eive-obsw/bsp_q7s/em/emObjectFactory.cpp

189 lines
6.2 KiB
C++

#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
#include <bsp_q7s/core/XiphosWdtHandler.h>
#include <bsp_q7s/objectFactory.h>
#include <dummies/ComCookieDummy.h>
#include <dummies/PcduHandlerDummy.h>
#include <fsfw/health/HealthTableIF.h>
#include <fsfw/power/DummyPowerSwitcher.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <mission/power/gsDefs.h>
#include <mission/system/systemTree.h>
#include <mission/utility/DummySdCardManager.h>
#include "OBSWConfig.h"
#include "bsp_q7s/core/CoreController.h"
#include "busConf.h"
#include "common/config/devices/addresses.h"
#include "devConf.h"
#include "dummies/helperFactory.h"
#include "eive/objects.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "linux/ObjectFactory.h"
#include "linux/callbacks/gpioCallbacks.h"
#include "mission/genericFactory.h"
#include "mission/system/com/comModeTree.h"
void ObjectFactory::produce(void* args) {
ObjectFactory::setStatics();
HealthTableIF* healthTable = nullptr;
PusTmFunnel* pusFunnel = nullptr;
CfdpTmFunnel* cfdpFunnel = nullptr;
StorageManagerIF* ipcStore = nullptr;
StorageManagerIF* tmStore = nullptr;
bool enableHkSets = false;
#if OBSW_ENABLE_PERIODIC_HK == 1
enableHkSets = true;
#endif
PersistentTmStores stores;
readFirmwareVersion();
new XiphosWdtHandler(objects::XIPHOS_WDT);
ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
*SdCardManager::instance(), &ipcStore, &tmStore, stores, 200,
enableHkSets);
LinuxLibgpioIF* gpioComIF = nullptr;
SerialComIF* uartComIF = nullptr;
SpiComIF* spiMainComIF = nullptr;
I2cComIF* i2cComIF = nullptr;
createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
// Adding GPIOs for chip select decoding and initializing them.
q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
gpioCallbacks::disableAllDecoder(gpioComIF);
createPlI2cResetGpio(gpioComIF);
// Hardware is usually not connected to EM, so we need to create dummies which replace lower
// level components.
dummy::DummyCfg dummyCfg;
dummyCfg.addCoreCtrlCfg = false;
dummyCfg.addCamSwitcherDummy = false;
#if OBSW_ADD_SYRLINKS == 1
dummyCfg.addSyrlinksDummies = false;
#endif
#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
dummyCfg.addPlocDummies = false;
#endif
#if OBSW_ADD_TMP_DEVICES == 1
std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd = {{
{objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
{objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
{objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
}};
createTmpComponents(tmpDevsToAdd);
dummy::Tmp1075Cfg tmpCfg{};
tmpCfg.addTcsBrd0 = true;
tmpCfg.addTcsBrd1 = true;
tmpCfg.addPlPcdu0 = false;
tmpCfg.addPlPcdu1 = false;
tmpCfg.addIfBrd = false;
dummyCfg.tmp1075Cfg = tmpCfg;
#endif
#if OBSW_ADD_GOMSPACE_PCDU == 1
dummyCfg.addPowerDummies = false;
// The ACU broke.
dummyCfg.addOnlyAcuDummy = true;
#endif
#if OBSW_ADD_STAR_TRACKER == 1
dummyCfg.addStrDummy = false;
#endif
#if OBSW_ADD_SCEX_DEVICE == 0
dummyCfg.addScexDummy = true;
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
dummyCfg.addBpxBattDummy = false;
#endif
#if OBSW_ADD_ACS_BOARD == 1
dummyCfg.addAcsBoardDummies = false;
#endif
#if OBSW_ADD_PL_PCDU == 0
dummyCfg.addPlPcduDummy = true;
#endif
PowerSwitchIF* pwrSwitcher = nullptr;
#if OBSW_ADD_GOMSPACE_PCDU == 0
pwrSwitcher = new PcduHandlerDummy(objects::PCDU_HANDLER);
#else
createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
#endif
satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
const char* battAndImtqI2cDev = q7s::I2C_PL_EIVE;
if (core::FW_VERSION_MAJOR >= 4) {
battAndImtqI2cDev = q7s::I2C_PS_EIVE;
}
static_cast<void>(battAndImtqI2cDev);
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
createBpxBatteryComponent(enableHkSets, battAndImtqI2cDev);
#endif
createPowerController(true, enableHkSets);
dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);
new CoreController(objects::CORE_CONTROLLER, enableHkSets);
auto* stackHandler = new Stack5VHandler(*pwrSwitcher);
static_cast<void>(stackHandler);
// Initialize chip select to avoid SPI bus issues.
createRadSensorChipSelect(gpioComIF);
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true,
adis1650x::Type::ADIS16507);
#else
// Still add all GPIOs for EM.
GpioCookie* acsBoardGpios = new GpioCookie();
createAcsBoardGpios(*acsBoardGpios);
gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
#endif
#if OBSW_ADD_MGT == 1
createImtqComponents(pwrSwitcher, enableHkSets, battAndImtqI2cDev);
#endif
#if OBSW_ADD_SYRLINKS == 1
createSyrlinksComponents(pwrSwitcher);
#endif /* OBSW_ADD_SYRLINKS == 1 */
#if OBSW_ADD_RW == 1
createReactionWheelComponents(gpioComIF, pwrSwitcher);
#endif
#if OBSW_ADD_STAR_TRACKER == 1
createStrComponents(pwrSwitcher);
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_ADD_PL_PCDU == 1
createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher, *stackHandler);
#endif
createPayloadComponents(gpioComIF, *pwrSwitcher);
#if OBSW_ADD_CCSDS_IP_CORES == 1
CcsdsIpCoreHandler* ipCoreHandler = nullptr;
CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
&ipCoreHandler);
createCcsdsComponents(ccsdsArgs);
#if OBSW_TM_TO_PTME == 1
if (ccsdsArgs.liveDestination != nullptr) {
pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
cfdpFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
}
#endif
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
/* Test Task */
#if OBSW_ADD_TEST_CODE == 1
createTestComponents(gpioComIF);
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if OBSW_ADD_SCEX_DEVICE == 1
createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
#endif
createAcsController(true, enableHkSets);
HeaterHandler* heaterHandler;
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
createThermalController(*heaterHandler, true);
satsystem::init(true);
}