242 lines
10 KiB
C++
242 lines
10 KiB
C++
#include "ObjectFactory.h"
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#include <OBSWConfig.h>
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#include <tmtc/apid.h>
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#include <devices/addresses.h>
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#include <devices/gpioIds.h>
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#include <tmtc/pusIds.h>
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#include <devices/powerSwitcherList.h>
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#include <bsp_q7s/devices/HeaterHandler.h>
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#include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>
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#include <bsp_q7s/gpio/gpioCallbacks.h>
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#include <mission/core/GenericFactory.h>
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#include <mission/devices/PDU1Handler.h>
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#include <mission/devices/PDU2Handler.h>
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#include <mission/devices/ACUHandler.h>
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#include <mission/devices/PCDUHandler.h>
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#include <mission/devices/P60DockHandler.h>
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#include <mission/devices/Tmp1075Handler.h>
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#include <mission/devices/Max31865PT1000Handler.h>
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#include <mission/devices/IMTQHandler.h>
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#include <mission/devices/devicedefinitions/Max31865Definitions.h>
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#include <mission/devices/SyrlinksHkHandler.h>
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#include <mission/devices/devicedefinitions/GomSpacePackets.h>
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#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
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#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
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#include <mission/utility/TmFunnel.h>
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#include <linux/csp/CspCookie.h>
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#include <linux/csp/CspComIF.h>
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#include <linux/i2c/I2cCookie.h>
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#include <linux/i2c/I2cComIF.h>
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#include <linux/gpio/LinuxLibgpioIF.h>
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#include <linux/gpio/GpioCookie.h>
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#include <linux/uart/UartComIF.h>
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#include <linux/uart/UartCookie.h>
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#include <linux/spi/SpiComIF.h>
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#include <linux/spi/SpiCookie.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/osal/linux/TmTcUnixUdpBridge.h>
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#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
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#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
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#if TEST_LIBGPIOD == 1
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#include <linux/boardtest/LibgpiodTest.h>
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#endif
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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::PUS_SERVICE_3_HOUSEKEEPING;
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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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#if TE0720 == 1
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I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
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TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
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I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
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TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
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#else
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I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
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TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
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I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
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TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
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#endif
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LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
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/* Communication interfaces */
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new CspComIF(objects::CSP_COM_IF);
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new I2cComIF(objects::I2C_COM_IF);
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new UartComIF(objects::UART_COM_IF);
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new SpiComIF(objects::SPI_COM_IF, gpioComIF);
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#if TE0720 == 0
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CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
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addresses::P60DOCK);
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CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
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addresses::PDU1);
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CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
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addresses::PDU2);
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CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
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addresses::ACU);
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/* Device Handler */
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P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER,
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objects::CSP_COM_IF, p60DockCspCookie);
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PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER,
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objects::CSP_COM_IF, pdu1CspCookie);
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PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER,
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objects::CSP_COM_IF, pdu2CspCookie);
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ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER,
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objects::CSP_COM_IF, acuCspCookie);
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new PCDUHandler(objects::PCDU_HANDLER, 50);
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/**
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* Setting PCDU devices to mode normal immediately after start up because PCDU is always
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* running.
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*/
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/** For now this needs to be commented out because there is no PCDU connected to the OBC */
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// p60dockhandler->setModeNormal();
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// pdu1handler->setModeNormal();
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// pdu2handler->setModeNormal();
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// acuhandler->setModeNormal();
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#endif
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/* Temperature sensors */
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Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
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objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
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i2cCookieTmp1075tcs1);
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tmp1075Handler_1->setStartUpImmediately();
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Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(
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objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
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i2cCookieTmp1075tcs2);
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tmp1075Handler_2->setStartUpImmediately();
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GpioCookie* heaterGpiosCookie = new GpioCookie;
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#if TE0720 == 0
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/* Pin H2-11 on stack connector */
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GpiodRegular gpioConfigHeater0(std::string("gpiochip7"), 16, std::string("Heater0"), gpio::OUT,
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0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_0, &gpioConfigHeater0);
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/* Pin H2-12 on stack connector */
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GpiodRegular gpioConfigHeater1(std::string("gpiochip7"), 12,
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std::string("Heater1"), gpio::OUT, 0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_1, &gpioConfigHeater1);
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/* Pin H2-13 on stack connector */
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GpiodRegular gpioConfigHeater2(std::string("gpiochip7"), 7,
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std::string("Heater2"), gpio::OUT, 0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_2, &gpioConfigHeater2);
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GpiodRegular gpioConfigHeater3(std::string("gpiochip7"), 5, std::string("Heater3"), gpio::OUT,
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0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_3, &gpioConfigHeater3);
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GpiodRegular gpioConfigHeater4(std::string("gpiochip7"), 3, std::string("Heater4"), gpio::OUT,
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0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_4, &gpioConfigHeater4);
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GpiodRegular gpioConfigHeater5(std::string("gpiochip7"), 0, std::string("Heater5"), gpio::OUT,
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0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_5, &gpioConfigHeater5);
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GpiodRegular gpioConfigHeater6(std::string("gpiochip7"), 1, std::string("Heater6"), gpio::OUT,
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0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_6, &gpioConfigHeater6);
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GpiodRegular gpioConfigHeater7(std::string("gpiochip7"), 11, std::string("Heater7"), gpio::OUT,
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0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_7, &gpioConfigHeater7);
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new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, objects::PCDU_HANDLER,
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pcduSwitches::TCS_BOARD_8V_HEATER_IN);
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GpioCookie* solarArrayDeplCookie = new GpioCookie;
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GpiodRegular gpioConfigDeplSA0(std::string("gpiochip7"), 4,
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std::string("DeplSA1"), gpio::OUT, 0);
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solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, &gpioConfigDeplSA0);
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GpiodRegular gpioConfigDeplSA1(std::string("gpiochip7"), 2,
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std::string("DeplSA2"), gpio::OUT, 0);
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solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, &gpioConfigDeplSA1);
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//TODO: Find out burn time. For now set to 1000 ms.
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new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
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solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
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gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
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UartCookie* syrlinksUartCookie = new UartCookie(
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std::string("/dev/ttyUL0"), 38400, SYRLINKS::MAX_REPLY_SIZE);
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syrlinksUartCookie->setParityEven();
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SyrlinksHkHandler* syrlinksHkHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER,
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objects::UART_COM_IF, syrlinksUartCookie);
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syrlinksHkHandler->setModeNormal();
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GpioCookie* rtdGpioCookie = new GpioCookie;
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gpioCallbacks::initTcsBoardDecoder(gpioComIF);
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GpioCallback gpioRtdIc3(std::string("Chip select RTD IC3"), gpio::OUT, 1,
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&gpioCallbacks::tcsBoardDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC3, &gpioRtdIc3);
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GpioCallback gpioRtdIc4(std::string("Chip select RTD IC4"), gpio::OUT, 1,
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&gpioCallbacks::tcsBoardDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC4, &gpioRtdIc4);
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SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
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std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
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spi::SpiMode::MODE_1, 2000000);
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SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
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std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
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spi::SpiMode::MODE_1, 2000000);
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new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
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new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF, spiRtdIc4, 0);
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I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
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std::string("/dev/i2c-0"));
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new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
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#endif
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new TmTcUnixUdpBridge(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 TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
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#if TE0720 == 1 && TEST_LIBGPIOD == 1
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/* Configure MIO0 as input */
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GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
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std::string("MIO0"), gpio::IN, 0);
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GpioCookie* gpioCookie = new GpioCookie;
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gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
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new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
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#elif TE0720 == 1
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/* Configuration for MIO0 on TE0720-03-1CFA */
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GpiodRegular gpioConfigForDummyHeater(std::string("gpiochip0"), 0,
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std::string("Heater0"), gpio::OUT, 0);
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heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater);
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new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
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objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
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#endif
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}
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