_ACS_BOARD 0
|
||||
#define OBSW_ADD_ACS_HANDLERS 0
|
||||
#define OBSW_ADD_GPS_0 0
|
||||
#define OBSW_ADD_GPS_1 0
|
||||
#define OBSW_ADD_RW 0
|
||||
#define OBSW_ADD_BPX_BATTERY_HANDLER 0
|
||||
#define OBSW_ADD_RTD_DEVICES 0
|
||||
#define OBSW_ADD_PL_PCDU 0
|
||||
#define OBSW_ADD_TMP_DEVICES 0
|
||||
#define OBSW_ADD_RAD_SENSORS 0
|
||||
#define OBSW_ADD_SYRLINKS 0
|
||||
#define OBSW_STAR_TRACKER_GROUND_CONFIG 1
|
||||
|
||||
#endif // RASPBERRY_PI
|
||||
|
||||
#define OBSW_TCP_SERVER_WIRETAPPING 0
|
||||
|
||||
/*******************************************************************/
|
||||
|
|
@ -193,12 +116,6 @@
|
|||
#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
|
||||
#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
|
||||
|
||||
#ifdef RASPBERRY_PI
|
||||
#include "rpiConfig.h"
|
||||
#elif defined(XIPHOS_Q7S)
|
||||
#include "q7sConfig.h"
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include "objects/systemObjectList.h"
|
||||
|
|
@ -1,3 +1,6 @@
|
|||
function(obsw_module_config)
|
||||
endfunction()
|
||||
|
||||
function(pre_source_hw_os_config)
|
||||
|
||||
# FreeRTOS
|
||||
|
|
|
|||
|
|
@ -4,6 +4,12 @@
|
|||
#include <cstdint>
|
||||
#include "fsfw/version.h"
|
||||
|
||||
#cmakedefine RASPBERRY_PI
|
||||
#cmakedefine XIPHOS_Q7S
|
||||
#cmakedefine BEAGLEBONEBLACK
|
||||
#cmakedefine EGSE
|
||||
#cmakedefine TE0720_1CFA
|
||||
|
||||
/* These defines should be disabled for mission code but are useful for
|
||||
debugging. */
|
||||
#define OBSW_VERBOSE_LEVEL 1
|
||||
|
|
|
|||
|
|
@ -76,9 +76,4 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
|
|||
#define FSFW_HAL_I2C_WIRETAPPING 0
|
||||
#define FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV 0
|
||||
|
||||
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
|
||||
#define FSFW_HAL_RM3100_MGM_DEBUG 0
|
||||
#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0
|
||||
#define FSFW_HAL_ADIS1650X_GYRO_DEBUG 0
|
||||
|
||||
#endif /* CONFIG_FSFWCONFIG_H_ */
|
||||
|
|
|
|||
|
|
@ -510,8 +510,6 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
|
|||
|
||||
ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
#ifndef TE0720_1CFA
|
||||
#if Q7S_EM != 1
|
||||
// PCDU handlers receives two messages and both must be handled
|
||||
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
|
||||
|
|
@ -543,8 +541,6 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
|
|||
sif::error << "GomSpace PST initialization failed" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
#endif /* Q7S_EM == 0 */
|
||||
#endif
|
||||
static_cast<void>(length);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -589,7 +589,7 @@
|
|||
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-debug">
|
||||
<macros>
|
||||
<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="${HOME}/Xilinx/eive-compile-rootfs"/>
|
||||
<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"/>
|
||||
<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
|
||||
</macros>
|
||||
<externalSettings/>
|
||||
|
|
@ -603,7 +603,7 @@
|
|||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689." name="/" resourcePath="">
|
||||
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1439714522" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1064018737" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
|
||||
|
|
@ -758,7 +758,7 @@
|
|||
<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-release">
|
||||
<macros>
|
||||
<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_TEXT" value="${HOME}/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
|
||||
<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_TEXT" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"/>
|
||||
<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
|
||||
</macros>
|
||||
<externalSettings/>
|
||||
|
|
@ -1482,6 +1482,175 @@
|
|||
</storageModule>
|
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<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths.469771810" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.include.paths" useByScannerDiscovery="true" valueType="includePath">
|
||||
<listOptionValue builtIn="false" value=""../${Q7S_SYSROOT}/usr/include""/>
|
||||
<listOptionValue builtIn="false" value=""${Q7S_SYSROOT_UNIX}/usr/include""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/linux/fsfwconfig}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/common/config}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/build-Debug-Q7S}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/fsfw/hal/src}""/>
|
||||
<listOptionValue builtIn="false" value=""${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}""/>
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1692092339" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="LINUX=1"/>
|
||||
</option>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.259982159" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input"/>
|
||||
</tool>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.linker.1974387385" name="GNU Arm Cross C Linker" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.linker">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.c.linker.gcsections.1504385753" name="Remove unused sections (-Xlinker --gc-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.linker.gcsections" value="true" valueType="boolean"/>
|
||||
</tool>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.778224442" name="GNU Arm Cross C++ Linker" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.gcsections.1894384941" name="Remove unused sections (-Xlinker --gc-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.gcsections" value="true" valueType="boolean"/>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.input.2064035684" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.input">
|
||||
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
|
||||
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
|
||||
</inputType>
|
||||
</tool>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.archiver.1013675852" name="GNU Arm Cross Archiver" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.archiver"/>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.createflash.653363853" name="GNU Arm Cross Create Flash Image" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.createflash"/>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.createlisting.6021583" name="GNU Arm Cross Create Listing" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.createlisting">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.source.1044186164" name="Display source (--source|-S)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.source" value="true" valueType="boolean"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.allheaders.702471697" name="Display all headers (--all-headers|-x)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.allheaders" value="true" valueType="boolean"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.demangle.1993012856" name="Demangle names (--demangle|-C)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.demangle" value="true" valueType="boolean"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.linenumbers.402738823" name="Display line numbers (--line-numbers|-l)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.linenumbers" value="true" valueType="boolean"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.wide.646452266" name="Wide lines (--wide|-w)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.createlisting.wide" value="true" valueType="boolean"/>
|
||||
</tool>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize.1800220133" name="GNU Arm Cross Print Size" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format.1281210873" name="Size format" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format"/>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
|
||||
<entry excluding="build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
<storageModule moduleId="ilg.gnumcueclipse.managedbuild.packs"/>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="eive_obsw.null.1109622296" name="eive_obsw"/>
|
||||
|
|
|
|||
2
tmtc
2
tmtc
|
|
@ -1 +1 @@
|
|||
Subproject commit 76da8042a4601087e99fa856af241afe9e43695d
|
||||
Subproject commit 168b662288175f9db77a5796a02f38cb66911092
|
||||
Loading…
Reference in New Issue
Block a user