#include #include "ObjectFactory.h" #include "objects/systemObjectList.h" #include "devices/addresses.h" #include "devices/gpioIds.h" #include "OBSWConfig.h" #include "tmtc/apid.h" #include "tmtc/pusIds.h" #include "linux/boardtest/LibgpiodTest.h" #include "linux/boardtest/SpiTestClass.h" #include "linux/boardtest/UartTestClass.h" #include "mission/core/GenericFactory.h" #include "mission/utility/TmFunnel.h" #include #include "mission/devices/MGMHandlerLIS3MDL.h" #include "mission/devices/MGMHandlerRM3100.h" #include "mission/devices/GyroADIS16507Handler.h" #include "fsfw/datapoollocal/LocalDataPoolManager.h" #include "fsfw/tmtcservices/CommandingServiceBase.h" #include "fsfw/tmtcservices/PusServiceBase.h" #include "fsfw/tmtcpacket/pus/tm.h" #include "fsfw/tasks/TaskFactory.h" /* UDP server includes */ #if OBSW_USE_TMTC_TCP_BRIDGE == 1 #include #include #else #include "fsfw/osal/common/UdpTmTcBridge.h" #include "fsfw/osal/common/UdpTcPollingTask.h" #endif #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h" #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h" #include "fsfw_hal/linux/rpi/GpioRPi.h" #include "fsfw_hal/common/gpio/GpioCookie.h" #include "fsfw_hal/linux/spi/SpiCookie.h" #include "fsfw_hal/linux/spi/SpiComIF.h" #include #include 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; TmFunnel::downlinkDestination = objects::TMTC_BRIDGE; // No storage object for now. TmFunnel::storageDestination = objects::NO_OBJECT; VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION; TmPacketBase::timeStamperId = objects::TIME_STAMPER; } void ObjectFactory::produce(void* args){ Factory::setStaticFrameworkObjectIds(); ObjectFactory::produceGenericObjects(); #if OBSW_USE_TMTC_TCP_BRIDGE == 1 new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE); #else new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE); #endif GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF); GpioCookie* gpioCookie = nullptr; static_cast(gpioCookie); new SpiComIF(objects::SPI_COM_IF, gpioIF); std::string spiDev; SpiCookie* spiCookie = nullptr; static_cast(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 #if RPI_ADD_UART_TEST == 1 new UartTestClass(objects::UART_TEST); #else new UartComIF(objects::UART_COM_IF); #endif #if RPI_LOOPBACK_TEST_GPIO == 1 GpioCookie* gpioCookieLoopback = new GpioCookie(); /* Loopback pins. Adapt according to setup */ gpioId_t gpioIdSender = gpioIds::TEST_ID_0; int bcmPinSender = 26; gpioId_t gpioIdReader = gpioIds::TEST_ID_1; int bcmPinReader = 16; gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER", gpio::Direction::OUT, 0); gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER", gpio::Direction::IN, 0); new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback); #endif /* RPI_LOOPBACK_TEST_GPIO == 1 */ #if RPI_TEST_ACS_BOARD == 1 if(gpioCookie == nullptr) { gpioCookie = new GpioCookie(); } // TODO: Missing pin for Gyro 2 gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3", gpio::Direction::OUT, 1); gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN, "MGM_1_RM3100", gpio::Direction::OUT, 1); gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3", gpio::Direction::OUT, 1); gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN, "MGM_3_RM3100", gpio::Direction::OUT, 1); gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN, "GYRO_0_ADIS", gpio::Direction::OUT, 1); gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G", gpio::Direction::OUT, 1); gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_2_BCM_PIN, "GYRO_2_L3G", gpio::Direction::OUT, 1); gpioIF->addGpios(gpioCookie); spiDev = "/dev/spidev0.0"; 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 MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie); mgmLis3Handler->setStartUpImmediately(); 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 MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie); mgmRm3100Handler->setStartUpImmediately(); 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); gyroL3gHandler->setStartUpImmediately(); #endif /* RPI_TEST_ACS_BOARD == 1 */ #if RPI_TEST_ADIS16507 == 1 if(gpioCookie == nullptr) { gpioCookie = new GpioCookie(); } gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN, "GYRO_0_ADIS", gpio::Direction::OUT, 1); gpioIF->addGpios(gpioCookie); spiDev = "/dev/spidev0.0"; 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, nullptr, nullptr); auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie); adisGyroHandler->setStartUpImmediately(); #endif /* RPI_TEST_ADIS16507 == 1 */ #if RPI_TEST_GPS_HANDLER == 1 UartCookie* uartCookie = new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", UartModes::CANONICAL, 9600, 1024); uartCookie->setToFlushInput(true); uartCookie->setReadCycles(6); GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookie, false); gpsHandler->setStartUpImmediately(); #endif #endif /* OBSW_ADD_TEST_CODE == 1 */ }