180 lines
7.8 KiB
C++
180 lines
7.8 KiB
C++
#include "OBSWConfig.h"
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#include "bsp_q7s/core/CoreController.h"
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#include "bsp_q7s/core/ObjectFactory.h"
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#include "busConf.h"
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#include "commonObjects.h"
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#include "devConf.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/core/GenericFactory.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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ObjectFactory::produceGenericObjects(&healthTable);
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LinuxLibgpioIF* gpioComIF = nullptr;
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UartComIF* uartComIF = nullptr;
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SpiComIF* spiMainComIF = nullptr;
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I2cComIF* i2cComIF = nullptr;
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PowerSwitchIF* pwrSwitcher = nullptr;
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SpiComIF* spiRwComIF = nullptr;
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createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
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createTmpComponents();
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new CoreController(objects::CORE_CONTROLLER);
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gpioCallbacks::disableAllDecoder(gpioComIF);
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createPcduComponents(gpioComIF, &pwrSwitcher);
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createRadSensorComponent(gpioComIF);
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createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
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#if OBSW_ADD_ACS_BOARD == 1
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createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
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#endif
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createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
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createSolarArrayDeploymentComponents();
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createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
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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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createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
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createPayloadComponents(gpioComIF);
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#if OBSW_ADD_MGT == 1
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createImtqComponents(pwrSwitcher);
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#endif
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createReactionWheelComponents(gpioComIF, pwrSwitcher);
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#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
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createBpxBatteryComponent();
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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_USE_CCSDS_IP_CORE == 1
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createCcsdsComponents(gpioComIF);
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#endif /* OBSW_USE_CCSDS_IP_CORE == 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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createMiscComponents();
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createThermalController();
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}
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void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
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using namespace gpio;
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// GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
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GpioCookie* gpioCookiePtmeIp = new GpioCookie;
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GpiodRegularByLineName* gpio = nullptr;
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std::stringstream consumer;
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consumer.str("PAPB VC0");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
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consumer.str("PAPB VC0");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
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consumer.str("PAPB VC 1");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
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consumer.str("");
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consumer.str("PAPB VC 1");
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gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
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consumer.str("");
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consumer.str("PAPB VC 2");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
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consumer.str("");
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consumer.str("PAPB VC 2");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
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consumer.str("");
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consumer.str("PAPB VC 3");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
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consumer.str("");
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consumer.str("PAPB VC 3");
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
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gpioChecker(gpioComIF->addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
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// Creating virtual channel interfaces
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VcInterfaceIF* vc0 =
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new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
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q7s::uiomapids::PTME_VC0);
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VcInterfaceIF* vc1 =
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new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
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q7s::uiomapids::PTME_VC1);
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VcInterfaceIF* vc2 =
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new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
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q7s::uiomapids::PTME_VC2);
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VcInterfaceIF* vc3 =
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new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
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q7s::uiomapids::PTME_VC3);
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// Creating ptme object and adding virtual channel interfaces
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Ptme* ptme = new Ptme(objects::PTME);
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ptme->addVcInterface(ccsds::VC0, vc0);
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ptme->addVcInterface(ccsds::VC1, vc1);
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ptme->addVcInterface(ccsds::VC2, vc2);
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ptme->addVcInterface(ccsds::VC3, vc3);
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AxiPtmeConfig* axiPtmeConfig =
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new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
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PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
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#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
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// Set to high value when not sending via syrlinks
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static const uint32_t TRANSMITTER_TIMEOUT = 86400000; // 1 day
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#else
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static const uint32_t TRANSMITTER_TIMEOUT = 900000; // 15 minutes
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#endif
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CCSDSHandler* ccsdsHandler = new CCSDSHandler(
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objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
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gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
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VirtualChannel* vc = nullptr;
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vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
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ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
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vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
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ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
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vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
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ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
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vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
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ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);
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GpioCookie* gpioCookiePdec = new GpioCookie;
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consumer.str("");
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consumer << "0x" << std::hex << objects::PDEC_HANDLER;
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// GPIO also low after linux boot (specified by device-tree)
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gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), Direction::OUT,
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Levels::LOW);
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gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
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gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");
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new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
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q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
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GpioCookie* gpioRS485Chip = new GpioCookie;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
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Direction::OUT, Levels::LOW);
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gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
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Direction::OUT, Levels::LOW);
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gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
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// Default configuration enables RX channels (RXEN = LOW)
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gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
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Direction::OUT, Levels::LOW);
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gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
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Direction::OUT, Levels::LOW);
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gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
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gpioChecker(gpioComIF->addGpios(gpioRS485Chip), "RS485 Transceiver");
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}
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