127 lines
5.2 KiB
C++
127 lines
5.2 KiB
C++
#include "ObjectFactory.h"
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#include <fsfw_hal/linux/rpi/GpioRPi.h>
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#include <fsfwconfig/objects/systemObjectList.h>
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#include <fsfwconfig/devices/addresses.h>
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#include <fsfwconfig/devices/gpioIds.h>
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#include <fsfwconfig/OBSWConfig.h>
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#include <fsfwconfig/tmtc/apid.h>
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#include <fsfwconfig/tmtc/pusIds.h>
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#include <fsfwconfig/devices/spi.h>
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#include <linux/boardtest/LibgpiodTest.h>
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#include <linux/boardtest/SpiTestClass.h>
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#include <linux/spi/SpiCookie.h>
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#include <linux/spi/SpiComIF.h>
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#include <mission/devices/GyroL3GD20Handler.h>
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#include <mission/core/GenericFactory.h>
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#include <mission/utility/TmFunnel.h>
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#include <mission/devices/MGMHandlerLIS3MDL.h>
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#include <mission/devices/MGMHandlerRM3100.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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#include <fsfw/tasks/TaskFactory.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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#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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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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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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GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
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#if RPI_ADD_SPI_TEST == 1
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new SpiTestClass(objects::SPI_TEST, gpioIF);
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#endif
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#if RPI_LOOPBACK_TEST_GPIO == 1
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GpioCookie* gpioCookieLoopback = new GpioCookie();
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/* Loopback pins. Adapt according to setup */
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gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
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int bcmPinSender = 26;
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gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
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int bcmPinReader = 16;
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gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
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gpio::Direction::OUT, 0);
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gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
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gpio::Direction::IN, 0);
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new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
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#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
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new SpiComIF(objects::SPI_COM_IF, gpioIF);
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#if RPI_TEST_ACS_BOARD == 1
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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/spidev0.0";
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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 /* RPI_TEST_ACS_BOARD == 1 */
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}
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