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