236 lines
10 KiB
C++
236 lines
10 KiB
C++
#include "ObjectFactory.h"
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#include <OBSWConfig.h>
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#include <tmtc/apid.h>
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#include <devices/addresses.h>
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#include <devices/gpioIds.h>
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#include <tmtc/pusIds.h>
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#include <devices/powerSwitcherList.h>
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#include <bsp_q7s/devices/HeaterHandler.h>
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#include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>
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#include <mission/core/GenericFactory.h>
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#include <mission/devices/PDU1Handler.h>
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#include <mission/devices/PDU2Handler.h>
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#include <mission/devices/ACUHandler.h>
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#include <mission/devices/PCDUHandler.h>
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#include <mission/devices/P60DockHandler.h>
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#include <mission/devices/Tmp1075Handler.h>
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#include <mission/devices/devicedefinitions/GomSpacePackets.h>
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#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
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#include <mission/utility/TmFunnel.h>
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#include <linux/csp/CspCookie.h>
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#include <linux/csp/CspComIF.h>
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#include <fsfw_hal/linux/i2c/I2cCookie.h>
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#include <fsfw_hal/linux/i2c/I2cComIF.h>
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#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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#include <fsfw/datapoollocal/LocalDataPoolManager.h>
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#include <fsfw/tmtcservices/CommandingServiceBase.h>
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#include <fsfw/tmtcservices/PusServiceBase.h>
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#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
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/* UDP server includes */
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#include <fsfw/osal/common/UdpTmTcBridge.h>
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#include <fsfw/osal/common/UdpTcPollingTask.h>
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#if TEST_LIBGPIOD == 1
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#include <linux/boardtest/LibgpiodTest.h>
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#endif
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void Factory::setStaticFrameworkObjectIds() {
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PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
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PusServiceBase::packetDestination = objects::TM_FUNNEL;
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CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
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CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
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TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
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// No storage object for now.
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TmFunnel::storageDestination = objects::NO_OBJECT;
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LocalDataPoolManager::defaultHkDestination = objects::NO_OBJECT;
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VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
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TmPacketStored::timeStamperId = objects::TIME_STAMPER;
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}
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void ObjectFactory::produce(){
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Factory::setStaticFrameworkObjectIds();
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ObjectFactory::produceGenericObjects();
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#if TE0720 == 1
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I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
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TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
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I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
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TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
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#else
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I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
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TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
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I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
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TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
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#endif
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/* Communication interfaces */
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new CspComIF(objects::CSP_COM_IF);
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new I2cComIF(objects::I2C_COM_IF);
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#if TE0720 == 0
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CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
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addresses::P60DOCK);
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CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
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addresses::PDU1);
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CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
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addresses::PDU2);
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CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
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addresses::ACU);
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/* Device Handler */
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P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER,
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objects::CSP_COM_IF, p60DockCspCookie);
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PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER,
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objects::CSP_COM_IF, pdu1CspCookie);
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PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER,
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objects::CSP_COM_IF, pdu2CspCookie);
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ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER,
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objects::CSP_COM_IF, acuCspCookie);
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new PCDUHandler(objects::PCDU_HANDLER, 50);
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/**
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* Setting PCDU devices to mode normal immediately after start up because PCDU is always
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* running.
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*/
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//p60dockhandler->setModeNormal();
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//pdu1handler->setModeNormal();
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//pdu2handler->setModeNormal();
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//acuhandler->setModeNormal();
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(void) p60dockhandler;
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(void) pdu1handler;
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(void) pdu2handler;
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(void) acuhandler;
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GpioCookie* gpioCookieAcsBoard = new GpioCookie();
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
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"MGM_0_LIS3", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
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"MGM_1_RM3100", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
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"MGM_2_LIS3", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
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"MGM_3_RM3100", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
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"GYRO_0_ADIS", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
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"GYRO_1_L3G", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
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"GYRO_2_L3G", gpio::Direction::OUT, 1);
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gpioIF->addGpios(gpioCookieAcsBoard);
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std::string spiDev = "/dev/spidev2.0";
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SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
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MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
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auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
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objects::SPI_COM_IF, spiCookie);
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mgmLis3Handler->setStartUpImmediately();
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spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
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RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
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auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
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objects::SPI_COM_IF, spiCookie);
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mgmRm3100Handler->setStartUpImmediately();
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spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
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L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
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spiCookie);
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gyroL3gHandler->setStartUpImmediately();
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#endif
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/* Temperature sensors */
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Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
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objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
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i2cCookieTmp1075tcs1);
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tmp1075Handler_1->setStartUpImmediately();
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Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(
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objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
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i2cCookieTmp1075tcs2);
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tmp1075Handler_2->setStartUpImmediately();
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GpioCookie* heaterGpiosCookie = new GpioCookie;
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new LinuxLibgpioIF(objects::GPIO_IF);
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#if TE0720 == 0
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/* Pin H2-11 on stack connector */
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GpiodRegular gpioConfigHeater0(std::string("gpiochip7"), 18,
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std::string("Heater0"), gpio::OUT, 0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
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/* Pin H2-12 on stack connector */
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GpiodRegular gpioConfigHeater1(std::string("gpiochip7"), 14,
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std::string("Heater1"), gpio::OUT, 0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
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/* Pin H2-13 on stack connector */
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GpiodRegular gpioConfigHeater2(std::string("gpiochip7"), 20,
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std::string("Heater2"), gpio::OUT, 0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
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GpiodRegular gpioConfigHeater3(std::string("gpiochip7"), 16,
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std::string("Heater3"), gpio::OUT, 0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
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GpiodRegular gpioConfigHeater4(std::string("gpiochip7"), 24,
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std::string("Heater4"), gpio::OUT, 0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
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GpiodRegular gpioConfigHeater5(std::string("gpiochip7"), 26,
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std::string("Heater5"), gpio::OUT, 0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
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GpiodRegular gpioConfigHeater6(std::string("gpiochip7"), 22,
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std::string("Heater6"), gpio::OUT, 0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
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GpiodRegular gpioConfigHeater7(std::string("gpiochip7"), 28,
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std::string("Heater7"), gpio::OUT, 0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
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new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, objects::PCDU_HANDLER,
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pcduSwitches::TCS_BOARD_8V_HEATER_IN);
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GpioCookie* solarArrayDeplCookie = new GpioCookie;
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GpiodRegular gpioConfigDeplSA1(std::string("gpiochip7"), 25,
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std::string("DeplSA1"), gpio::OUT, 0);
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solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA1);
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GpiodRegular gpioConfigDeplSA2(std::string("gpiochip7"), 23,
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std::string("DeplSA2"), gpio::OUT, 0);
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solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA2);
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//TODO: Find out burn time. For now set to 1000 ms.
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new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
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solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
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gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
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#endif
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new UdpTmTcBridge(objects::UDP_BRIDGE,
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objects::CCSDS_PACKET_DISTRIBUTOR,
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objects::TM_STORE, objects::TC_STORE);
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new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
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#if TE0720 == 1 && TEST_LIBGPIOD == 1
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/* Configure MIO0 as input */
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GpioConfig_t gpioConfigMio0(std::string("gpiochip0"), 0,
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std::string("MIO0"), gpio::IN, 0);
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GpioCookie* gpioCookie = new GpioCookie;
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gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
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new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
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#elif TE0720 == 1
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/* Configuration for MIO0 on TE0720-03-1CFA */
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GpioConfig_t gpioConfigForDummyHeater(std::string("gpiochip0"), 0,
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std::string("Heater0"), gpio::OUT, 0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater);
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new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
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objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
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#endif
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}
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