#include #include "ObjectFactory.h" #include "OBSWConfig.h" #include "tmtc/apid.h" #include "devices/addresses.h" #include "devices/gpioIds.h" #include "tmtc/pusIds.h" #include "devices/powerSwitcherList.h" #include "spiConf.h" #include "bsp_q7s/gpio/gpioCallbacks.h" #include "bsp_q7s/core/CoreController.h" #include "bsp_q7s/spiCallbacks/rwSpiCallback.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "fsfw/hal/linux/uart/UartComIF.h" #include "fsfw/hal/linux/uart/UartCookie.h" #include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h" #include #include #include #include #include #include #include #include #include #include /* UDP server includes */ #include #include #include #if TEST_LIBGPIOD == 1 #include #endif 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::UDP_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){ Factory::setStaticFrameworkObjectIds(); ObjectFactory::produceGenericObjects(); LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF); /* Communication interfaces */ new CspComIF(objects::CSP_COM_IF); new I2cComIF(objects::I2C_COM_IF); new UartComIF(objects::UART_COM_IF); #if Q7S_ADD_SPI_TEST == 0 new SpiComIF(objects::SPI_COM_IF, gpioComIF); #endif /* Q7S_ADD_SPI_TEST == 0 */ new CoreController(objects::CORE_CONTROLLER); #if 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, std::string("/dev/i2c-1")); I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1")); #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; #if TE0720 == 0 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. */ /** For now this needs to be commented out because there is no PCDU connected to the OBC */ // p60dockhandler->setModeNormal(); // pdu1handler->setModeNormal(); // pdu2handler->setModeNormal(); // acuhandler->setModeNormal(); (void) p60dockhandler; (void) pdu1handler; (void) pdu2handler; (void) acuhandler; /* Adding gpios for chip select decoding to the gpioComIf */ gpioCallbacks::initSpiCsDecoder(gpioComIF); GpioCookie* gpioCookieRadSensor = new GpioCookie; GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip5"), 19, 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/spidev2.0"), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED); new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor); GpioCookie* gpioCookieSus = new GpioCookie(); GpioCallback* susgpio = new GpioCallback(std::string("Chip select SUS 1"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio); susgpio = new GpioCallback(std::string("Chip select SUS 2"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio); susgpio = new GpioCallback(std::string("Chip select SUS 3"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio); susgpio = new GpioCallback(std::string("Chip select SUS 4"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio); susgpio = new GpioCallback(std::string("Chip select SUS 5"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio); susgpio = new GpioCallback(std::string("Chip select SUS 6"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio); susgpio = new GpioCallback(std::string("Chip select SUS 7"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio); susgpio = new GpioCallback(std::string("Chip select SUS 8"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio); susgpio = new GpioCallback(std::string("Chip select SUS 9"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio); susgpio = new GpioCallback(std::string("Chip select SUS 10"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio); susgpio = new GpioCallback(std::string("Chip select SUS 11"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio); susgpio = new GpioCallback(std::string("Chip select SUS 12"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio); susgpio = new GpioCallback(std::string("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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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); #if OBSW_ADD_ACS_BOARD == 1 GpioCookie* gpioCookieAcsBoard = new GpioCookie(); GpiodRegular* gpio = nullptr; gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_0_ADIS"), gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio); gpio = new GpiodRegular(std::string("gpiochip5"), 7, std::string("CS_GYRO_1_L3G"), gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio); gpio = new GpiodRegular(std::string("gpiochip5"), 3, std::string("CS_GYRO_2_L3G"), gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_L3G_CS, gpio); gpio = new GpiodRegular(std::string("gpiochip5"), 5, std::string("CS_MGM_0_LIS3_A"), gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio); gpio = new GpiodRegular(std::string("gpiochip5"), 16, std::string("CS_MGM_1_RM3100_A"), gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio); gpio = new GpiodRegular(std::string("gpiochip6"), 0, std::string("CS_MGM_2_LIS3_B"), gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio); gpio = new GpiodRegular(std::string("gpiochip5"), 10, std::string("CS_MGM_3_RM3100_B"), gpio::OUT, gpio::HIGH); gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio); gpioComIF->addGpios(gpioCookieAcsBoard); std::string spiDev = "/dev/spidev2.0"; 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 MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie); mgmLis3Handler->setStartUpImmediately(); 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 MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie); mgmLis3Handler2->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::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev, RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie); mgmRm3100Handler->setStartUpImmediately(); //TODO: Adis Gyro (Gyro 0 Side A) /* 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); gyroL3gHandler->setStartUpImmediately(); /* Gyro 2 Side B */ spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF, spiCookie); gyroL3gHandler->setStartUpImmediately(); #endif GpioCookie* heaterGpiosCookie = new GpioCookie; /* Pin H2-11 on stack connector */ GpiodRegular* gpioConfigHeater0 = new GpiodRegular(std::string("gpiochip7"), 6, std::string("Heater0"), gpio::OUT, 0); heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0); /* Pin H2-12 on stack connector */ GpiodRegular* gpioConfigHeater1 = new GpiodRegular(std::string("gpiochip7"), 12, std::string("Heater1"), gpio::OUT, 0); heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1); /* Pin H2-13 on stack connector */ GpiodRegular* gpioConfigHeater2 = new GpiodRegular(std::string("gpiochip7"), 7, std::string("Heater2"), gpio::OUT, 0); heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2); GpiodRegular* gpioConfigHeater3 = new GpiodRegular(std::string("gpiochip7"), 5, std::string("Heater3"), gpio::OUT, 0); heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3); GpiodRegular* gpioConfigHeater4 = new GpiodRegular(std::string("gpiochip7"), 3, std::string("Heater4"), gpio::OUT, 0); heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4); GpiodRegular* gpioConfigHeater5 = new GpiodRegular(std::string("gpiochip7"), 0, std::string("Heater5"), gpio::OUT, 0); heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5); GpiodRegular* gpioConfigHeater6 = new GpiodRegular(std::string("gpiochip7"), 1, std::string("Heater6"), gpio::OUT, 0); heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6); GpiodRegular* gpioConfigHeater7 = new GpiodRegular(std::string("gpiochip7"), 11, std::string("Heater7"), gpio::OUT, 0); heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7); new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN); GpioCookie* solarArrayDeplCookie = new GpioCookie; GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(std::string("gpiochip7"), 4, std::string("DeplSA1"), gpio::OUT, 0); solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0); GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(std::string("gpiochip7"), 2, std::string("DeplSA2"), gpio::OUT, 0); 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); UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER, std::string("/dev/ttyUL0"), UartModes::NON_CANONICAL, 38400, SYRLINKS::MAX_REPLY_SIZE); syrlinksUartCookie->setParityEven(); SyrlinksHkHandler* syrlinksHkHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie); syrlinksHkHandler->setModeNormal(); #if Q7S_ADD_RTD_DEVICES == 1 GpioCookie* rtdGpioCookie = new GpioCookie; GpioCallback* gpioRtdIc3 = new GpioCallback(std::string("Chip select RTD IC3"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC3, gpioRtdIc3); GpioCallback* gpioRtdIc4 = new GpioCallback(std::string("Chip select RTD IC4"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC4, gpioRtdIc4); GpioCallback* gpioRtdIc5 = new GpioCallback(std::string("Chip select RTD IC5"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC5, gpioRtdIc5); GpioCallback* gpioRtdIc6 = new GpioCallback(std::string("Chip select RTD IC6"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC6, gpioRtdIc6); GpioCallback* gpioRtdIc7 = new GpioCallback(std::string("Chip select RTD IC7"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC7, gpioRtdIc7); GpioCallback* gpioRtdIc8 = new GpioCallback(std::string("Chip select RTD IC8"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC8, gpioRtdIc8); GpioCallback* gpioRtdIc9 = new GpioCallback(std::string("Chip select RTD IC9"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC9, gpioRtdIc9); GpioCallback* gpioRtdIc10 = new GpioCallback(std::string("Chip select RTD IC10"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC10, gpioRtdIc10); GpioCallback* gpioRtdIc11 = new GpioCallback(std::string("Chip select RTD IC11"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC11, gpioRtdIc11); GpioCallback* gpioRtdIc12 = new GpioCallback(std::string("Chip select RTD IC12"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC12, gpioRtdIc12); GpioCallback* gpioRtdIc13 = new GpioCallback(std::string("Chip select RTD IC13"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC13, gpioRtdIc13); GpioCallback* gpioRtdIc14 = new GpioCallback(std::string("Chip select RTD IC14"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC14, gpioRtdIc14); GpioCallback* gpioRtdIc15 = new GpioCallback(std::string("Chip select RTD IC15"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC15, gpioRtdIc15); GpioCallback* gpioRtdIc16 = new GpioCallback(std::string("Chip select RTD IC16"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC16, gpioRtdIc16); GpioCallback* gpioRtdIc17 = new GpioCallback(std::string("Chip select RTD IC17"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC17, gpioRtdIc17); GpioCallback* gpioRtdIc18 = new GpioCallback(std::string("Chip select RTD IC18"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); rtdGpioCookie->addGpio(gpioIds::RTD_IC18, gpioRtdIc18); gpioComIF->addGpios(rtdGpioCookie); SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_3, 2000000); SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 3900000); SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18, std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, 2000000); 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; #endif /* Q7S_ADD_RTD_DEVICES == 1 */ I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, std::string("/dev/i2c-0")); new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie); UartCookie* plocUartCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"), UartModes::NON_CANONICAL, 115200, PLOC::MAX_REPLY_SIZE); new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie); GpioCookie* gpioCookieRw = new GpioCookie; GpioCallback* csRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1); GpioCallback* csRw2 = new GpioCallback(std::string("Chip select reaction wheel 2"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2); GpioCallback* csRw3 = new GpioCallback(std::string("Chip select reaction wheel 3"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3); GpioCallback* csRw4 = new GpioCallback(std::string("Chip select reaction wheel 4"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4); GpiodRegular* enRw1 = new GpiodRegular(std::string("gpiochip5"), 7, std::string("Enable reaction wheel 1"), gpio::OUT, 0); gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1); GpiodRegular* enRw2 = new GpiodRegular(std::string("gpiochip5"), 3, std::string("Enable reaction wheel 2"), gpio::OUT, 0); gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2); GpiodRegular* enRw3 = new GpiodRegular(std::string("gpiochip5"), 11, std::string("Enable reaction wheel 3"), gpio::OUT, 0); gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3); GpiodRegular* enRw4 = new GpiodRegular(std::string("gpiochip5"), 6, std::string("Enable reaction wheel 4"), gpio::OUT, 0); 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). */ GpiodRegular* spiMux = new GpiodRegular(std::string("gpiochip11"), 54, std::string("EMIO 0 SPI Mux"), gpio::OUT, 0); gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux); gpioComIF->addGpios(gpioCookieRw); auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, "/dev/spidev3.0", RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr); auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, "/dev/spidev3.0", RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr); auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, "/dev/spidev3.0", RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr); auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, "/dev/spidev3.0", 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); #endif /* TE0720 == 0 */ new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE); /* Test Task */ #if OBSW_ADD_TEST_CODE == 1 new Q7STestTask(objects::TEST_TASK); #endif #if TE0720 == 1 && TEST_LIBGPIOD == 1 /* Configure MIO0 as input */ GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0); GpioCookie* gpioCookie = new GpioCookie; gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0); new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie); #endif #if TE0720 == 1 && 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 TE0720 == 1 && 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 TE0720 == 1 && 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 TE0720 == 1 && TEST_PLOC_HANDLER == 1 UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200, PLOC::MAX_REPLY_SIZE); /* Testing PlocHandler on TE0720-03-1CFA */ PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie); plocHandler->setStartUpImmediately(); #endif #if TE0720 == 1 && TE0720_HEATER_TEST == 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 Q7S_ADD_SPI_TEST == 1 new SpiTestClass(objects::SPI_TEST, gpioComIF); #endif }