108 lines
4.3 KiB
C++
108 lines
4.3 KiB
C++
#include "ObjectFactory.h"
|
|
#include <bsp_rpi/gpio/GPIORPi.h>
|
|
|
|
#include <objects/systemObjectList.h>
|
|
#include <devices/addresses.h>
|
|
#include <devices/gpioIds.h>
|
|
#include <OBSWConfig.h>
|
|
#include <tmtc/apid.h>
|
|
#include <tmtc/pusIds.h>
|
|
|
|
#include <linux/boardtest/LibgpiodTest.h>
|
|
#include <linux/boardtest/SpiTestClass.h>
|
|
#include <linux/gpio/GpioCookie.h>
|
|
#include <linux/gpio/LinuxLibgpioIF.h>
|
|
|
|
#include <linux/spi/SpiCookie.h>
|
|
|
|
#include <mission/core/GenericFactory.h>
|
|
#include <mission/utility/TmFunnel.h>
|
|
#include <mission/devices/MGMHandlerLIS3MDL.h>
|
|
|
|
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
|
|
#include <fsfw/tmtcservices/CommandingServiceBase.h>
|
|
#include <fsfw/tmtcservices/PusServiceBase.h>
|
|
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
|
|
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
|
|
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
|
|
#include <fsfw/tasks/TaskFactory.h>
|
|
#include <linux/spi/SpiComIF.h>
|
|
|
|
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::NO_OBJECT;
|
|
|
|
VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
|
|
TmPacketStored::timeStamperId = objects::TIME_STAMPER;
|
|
}
|
|
|
|
|
|
|
|
void ObjectFactory::produce(){
|
|
Factory::setStaticFrameworkObjectIds();
|
|
ObjectFactory::produceGenericObjects();
|
|
|
|
new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
|
|
objects::CCSDS_PACKET_DISTRIBUTOR,
|
|
objects::TM_STORE, objects::TC_STORE);
|
|
new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
|
|
|
|
GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
|
|
|
|
#if RPI_ADD_SPI_TEST == 1
|
|
new SpiTestClass(objects::SPI_TEST, gpioIF);
|
|
#endif
|
|
|
|
#if RPI_LOOPBACK_TEST_GPIO == 1
|
|
GpioCookie* gpioCookieLoopback = new GpioCookie();
|
|
/* Loopback pins. Adapt according to setup */
|
|
gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
|
|
int bcmPinSender = 26;
|
|
gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
|
|
int bcmPinReader = 16;
|
|
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
|
|
gpio::Direction::OUT, 0);
|
|
gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
|
|
gpio::Direction::IN, 0);
|
|
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
|
|
#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
|
|
|
|
new SpiComIF(objects::SPI_COM_IF, gpioIF);
|
|
|
|
#if RPI_TEST_ACS_BOARD == 1
|
|
|
|
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
|
|
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
|
|
"MGM_0_LIS3", gpio::Direction::OUT, 1);
|
|
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
|
|
"MGM_1_RM3100", gpio::Direction::OUT, 1);
|
|
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
|
|
"MGM_2_LIS3", gpio::Direction::OUT, 1);
|
|
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
|
|
"MGM_3_RM3100", gpio::Direction::OUT, 1);
|
|
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
|
|
"GYRO_0_ADIS", gpio::Direction::OUT, 1);
|
|
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
|
|
"GYRO_1_L3G", gpio::Direction::OUT, 1);
|
|
gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
|
|
"GYRO_2_L3G", gpio::Direction::OUT, 1);
|
|
gpioIF->addGpios(gpioCookieAcsBoard);
|
|
|
|
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3,
|
|
gpioIds::MGM_0_LIS3_CS, "/dev/spidev0.0", 24, spi::SpiMode::MODE_3, 3'900'000);
|
|
auto mgmHandler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
|
|
objects::SPI_COM_IF, spiCookie);
|
|
mgmHandler->setStartUpImmediately();
|
|
|
|
#endif /* RPI_TEST_ACS_BOARD == 1 */
|
|
}
|