243 lines
11 KiB
C++
243 lines
11 KiB
C++
#include "ObjectFactory.h"
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#include "OBSWConfig.h"
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#include "busConf.h"
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#include "devConf.h"
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#include "ccsdsConfig.h"
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#include "devices/addresses.h"
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#include "devices/gpioIds.h"
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#include "fsfw/datapoollocal/LocalDataPoolManager.h"
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#include "fsfw/tmtcpacket/pus/tm.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_hal/linux/i2c/I2cComIF.h"
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#include "fsfw_hal/linux/i2c/I2cCookie.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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#include "fsfw_hal/common/gpio/GpioCookie.h"
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#include "linux/devices/ploc/PlocMPSoCHandler.h"
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#include "linux/devices/ploc/PlocMPSoCHelper.h"
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#include "linux/devices/ploc/PlocMemoryDumper.h"
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#include "linux/devices/ploc/PlocSupervisorHandler.h"
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#include "linux/devices/ploc/PlocSupvHelper.h"
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#include "linux/obc/AxiPtmeConfig.h"
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#include "linux/obc/PapbVcInterface.h"
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#include "linux/obc/PdecHandler.h"
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#include "linux/obc/Ptme.h"
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#include "linux/obc/PtmeConfig.h"
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#include "mission/core/GenericFactory.h"
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#include "mission/devices/Tmp1075Handler.h"
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#include "mission/tmtc/TmFunnel.h"
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#include "mission/tmtc/CCSDSHandler.h"
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#include "mission/tmtc/VirtualChannel.h"
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#include "objects/systemObjectList.h"
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#include "test/gpio/DummyGpioIF.h"
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#include "tmtc/apid.h"
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#include "tmtc/pusIds.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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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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LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);;
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new UartComIF(objects::UART_COM_IF);
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#if OBSW_ADD_PLOC_MPSOC == 1
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UartCookie* mpsocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART,
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uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
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mpsocUartCookie->setNoFixedSizeReply();
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PlocMPSoCHelper* plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
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auto dummyGpioIF = new DummyGpioIF();
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PlocMPSoCHandler* plocMPSoCHandler = new PlocMPSoCHandler(
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objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie, plocMpsocHelper,
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Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF), objects::PLOC_SUPERVISOR_HANDLER);
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plocMPSoCHandler->setStartUpImmediately();
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#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
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#if OBSW_ADD_PLOC_SUPERVISOR == 1
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UartCookie* supervisorCookie =
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new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
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uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20);
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supervisorCookie->setNoFixedSizeReply();
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auto supvGpioIF = new DummyGpioIF();
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auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
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new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
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supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, supvGpioIF),
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pcdu::PDU1_CH6_PLOC_12V, supvHelper);
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#endif
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new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
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#if OBSW_TEST_LIBGPIOD == 1
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#if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
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/* Configure MIO0 as input */
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GpiodRegular* testGpio = new GpiodRegular("MIO0", Direction::OUT, 0, "/amba_pl/gpio@41200000", 0);
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#elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME
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GpiodRegularByLineName* testGpio =
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new GpiodRegularByLineName("test-name", "gpio-test", Direction::OUT, 0);
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#else
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/* Configure MIO0 as input */
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GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
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#endif /* OBSW_TEST_GPIO_LABEL == 1 */
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GpioCookie* gpioCookie = new GpioCookie;
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gpioCookie->addGpio(gpioIds::TEST_ID_0, testGpio);
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new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
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#endif
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#if OBSW_TEST_SUS == 1
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GpioCookie* gpioCookieSus = new GpioCookie;
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GpiodRegular* chipSelectSus = new GpiodRegular(
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std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), Direction::OUT, 1);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_0, chipSelectSus);
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gpioComIF->addGpios(gpioCookieSus);
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SpiCookie* spiCookieSus =
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new SpiCookie(addresses::SUS_0, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE,
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spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
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new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_0);
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#endif
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#if OBSW_TEST_RAD_SENSOR == 1
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GpioCookie* gpioCookieRadSensor = new GpioCookie;
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GpiodRegular* chipSelectRadSensor = new GpiodRegular(
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std::string("gpiochip1"), 0, std::string("Chip select radiation sensor"), Direction::OUT, 1);
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gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
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gpioComIF->addGpios(gpioCookieRadSensor);
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SpiCookie* spiCookieRadSensor =
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new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string("/dev/spidev1.0"),
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SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
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RadiationSensorHandler* radSensor =
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new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
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radSensor->setStartUpImmediately();
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#endif
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#if OBSW_TEST_TE7020_HEATER == 1
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/* Configuration for MIO0 on TE0720-03-1CFA */
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GpiodRegular* heaterGpio =
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new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
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GpioCookie* gpioCookie = new GpioCookie;
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gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
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new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
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pcdu::TCS_BOARD_8V_HEATER_IN);
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#endif
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new I2cComIF(objects::I2C_COM_IF);
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I2cCookie* i2cCookieTmp1075tcs1 =
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new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
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I2cCookie* i2cCookieTmp1075tcs2 =
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new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
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/* Temperature sensors */
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new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
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new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
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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(te0720_1cfa::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(te0720_1cfa::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(te0720_1cfa::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(te0720_1cfa::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(te0720_1cfa::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(te0720_1cfa::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(te0720_1cfa::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
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gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
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gpioComIF->addGpios(gpioCookiePtmeIp);
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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, te0720_1cfa::UIO_PTME,
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te0720_1cfa::uiomapids::PTME_VC0);
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VcInterfaceIF* vc1 =
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new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, te0720_1cfa::UIO_PTME,
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te0720_1cfa::uiomapids::PTME_VC1);
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VcInterfaceIF* vc2 =
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new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, te0720_1cfa::UIO_PTME,
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te0720_1cfa::uiomapids::PTME_VC2);
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VcInterfaceIF* vc3 =
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new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, te0720_1cfa::UIO_PTME,
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te0720_1cfa::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 = new AxiPtmeConfig(objects::AXI_PTME_CONFIG, te0720_1cfa::UIO_PTME,
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te0720_1cfa::uiomapids::PTME_CONFIG);
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PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
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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(te0720_1cfa::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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gpioComIF->addGpios(gpioCookiePdec);
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new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
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te0720_1cfa::UIO_PDEC_CONFIG_MEMORY, te0720_1cfa::UIO_PDEC_RAM,
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te0720_1cfa::UIO_PDEC_REGISTERS);
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}
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