Robin Mueller
0b50d9aedf
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EIVE/eive-obsw/pipeline/head This commit looks good
237 lines
9.7 KiB
C++
237 lines
9.7 KiB
C++
#include <devConf.h>
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#include "ObjectFactory.h"
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#include "objects/systemObjectList.h"
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#include "devices/addresses.h"
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#include "devices/gpioIds.h"
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#include "OBSWConfig.h"
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#include "tmtc/apid.h"
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#include "tmtc/pusIds.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/boardtest/UartTestClass.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/GPSHyperionHandler.h>
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#include "mission/devices/GyroADIS16507Handler.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/tm.h"
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#include "fsfw/tasks/TaskFactory.h"
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/* UDP server includes */
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#if OBSW_USE_TMTC_TCP_BRIDGE == 1
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#include <fsfw/src/fsfw/osal/common/TcpTmTcBridge.h>
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#include <fsfw/src/fsfw/osal/common/TcpTmTcServer.h>
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#else
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#include "fsfw/osal/common/UdpTmTcBridge.h"
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#include "fsfw/osal/common/UdpTcPollingTask.h"
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#endif
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#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
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#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
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#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
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#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
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#include "fsfw_hal/linux/rpi/GpioRPi.h"
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#include "fsfw_hal/common/gpio/GpioCookie.h"
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#include "fsfw_hal/linux/spi/SpiCookie.h"
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#include "fsfw_hal/linux/spi/SpiComIF.h"
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#include <fsfw_hal/linux/uart/UartComIF.h>
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#include <fsfw_hal/linux/uart/UartCookie.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::TMTC_BRIDGE;
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// No storage object for now.
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TmFunnel::storageDestination = objects::NO_OBJECT;
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VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
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TmPacketBase::timeStamperId = objects::TIME_STAMPER;
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}
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void ObjectFactory::produce(void* args){
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Factory::setStaticFrameworkObjectIds();
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ObjectFactory::produceGenericObjects();
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#if OBSW_USE_TMTC_TCP_BRIDGE == 1
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auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
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tmtcBridge->setMaxNumberOfPacketsStored(50);
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new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
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#else
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auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
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tmtcBridge->setMaxNumberOfPacketsStored(50);
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new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
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#endif
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GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
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GpioCookie* gpioCookie = nullptr;
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static_cast<void>(gpioCookie);
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new SpiComIF(objects::SPI_COM_IF, gpioIF);
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std::string spiDev;
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SpiCookie* spiCookie = nullptr;
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static_cast<void>(spiCookie);
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#if OBSW_ADD_ACS_BOARD == 1
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if(gpioCookie == nullptr) {
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gpioCookie = new GpioCookie();
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}
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// TODO: Missing pin for Gyro 2
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gpio::createRpiGpioConfig(gpioCookie, 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(gpioCookie, 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(gpioCookie, 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(gpioCookie, 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(gpioCookie, 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(gpioCookie, 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(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
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"GYRO_2_ADIS", gpio::Direction::OUT, 1);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN,
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"GYRO_3_L3G", gpio::Direction::OUT, 1);
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gpioIF->addGpios(gpioCookie);
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spiDev = "/dev/spidev0.1";
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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 MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
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objects::SPI_COM_IF, spiCookie, 0);
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mgmLis3Handler->setStartUpImmediately();
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#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
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mgmLis3Handler->setToGoToNormalMode(true);
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#endif
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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 MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
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objects::SPI_COM_IF, spiCookie, 0);
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mgmRm3100Handler->setStartUpImmediately();
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#if FSFW_HAL_RM3100_MGM_DEBUG == 1
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mgmRm3100Handler->setToGoToNormalMode(true);
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#endif
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spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
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MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
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mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
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objects::SPI_COM_IF, spiCookie, 0);
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mgmLis3Handler->setStartUpImmediately();
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#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
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mgmLis3Handler->setToGoToNormalMode(true);
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#endif
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spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
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RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
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mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
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objects::SPI_COM_IF, spiCookie, 0);
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mgmRm3100Handler->setStartUpImmediately();
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#if FSFW_HAL_RM3100_MGM_DEBUG == 1
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mgmRm3100Handler->setToGoToNormalMode(true);
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#endif
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spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
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ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
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spiCookie);
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adisHandler->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, 0);
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gyroL3gHandler->setStartUpImmediately();
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#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
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gyroL3gHandler->setToGoToNormalMode(true);
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#endif
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spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
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ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
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spiCookie);
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adisHandler->setStartUpImmediately();
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spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
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L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
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spiCookie, 0);
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gyroL3gHandler->setStartUpImmediately();
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#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
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gyroL3gHandler->setToGoToNormalMode(true);
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#endif
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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#if OBSW_ADD_TEST_CODE == 1
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createTestTasks();
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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}
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void ObjectFactory::createTestTasks() {
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new TestTask(objects::TEST_TASK);
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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_ADD_UART_TEST == 1
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new UartTestClass(objects::UART_TEST);
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#else
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new UartComIF(objects::UART_COM_IF);
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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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#if RPI_TEST_ADIS16507 == 1
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if(gpioCookie == nullptr) {
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gpioCookie = new GpioCookie();
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}
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gpio::createRpiGpioConfig(gpioCookie, 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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gpioIF->addGpios(gpioCookie);
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spiDev = "/dev/spidev0.1";
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spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
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ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
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nullptr, nullptr);
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auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
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adisGyroHandler->setStartUpImmediately();
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#endif /* RPI_TEST_ADIS16507 == 1 */
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#if RPI_TEST_GPS_HANDLER == 1
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UartCookie* uartCookie = new UartCookie(objects::GPS0_HANDLER, "/dev/serial0",
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UartModes::CANONICAL, 9600, 1024);
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uartCookie->setToFlushInput(true);
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uartCookie->setReadCycles(6);
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GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER,
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objects::UART_COM_IF, uartCookie, false);
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gpsHandler->setStartUpImmediately();
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#endif
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}
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