CMakeLists.txt

@@ -153,8 +153,6 @@ if(ADD_JSON_LIB)
     add_subdirectory(${LIB_JSON_PATH})
 endif()
 
-
-
 if(NOT EIVE_BUILD_WATCHDOG)
     if(ADD_LINUX_FILES)
         add_subdirectory(${LINUX_PATH})
@@ -190,9 +188,14 @@ if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
         ${LIB_FSFW_NAME}
         ${LIB_OS_NAME}
         ${LIB_LWGPS_NAME}
+    )
+
+    if(TGT_BSP MATCHES "arm/q7s")
+        target_link_libraries(${TARGET_NAME} PRIVATE
             ${LIB_ARCSEC}
         )
     endif()
+endif()
 
 if(NOT EIVE_BUILD_WATCHDOG)
     if(ADD_CSP_LIB)
@@ -214,8 +217,6 @@ if(ADD_JSON_LIB)
     )
 endif()
 
-
-
 target_link_libraries(${TARGET_NAME} PRIVATE
     ${LIB_CXX_FS}
 )
@@ -228,6 +229,11 @@ target_include_directories(${TARGET_NAME} PRIVATE
 	${ARCSEC_LIB_PATH}
 )	
 
+if(TGT_BSP MATCHES "arm/q7s")
+    target_include_directories(${TARGET_NAME} PRIVATE
+        ${ARCSEC_LIB_PATH}
+    )
+endif()
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
 	set(WARNING_FLAGS

bsp_linux_board/InitMission.cpp

@@ -134,12 +134,14 @@ void initmission::initTasks() {
                 objects::INTERNAL_ERROR_REPORTER);
     }
 
+    bool startTestPst = true;
 #if OBSW_ADD_TEST_PST == 1
     FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
             PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
     result = pst::pstTest(pstTestTask);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
+        sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
+        startTestPst = false;
     }
 #endif /* RPI_TEST_ACS_BOARD == 1 */
 
@@ -186,7 +188,9 @@ void initmission::initTasks() {
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
 #if OBSW_ADD_TEST_PST == 1
+    if(startTestPst) {
         pstTestTask->startTask();
+    }
 #endif /* RPI_TEST_ACS_BOARD == 1 */
     sif::info << "Tasks started.." << std::endl;
 }

bsp_linux_board/ObjectFactory.cpp

@@ -65,6 +65,16 @@ void ObjectFactory::produce(void* args){
     GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
     GpioCookie* gpioCookie = nullptr;
     static_cast<void>(gpioCookie);
+
+    new SpiComIF(objects::SPI_COM_IF, gpioIF);
+
+    std::string spiDev;
+    SpiCookie* spiCookie = nullptr;
+    static_cast<void>(spiCookie);
+
+#if OBSW_ADD_TEST_CODE == 1
+    new TestTask(objects::TEST_TASK);
+
 #if RPI_ADD_SPI_TEST == 1
     new SpiTestClass(objects::SPI_TEST, gpioIF);
 #endif
@@ -89,12 +99,6 @@ void ObjectFactory::produce(void* args){
     new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
 #endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
 
-    new SpiComIF(objects::SPI_COM_IF, gpioIF);
-
-    std::string spiDev;
-    SpiCookie* spiCookie = nullptr;
-    static_cast<void>(spiCookie);
-
 #if RPI_TEST_ACS_BOARD == 1
     if(gpioCookie == nullptr) {
         gpioCookie = new GpioCookie();
@@ -162,4 +166,5 @@ void ObjectFactory::produce(void* args){
     gpsHandler->setStartUpImmediately();
 #endif
 
+#endif /* OBSW_ADD_TEST_CODE == 1 */
 }

bsp_linux_board/main.cpp

@@ -1,4 +1,5 @@
 #include "InitMission.h"
+#include "OBSWConfig.h"
 #include "OBSWVersion.h"
 
 #include "fsfw/FSFWVersion.h"

linux/fsfwconfig/OBSWConfig.h.in

@@ -6,7 +6,7 @@
 #ifndef FSFWCONFIG_OBSWCONFIG_H_
 #define FSFWCONFIG_OBSWCONFIG_H_
 
-#cmakedefine RASPBERRY_Pi
+#cmakedefine RASPBERRY_PI
 #cmakedefine XIPHOS_Q7S
 #cmakedefine BEAGLEBONEBLACK
 

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -606,7 +606,9 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence){
 ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
     /* Length of a communication cycle */
     uint32_t length = thisSequence->getPeriodMs();
+    bool notEmpty = false;
 #if OBSW_ADD_ACS_BOARD == 1
+    notEmpty = true;
     thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
@@ -678,6 +680,7 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
 #endif
 
 #if RPI_TEST_ADIS16507 == 1
+    notEmpty = true;
     thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
@@ -687,6 +690,7 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
 #endif
 
 #if RPI_TEST_GPS_HANDLER == 1
+    notEmpty = true;
     thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 
     thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
@@ -696,6 +700,9 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
     thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
 #endif
     static_cast<void>(length);
+    if(not notEmpty) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Test PST initialization failed" << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;