#include "ObjectFactory.h" #include "OBSWConfig.h" #include "devConf.h" #include "busConf.h" #include "tmtc/apid.h" #include "devices/addresses.h" #include "devices/gpioIds.h" #include "tmtc/pusIds.h" #include "devices/powerSwitcherList.h" #include "bsp_q7s/gpio/gpioCallbacks.h" #include "bsp_q7s/core/CoreController.h" #include "bsp_q7s/boardtest/Q7STestTask.h" #include "bsp_q7s/memory/FileSystemHandler.h" #include "bsp_q7s/devices/PlocSupervisorHandler.h" #include "bsp_q7s/devices/PlocUpdater.h" #include "bsp_q7s/devices/PlocMemoryDumper.h" #include "bsp_q7s/callbacks/rwSpiCallback.h" #include "bsp_q7s/callbacks/gnssCallback.h" #include "linux/devices/HeaterHandler.h" #include "linux/devices/SolarArrayDeploymentHandler.h" #include "linux/devices/devicedefinitions/SusDefinitions.h" #include "linux/devices/SusHandler.h" #include "linux/csp/CspCookie.h" #include "linux/csp/CspComIF.h" #include "linux/obc/CCSDSIPCoreBridge.h" #include "mission/core/GenericFactory.h" #include "mission/devices/PDU1Handler.h" #include "mission/devices/PDU2Handler.h" #include "mission/devices/ACUHandler.h" #include "mission/devices/PCDUHandler.h" #include "mission/devices/P60DockHandler.h" #include "mission/devices/Tmp1075Handler.h" #include "mission/devices/Max31865PT1000Handler.h" #include "mission/devices/GyroADIS16507Handler.h" #include "mission/devices/IMTQHandler.h" #include "mission/devices/SyrlinksHkHandler.h" #include "mission/devices/PlocMPSoCHandler.h" #include "mission/devices/RadiationSensorHandler.h" #include "mission/devices/RwHandler.h" #include "mission/devices/StarTrackerHandler.h" #include "mission/devices/devicedefinitions/GomspaceDefinitions.h" #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h" #include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h" #include "mission/devices/devicedefinitions/RadSensorDefinitions.h" #include "mission/devices/devicedefinitions/Max31865Definitions.h" #include "mission/devices/devicedefinitions/RwDefinitions.h" #include "mission/devices/devicedefinitions/StarTrackerDefinitions.h" #include "mission/devices/GPSHyperionHandler.h" #include "mission/utility/TmFunnel.h" #include "fsfw_hal/linux/uart/UartComIF.h" #include "fsfw_hal/linux/uart/UartCookie.h" #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h" #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h" #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h" #include "fsfw_hal/linux/i2c/I2cCookie.h" #include "fsfw_hal/linux/i2c/I2cComIF.h" #include "fsfw_hal/linux/spi/SpiCookie.h" #include "fsfw_hal/linux/spi/SpiComIF.h" #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h" #include "fsfw_hal/common/gpio/GpioCookie.h" #include "fsfw/datapoollocal/LocalDataPoolManager.h" #include "fsfw/tmtcservices/CommandingServiceBase.h" #include "fsfw/tmtcservices/PusServiceBase.h" #include "fsfw/tmtcpacket/pus/tm.h" #if OBSW_USE_TMTC_TCP_BRIDGE == 0 // UDP server includes #include "fsfw/osal/common/UdpTmTcBridge.h" #include "fsfw/osal/common/UdpTcPollingTask.h" #else // TCP server includes #include "fsfw/osal/common/TcpTmTcBridge.h" #include "fsfw/osal/common/TcpTmTcServer.h" #endif #include "linux/boardtest/SpiTestClass.h" #if OBSW_TEST_LIBGPIOD == 1 #include "linux/boardtest/LibgpiodTest.h" #endif 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; TmFunnel::downlinkDestination = objects::TMTC_BRIDGE; // 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; createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF); createTmpComponents(); #if BOARD_TE0720 == 0 new CoreController(objects::CORE_CONTROLLER); createPcduComponents(); createRadSensorComponent(gpioComIF); createSunSensorComponents(gpioComIF, spiComIF); #if OBSW_ADD_ACS_BOARD == 1 createAcsBoardComponents(gpioComIF, uartComIF); #endif /* OBSW_ADD_ACS_BOARD == 1 */ createHeaterComponents(); createSolarArrayDeploymentComponents(); #if OBSW_ADD_SYRLINKS == 1 createSyrlinksComponents(); #endif /* OBSW_ADD_SYRLINKS == 1 */ #if OBSW_ADD_RTD_DEVICES == 1 createRtdComponents(); #endif /* OBSW_ADD_RTD_DEVICES == 1 */ I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV); new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie); createReactionWheelComponents(gpioComIF); #if OBSW_ADD_PLOC_MPSOC == 1 UartCookie* plocMpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, PLOC_MPSOC::MAX_REPLY_SIZE); new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie); #endif /* OBSW_ADD_PLOC_MPSOC == 1 */ #if OBSW_ADD_PLOC_SUPERVISOR == 1 UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL, uart::PLOC_SUPERVISOR_BAUD, PLOC_SPV::MAX_PACKET_SIZE * 20); plocSupervisorCookie->setNoFixedSizeReply(); PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler( objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie); plocSupervisor->setStartUpImmediately(); #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */ new FileSystemHandler(objects::FILE_SYSTEM_HANDLER); #if OBSW_ADD_STAR_TRACKER == 1 UartCookie* starTrackerCookie = new UartCookie(objects::START_TRACKER, q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL, uart::STAR_TRACKER_BAUD, StarTracker::MAX_FRAME_SIZE* 2 + 2); starTrackerCookie->setNoFixedSizeReply(); new StarTrackerHandler(objects::START_TRACKER, objects::UART_COM_IF, starTrackerCookie); #endif /* OBSW_ADD_STAR_TRACKER == 1 */ #endif /* TE7020 != 0 */ #if OBSW_USE_TMTC_TCP_BRIDGE == 0 auto udpBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE); sif::info << "Created UDP server for TMTC commanding with listener port " << udpBridge->getUdpPort() << std::endl; #else auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); tmtcBridge->setMaxNumberOfPacketsStored(50); auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE); sif::info << "Created TCP server for TMTC commanding with listener port " << tcpServer->getTcpPort() << std::endl; #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */ /* 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() { #if BOARD_TE0720 == 1 I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0")); I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0")); #else 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); #endif /* 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) { 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); new I2cComIF(objects::I2C_COM_IF); *uartComIF = new UartComIF(objects::UART_COM_IF); #if OBSW_ADD_SPI_TEST_CODE == 0 *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF); #endif /* Q7S_ADD_SPI_TEST_CODE == 0 */ #if BOARD_TE0720 == 0 /* Adding gpios for chip select decoding to the gpioComIf */ gpioCallbacks::initSpiCsDecoder(*gpioComIF); #endif } void ObjectFactory::createPcduComponents() { 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); 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(); } void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) { GpioCookie* gpioCookieRadSensor = new GpioCookie; auto chipSelectRadSensor = new GpiodRegularByLabel(q7s::GPIO_RAD_SENSOR_LABEL, q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, gpio::HIGH); gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor); 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); new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor); } void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComIF* spiComIF) { GpioCookie* gpioCookieSus = new GpioCookie(); GpioCallback* susgpio = nullptr; susgpio = new GpioCallback("Chip select SUS 1", gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio); susgpio = new GpioCallback("Chip select SUS 2", gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio); susgpio = new GpioCallback("Chip select SUS 3", gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio); susgpio = new GpioCallback("Chip select SUS 4", gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio); susgpio = new GpioCallback("Chip select SUS 5", gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio); susgpio = new GpioCallback("Chip select SUS 6", gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio); susgpio = new GpioCallback("Chip select SUS 7", gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio); susgpio = new GpioCallback("Chip select SUS 8", gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio); susgpio = new GpioCallback("Chip select SUS 9", gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio); susgpio = new GpioCallback("Chip select SUS 10", gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio); susgpio = new GpioCallback("Chip select SUS 11", gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio); susgpio = new GpioCallback("Chip select SUS 12", gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio); susgpio = new GpioCallback("Chip select SUS 13", gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio); gpioComIF->addGpios(gpioCookieSus); SpiCookie* spiCookieSus1 = new SpiCookie(addresses::SUS_1, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SpiCookie* spiCookieSus2 = new SpiCookie(addresses::SUS_2, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SpiCookie* spiCookieSus3 = new SpiCookie(addresses::SUS_3, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SpiCookie* spiCookieSus4 = new SpiCookie(addresses::SUS_4, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SpiCookie* spiCookieSus5 = new SpiCookie(addresses::SUS_5, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SpiCookie* spiCookieSus6 = new SpiCookie(addresses::SUS_6, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SpiCookie* spiCookieSus7 = new SpiCookie(addresses::SUS_7, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SpiCookie* spiCookieSus8 = new SpiCookie(addresses::SUS_8, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SpiCookie* spiCookieSus9 = new SpiCookie(addresses::SUS_9, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SpiCookie* spiCookieSus10 = new SpiCookie(addresses::SUS_10, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SpiCookie* spiCookieSus11 = new SpiCookie(addresses::SUS_11, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SpiCookie* spiCookieSus12 = new SpiCookie(addresses::SUS_12, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); SpiCookie* spiCookieSus13 = new SpiCookie(addresses::SUS_13, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ); new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF, gpioIds::CS_SUS_1); new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF, gpioIds::CS_SUS_2); new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF, gpioIds::CS_SUS_3); new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF, gpioIds::CS_SUS_4); new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF, gpioIds::CS_SUS_5); new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF, gpioIds::CS_SUS_6); new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF, gpioIds::CS_SUS_7); new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF, gpioIds::CS_SUS_8); new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF, gpioIds::CS_SUS_9); new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF, gpioIds::CS_SUS_10); new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF, gpioIds::CS_SUS_11); new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF, gpioIds::CS_SUS_12); new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF, gpioIds::CS_SUS_13); } void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) { GpioCookie* gpioCookieAcsBoard = new GpioCookie(); GpiodRegularByLabel* gpio = nullptr; gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, q7s::GPIO_GYRO_0_ADIS_CS, "CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_1_L3G_CS, "CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, q7s::GPIO_GYRO_2_ADIS_CS, "CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio); gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_3_L3G_CS, "CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio); gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_0_LIS3_CS, "CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_1_RM3100_CS, "CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); // auto gpioChip = new GpiodRegularByChip(q7s::GPIO_MGM2_LIS3_LABEL, q7s::GPIO_MGM_2_LIS3_CS, // "CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH); auto gpioByLineName = new GpiodRegularByLineName("mgm_2_lis3_chip_select", "LIS3 Handler", gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpioByLineName); gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_3_RM3100_CS, "CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); // GNSS reset pins are active low gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_0, "GNSS_0_NRESET", gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio); gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_1, "GNSS_1_NRESET", gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio); // Enable pins must be pulled low for regular operations gpio = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE, "GYRO_0_ENABLE", gpio::OUT, gpio::LOW); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio); gpio = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE, "GYRO_2_ENABLE", gpio::OUT, gpio::LOW); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio); // TODO: Add enable pins for GPS as soon as new interface board design is finished gpioComIF->addGpios(gpioCookieAcsBoard); 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, 0); mgmLis3Handler->setStartUpImmediately(); #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 mgmLis3Handler->setToGoToNormalMode(true); #endif spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, 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, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A); mgmRm3100Handler->setStartUpImmediately(); #if FSFW_HAL_RM3100_MGM_DEBUG == 1 mgmRm3100Handler->setToGoToNormalMode(true); #endif spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev, MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0); mgmLis3Handler2->setStartUpImmediately(); #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 mgmLis3Handler2->setToGoToNormalMode(true); #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, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B); mgmRm3100Handler->setStartUpImmediately(); #if FSFW_HAL_RM3100_MGM_DEBUG == 1 mgmRm3100Handler->setToGoToNormalMode(true); #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, ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED); auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie); adisHandler->setStartUpImmediately(); // 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, 0); gyroL3gHandler->setStartUpImmediately(); #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 gyroL3gHandler->setGoNormalModeAtStartup(); #endif // Gyro 2 Side B spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev, ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED); adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie); adisHandler->setStartUpImmediately(); // 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, 0); gyroL3gHandler->setStartUpImmediately(); #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 gyroL3gHandler->setGoNormalModeAtStartup(); #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 uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV, UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER); uartCookieGps0->setToFlushInput(true); uartCookieGps0->setReadCycles(6); auto uartCookieGps1 = new UartCookie(objects::GPS1_HANDLER, q7s::UART_GNSS_1_DEV, UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER); uartCookieGps1->setToFlushInput(true); uartCookieGps1->setReadCycles(6); auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookieGps0, debugGps); gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0); gpsHandler0->setStartUpImmediately(); auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF, uartCookieGps1, debugGps); gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1); gpsHandler1->setStartUpImmediately(); } void ObjectFactory::createHeaterComponents() { GpioCookie* heaterGpiosCookie = new GpioCookie; /* Pin H2-11 on stack connector */ auto gpioConfigHeater0 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_0_PIN, "Heater0", gpio::OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0); /* Pin H2-12 on stack connector */ auto gpioConfigHeater1 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_1_PIN, "Heater1", gpio::OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1); /* Pin H2-13 on stack connector */ auto gpioConfigHeater2 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_2_PIN, "Heater2", gpio::OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2); auto gpioConfigHeater3 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_3_PIN, "Heater3", gpio::OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3); auto gpioConfigHeater4 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_4_PIN, "Heater4", gpio::OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4); auto gpioConfigHeater5 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_5_PIN, "Heater5", gpio::OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5); auto gpioConfigHeater6 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_6_PIN, "Heater6", gpio::OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6); auto gpioConfigHeater7 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_7_PIN, "Heater7", gpio::OUT, gpio::LOW); heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7); new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN); } void ObjectFactory::createSolarArrayDeploymentComponents() { GpioCookie* solarArrayDeplCookie = new GpioCookie; auto gpioConfigDeplSA0 = new GpiodRegularByLabel(q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, gpio::LOW); solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0); auto gpioConfigDeplSA1 = new GpiodRegularByLabel(q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, gpio::LOW); solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1); //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, pcduSwitches::DEPLOYMENT_MECHANISM, gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000); } void ObjectFactory::createSyrlinksComponents() { UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL, uart::SYRLINKS_BAUD, SYRLINKS::MAX_REPLY_SIZE); syrlinksUartCookie->setParityEven(); new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie); } void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) { GpioCookie* rtdGpioCookie = new GpioCookie; GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC3, gpioRtdIc3); GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC4, gpioRtdIc4); GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC5, gpioRtdIc5); GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC6, gpioRtdIc6); GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC7, gpioRtdIc7); GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC8, gpioRtdIc8); GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC9, gpioRtdIc9); GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC10, gpioRtdIc10); GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC11, gpioRtdIc11); GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC12, gpioRtdIc12); GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC13, gpioRtdIc13); GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC14, gpioRtdIc14); GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC15, gpioRtdIc15); GpioCallback* gpioRtdIc16 = new GpioCallback("Chip select RTD IC16", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC16, gpioRtdIc16); GpioCallback* gpioRtdIc17 = new GpioCallback("Chip select RTD IC17", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC17, gpioRtdIc17); GpioCallback* gpioRtdIc18 = new GpioCallback("Chip select RTD IC18", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC18, gpioRtdIc18); gpioComIF->addGpios(rtdGpioCookie); SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16, std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18, q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED); Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF, spiRtdIc4, 0); Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5, objects::SPI_COM_IF, spiRtdIc5, 0); Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6, objects::SPI_COM_IF, spiRtdIc6, 0); Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7, objects::SPI_COM_IF, spiRtdIc7, 0); Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8, objects::SPI_COM_IF, spiRtdIc8, 0); Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9, objects::SPI_COM_IF, spiRtdIc9, 0); Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10, objects::SPI_COM_IF, spiRtdIc10, 0); Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11, objects::SPI_COM_IF, spiRtdIc11, 0); Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC12, objects::SPI_COM_IF, spiRtdIc12, 0); Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC13, objects::SPI_COM_IF, spiRtdIc13, 0); Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC14, objects::SPI_COM_IF, spiRtdIc14, 0); Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC15, objects::SPI_COM_IF, spiRtdIc15, 0); Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0); Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0); Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0); (void) rtdIc3; (void) rtdIc4; (void) rtdIc5; (void) rtdIc6; (void) rtdIc7; (void) rtdIc8; (void) rtdIc9; (void) rtdIc10; (void) rtdIc11; (void) rtdIc12; (void) rtdIc13; (void) rtdIc14; (void) rtdIc15; (void) rtdIc16; (void) rtdIc17; (void) rtdIc18; } void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) { GpioCookie* gpioCookieRw = new GpioCookie; GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1); GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2); GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3); GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT, gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4); // GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0, // q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS); // gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1); // GpiodRegular* enRw2 = new GpiodRegular("Enable reaction wheel 2", gpio::OUT, 0, // q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS); // gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2); // GpiodRegular* enRw3 = new GpiodRegular(, gpio::OUT, 0, // q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS); auto enRw1 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS, "Enable reaction wheel 1", gpio::OUT, gpio::LOW); gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1); auto enRw2 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS, "Enable reaction wheel 2", gpio::OUT, gpio::LOW); gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2); auto enRw3 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS, "Enable reaction wheel 3", gpio::OUT, gpio::LOW); gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3); auto enRw4 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_3_CS, "Enable reaction wheel 4", gpio::OUT, gpio::LOW); gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4); /** * This GPIO is only internally connected to the SPI MUX module and responsible to disconnect * the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core. * Per default the PS SPI is selected (EMIO = 0). */ auto spiMux = new GpiodRegularByLabel(q7s::GPIO_RW_SPI_MUX_LABEL, q7s::GPIO_RW_SPI_MUX_CS, "EMIO 0 SPI Mux", gpio::OUT, gpio::LOW); gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux); gpioComIF->addGpios(gpioCookieRw); 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); auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2); rw2SpiCookie->setCallbackArgs(rwHandler2); auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3); rw3SpiCookie->setCallbackArgs(rwHandler3); auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4); rw4SpiCookie->setCallbackArgs(rwHandler4); } void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) { #if BOARD_TE0720 == 0 new Q7STestTask(objects::TEST_TASK); #endif #if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 #if OBSW_TEST_GPIO_OPEN_BYLABEL == 1 /* Configure MIO0 as input */ GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::OUT, 0, "/amba_pl/gpio@41200000", 0); #elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME GpiodRegularByLineName* testGpio = new GpiodRegularByLineName("test-name", "gpio-test", gpio::OUT, 0); #else /* Configure MIO0 as input */ GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0); #endif /* OBSW_TEST_GPIO_LABEL == 1 */ GpioCookie* gpioCookie = new GpioCookie; gpioCookie->addGpio(gpioIds::TEST_ID_0, testGpio); new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie); #endif #if BOARD_TE0720 == 1 && OBSW_TEST_SUS_HANDLER == 1 GpioCookie* gpioCookieSus = new GpioCookie; GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), gpio::OUT, 1); gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus); gpioComIF->addGpios(gpioCookieSus); SpiCookie* spiCookieSus = new SpiCookie(addresses::SUS_1, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED); new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_1); #endif #if BOARD_TE0720 == 1 && OBSW_TEST_CCSDS_BRIDGE == 1 GpioCookie* gpioCookieCcsdsIp = new GpioCookie; GpiodRegular* papbBusyN = new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_N")); gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN); GpiodRegular* papbEmpty = new GpiodRegular(std::string("gpiochip0"), 1, std::string("Chip Select Sus Sensor")); gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_EMPTY, papbEmpty); gpioComIF->addGpios(gpioCookieCcsdsIp); new CCSDSIPCoreBridge(objects::CCSDS_IP_CORE_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE, objects::TC_STORE, gpioComIF, std::string("/dev/uio0"), gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY); #endif #if BOARD_TE0720 == 1 && OBSW_TEST_RADIATION_SENSOR_HANDLER == 1 GpioCookie* gpioCookieRadSensor = new GpioCookie; GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0, std::string("Chip select radiation sensor"), gpio::OUT, 1); gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor); gpioComIF->addGpios(gpioCookieRadSensor); SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED); RadiationSensorHandler* radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor); radSensor->setStartUpImmediately(); #endif #if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_MPSOC == 1 UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200, PLOC_MPSOC::MAX_REPLY_SIZE); /* Testing PlocMPSoCHandler on TE0720-03-1CFA */ PlocMPSoCHandler* mpsocPlocHandler = new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocUartCookie); mpsocPlocHandler->setStartUpImmediately(); #endif #if BOARD_TE0720 == 1 && OBSW_TEST_TE7020_HEATER == 1 /* Configuration for MIO0 on TE0720-03-1CFA */ GpiodRegular* heaterGpio = new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0); GpioCookie* gpioCookie = new GpioCookie; gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio); new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN); #endif #if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_SUPERVISOR == 1 /* Configuration for MIO0 on TE0720-03-1CFA */ UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"), UartModes::NON_CANONICAL, 115200, PLOC_SPV::MAX_PACKET_SIZE * 20); plocSupervisorCookie->setNoFixedSizeReply(); PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler( objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie); plocSupervisor->setStartUpImmediately(); #endif #if OBSW_ADD_SPI_TEST_CODE == 1 new SpiTestClass(objects::SPI_TEST, gpioComIF); #endif }