Robin Mueller
b8b6cd8872
All checks were successful
EIVE/eive-obsw/pipeline/pr-develop This commit looks good
911 lines
46 KiB
C++
911 lines
46 KiB
C++
#include "ObjectFactory.h"
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#include "OBSWConfig.h"
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#include "devConf.h"
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#include "busConf.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/gpio/gpioCallbacks.h"
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#include "bsp_q7s/core/CoreController.h"
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#include "bsp_q7s/boardtest/Q7STestTask.h"
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#include "bsp_q7s/memory/FileSystemHandler.h"
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#include "bsp_q7s/devices/PlocSupervisorHandler.h"
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#include "bsp_q7s/devices/PlocUpdater.h"
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#include "bsp_q7s/devices/PlocMemoryDumper.h"
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#include "bsp_q7s/callbacks/rwSpiCallback.h"
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#include "bsp_q7s/callbacks/gnssCallback.h"
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#include "linux/devices/HeaterHandler.h"
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#include "linux/devices/SolarArrayDeploymentHandler.h"
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#include "linux/devices/devicedefinitions/SusDefinitions.h"
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#include "linux/devices/SusHandler.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/obc/CCSDSIPCoreBridge.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/GyroADIS16507Handler.h"
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#include "mission/devices/IMTQHandler.h"
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#include "mission/devices/SyrlinksHkHandler.h"
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#include "mission/devices/MGMHandlerLIS3MDL.h"
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#include "mission/devices/PlocMPSoCHandler.h"
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#include "mission/devices/RadiationSensorHandler.h"
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#include "mission/devices/RwHandler.h"
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#include "mission/devices/StarTrackerHandler.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/devices/devicedefinitions/PlocMPSoCDefinitions.h"
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#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
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#include "mission/devices/devicedefinitions/Max31865Definitions.h"
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#include "mission/devices/devicedefinitions/RwDefinitions.h"
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#include "mission/devices/devicedefinitions/StarTrackerDefinitions.h"
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#include "mission/devices/GPSHyperionHandler.h"
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#include "mission/utility/TmFunnel.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/devicehandlers/GyroL3GD20Handler.h"
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#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
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#include "fsfw_hal/linux/i2c/I2cCookie.h"
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#include "fsfw_hal/linux/i2c/I2cComIF.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/gpio/LinuxLibgpioIF.h"
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#include "fsfw_hal/common/gpio/GpioCookie.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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#if OBSW_USE_TMTC_TCP_BRIDGE == 0
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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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#else
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// TCP server includes
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#include "fsfw/osal/common/TcpTmTcBridge.h"
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#include "fsfw/osal/common/TcpTmTcServer.h"
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#endif
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#include "linux/boardtest/SpiTestClass.h"
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#if OBSW_TEST_LIBGPIOD == 1
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#include "linux/boardtest/LibgpiodTest.h"
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#endif
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ResetArgs resetArgsGnss0;
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ResetArgs resetArgsGnss1;
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void ObjectFactory::setStatics() {
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Factory::setStaticFrameworkObjectIds();
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}
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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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//DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
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DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
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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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LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
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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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ObjectFactory::setStatics();
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ObjectFactory::produceGenericObjects();
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LinuxLibgpioIF* gpioComIF = nullptr;
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UartComIF* uartComIF = nullptr;
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SpiComIF* spiComIF = nullptr;
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createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF);
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createTmpComponents();
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#if BOARD_TE0720 == 0
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new CoreController(objects::CORE_CONTROLLER);
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createPcduComponents();
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createRadSensorComponent(gpioComIF);
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createSunSensorComponents(gpioComIF, spiComIF);
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#if OBSW_ADD_ACS_BOARD == 1
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createAcsBoardComponents(gpioComIF, uartComIF);
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#endif /* OBSW_ADD_ACS_BOARD == 1 */
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createHeaterComponents();
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createSolarArrayDeploymentComponents();
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#if Q7S_ADD_SYRLINKS_HANDLER == 1
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createSyrlinksComponents();
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#endif /* Q7S_ADD_SYRLINKS_HANDLER == 1 */
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#if Q7S_ADD_RTD_DEVICES == 1
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createRtdComponents();
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#endif /* Q7S_ADD_RTD_DEVICES == 1 */
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I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ,
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IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
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new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
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createReactionWheelComponents(gpioComIF);
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#if OBSW_ADD_PLOC_MPSOC == 1
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UartCookie* plocMpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER,
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q7s::UART_PLOC_MPSOC_DEV, UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD,
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PLOC_MPSOC::MAX_REPLY_SIZE);
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new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie);
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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* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
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q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL, uart::PLOC_SUPERVISOR_BAUD,
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PLOC_SPV::MAX_PACKET_SIZE * 20);
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plocSupervisorCookie->setNoFixedSizeReply();
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PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
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objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
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plocSupervisor->setStartUpImmediately();
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#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
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new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
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#if OBSW_ADD_STAR_TRACKER == 1
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UartCookie* starTrackerCookie = new UartCookie(objects::START_TRACKER,
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q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL, uart::STAR_TRACKER_BAUD,
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StarTracker::MAX_FRAME_SIZE* 2 + 2);
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starTrackerCookie->setNoFixedSizeReply();
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new StarTrackerHandler(objects::START_TRACKER, objects::UART_COM_IF, starTrackerCookie);
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#endif /* OBSW_ADD_STAR_TRACKER == 1 */
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#endif /* TE7020 != 0 */
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#if OBSW_USE_TMTC_TCP_BRIDGE == 0
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auto udpBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
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new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
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sif::info << "Created UDP server for TMTC commanding with listener port " <<
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udpBridge->getUdpPort() << std::endl;
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#else
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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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auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
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sif::info << "Created TCP server for TMTC commanding with listener port " <<
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tcpServer->getTcpPort() << std::endl;
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#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
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/* Test Task */
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#if OBSW_ADD_TEST_CODE == 1
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createTestComponents(gpioComIF);
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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new PlocUpdater(objects::PLOC_UPDATER);
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new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
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}
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void ObjectFactory::createTmpComponents() {
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#if BOARD_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, q7s::I2C_DEFAULT_DEV);
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I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
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TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
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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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(void) tmp1075Handler_1;
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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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(void) tmp1075Handler_2;
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}
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void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
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UartComIF** uartComIF, SpiComIF** spiComIF) {
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if(gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
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sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
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<< std::endl;
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}
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*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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*uartComIF = new UartComIF(objects::UART_COM_IF);
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#if OBSW_ADD_SPI_TEST_CODE == 0
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*spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
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#endif /* Q7S_ADD_SPI_TEST_CODE == 0 */
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#if BOARD_TE0720 == 0
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/* Adding gpios for chip select decoding to the gpioComIf */
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gpioCallbacks::initSpiCsDecoder(*gpioComIF);
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#endif
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}
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void ObjectFactory::createPcduComponents() {
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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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p60dockhandler->setModeNormal();
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pdu1handler->setModeNormal();
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pdu2handler->setModeNormal();
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acuhandler->setModeNormal();
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}
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void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
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GpioCookie* gpioCookieRadSensor = new GpioCookie;
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GpiodRegular* chipSelectRadSensor = new GpiodRegular(q7s::GPIO_RAD_SENSOR_CHIP,
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q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::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 = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
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std::string(q7s::SPI_DEFAULT_DEV), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
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spi::DEFAULT_MAX_1227_SPEED);
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new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
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}
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void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
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SpiComIF* spiComIF) {
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GpioCookie* gpioCookieSus = new GpioCookie();
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GpioCallback* susgpio = nullptr;
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susgpio = new GpioCallback("Chip select SUS 1", gpio::OUT, 1,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
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susgpio = new GpioCallback("Chip select SUS 2", gpio::OUT, 1,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
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susgpio = new GpioCallback("Chip select SUS 3", gpio::OUT, 1,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
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susgpio = new GpioCallback("Chip select SUS 4", gpio::OUT, 1,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
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susgpio = new GpioCallback("Chip select SUS 5", gpio::OUT, 1,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
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susgpio = new GpioCallback("Chip select SUS 6", gpio::OUT, 1,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
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susgpio = new GpioCallback("Chip select SUS 7", gpio::OUT, 1,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
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susgpio = new GpioCallback("Chip select SUS 8", gpio::OUT, 1,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
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susgpio = new GpioCallback("Chip select SUS 9", gpio::OUT, 1,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
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susgpio = new GpioCallback("Chip select SUS 10", gpio::OUT, 1,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
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susgpio = new GpioCallback("Chip select SUS 11", gpio::OUT, 1,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
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susgpio = new GpioCallback("Chip select SUS 12", gpio::OUT, 1,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio);
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susgpio = new GpioCallback("Chip select SUS 13", gpio::OUT, 1,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio);
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gpioComIF->addGpios(gpioCookieSus);
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SpiCookie* spiCookieSus1 = new SpiCookie(addresses::SUS_1, gpio::NO_GPIO,
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std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus2 = new SpiCookie(addresses::SUS_2, gpio::NO_GPIO,
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std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus3 = new SpiCookie(addresses::SUS_3, gpio::NO_GPIO,
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std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus4 = new SpiCookie(addresses::SUS_4, gpio::NO_GPIO,
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std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus5 = new SpiCookie(addresses::SUS_5, gpio::NO_GPIO,
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std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus6 = new SpiCookie(addresses::SUS_6, gpio::NO_GPIO,
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std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus7 = new SpiCookie(addresses::SUS_7, gpio::NO_GPIO,
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std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus8 = new SpiCookie(addresses::SUS_8, gpio::NO_GPIO,
|
|
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
|
|
SUS::MAX1227_SPI_FREQ);
|
|
SpiCookie* spiCookieSus9 = new SpiCookie(addresses::SUS_9, gpio::NO_GPIO,
|
|
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
|
|
SUS::MAX1227_SPI_FREQ);
|
|
SpiCookie* spiCookieSus10 = new SpiCookie(addresses::SUS_10, gpio::NO_GPIO,
|
|
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
|
|
SUS::MAX1227_SPI_FREQ);
|
|
SpiCookie* spiCookieSus11 = new SpiCookie(addresses::SUS_11, gpio::NO_GPIO,
|
|
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
|
|
SUS::MAX1227_SPI_FREQ);
|
|
SpiCookie* spiCookieSus12 = new SpiCookie(addresses::SUS_12, gpio::NO_GPIO,
|
|
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
|
|
SUS::MAX1227_SPI_FREQ);
|
|
SpiCookie* spiCookieSus13 = new SpiCookie(addresses::SUS_13, gpio::NO_GPIO,
|
|
std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
|
|
SUS::MAX1227_SPI_FREQ);
|
|
|
|
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF,
|
|
gpioIds::CS_SUS_1);
|
|
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF,
|
|
gpioIds::CS_SUS_2);
|
|
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF,
|
|
gpioIds::CS_SUS_3);
|
|
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF,
|
|
gpioIds::CS_SUS_4);
|
|
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF,
|
|
gpioIds::CS_SUS_5);
|
|
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF,
|
|
gpioIds::CS_SUS_6);
|
|
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF,
|
|
gpioIds::CS_SUS_7);
|
|
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF,
|
|
gpioIds::CS_SUS_8);
|
|
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF,
|
|
gpioIds::CS_SUS_9);
|
|
new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF,
|
|
gpioIds::CS_SUS_10);
|
|
new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF,
|
|
gpioIds::CS_SUS_11);
|
|
new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF,
|
|
gpioIds::CS_SUS_12);
|
|
new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF,
|
|
gpioIds::CS_SUS_13);
|
|
}
|
|
|
|
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
|
|
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
|
|
GpiodRegular* gpio = nullptr;
|
|
gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_0_ADIS_CS,
|
|
"CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
|
|
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_1_L3G_CS,
|
|
"CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
|
|
gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_2_ADIS_CS,
|
|
"CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
|
|
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_3_L3G_CS,
|
|
"CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
|
|
|
|
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_0_LIS3_CS,
|
|
"CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
|
|
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_1_RM3100_CS,
|
|
"CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
|
|
gpio = new GpiodRegular(q7s::GPIO_MGM2_LIS3_CHIP, q7s::GPIO_MGM_2_LIS3_CS,
|
|
"CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
|
|
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_3_RM3100_CS,
|
|
"CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
|
|
|
|
// GNSS reset pins are active low
|
|
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_RESET_GNSS_0,
|
|
"GNSS_0_NRESET", gpio::OUT, gpio::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
|
|
gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_RESET_GNSS_1,
|
|
"GNSS_1_NRESET", gpio::OUT, gpio::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
|
|
|
|
// Enable pins must be pulled low for regular operations
|
|
gpio = new GpiodRegular(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
|
|
"GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
|
|
gpio = new GpiodRegular(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
|
|
"GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
|
|
|
|
// TODO: Add enable pins for GPS as soon as new interface board design is finished
|
|
gpioComIF->addGpios(gpioCookieAcsBoard);
|
|
|
|
std::string spiDev = q7s::SPI_DEFAULT_DEV;
|
|
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
|
|
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
|
auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
|
|
objects::SPI_COM_IF, spiCookie);
|
|
mgmLis3Handler->setStartUpImmediately();
|
|
|
|
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
|
|
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
|
auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
|
|
objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
|
|
mgmRm3100Handler->setStartUpImmediately();
|
|
|
|
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
|
|
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
|
auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
|
|
objects::SPI_COM_IF, spiCookie);
|
|
mgmLis3Handler2->setStartUpImmediately();
|
|
|
|
spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
|
|
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
|
mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
|
|
objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
|
|
mgmRm3100Handler->setStartUpImmediately();
|
|
|
|
// Commented until ACS board V2 in in clean room again
|
|
// Gyro 0 Side A
|
|
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
|
|
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
|
spi::DEFAULT_ADIS16507_SPEED);
|
|
auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER,
|
|
objects::SPI_COM_IF, spiCookie);
|
|
adisHandler->setStartUpImmediately();
|
|
// Gyro 1 Side A
|
|
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
|
|
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
|
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER,
|
|
objects::SPI_COM_IF, spiCookie, 0);
|
|
gyroL3gHandler->setStartUpImmediately();
|
|
//gyroL3gHandler->setGoNormalModeAtStartup();
|
|
// Gyro 2 Side B
|
|
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
|
|
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
|
spi::DEFAULT_ADIS16507_SPEED);
|
|
adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER,
|
|
objects::SPI_COM_IF, spiCookie);
|
|
adisHandler->setStartUpImmediately();
|
|
// Gyro 3 Side B
|
|
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
|
|
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
|
gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER,
|
|
objects::SPI_COM_IF, spiCookie, 0);
|
|
gyroL3gHandler->setStartUpImmediately();
|
|
//gyroL3gHandler->setGoNormalModeAtStartup();
|
|
|
|
resetArgsGnss1.gnss1 = true;
|
|
resetArgsGnss1.gpioComIF = gpioComIF;
|
|
resetArgsGnss1.waitPeriodMs = 100;
|
|
resetArgsGnss0.gnss1 = false;
|
|
resetArgsGnss0.gpioComIF = gpioComIF;
|
|
resetArgsGnss0.waitPeriodMs = 100;
|
|
auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV,
|
|
UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
|
|
uartCookieGps0->setToFlushInput(true);
|
|
uartCookieGps0->setReadCycles(6);
|
|
auto uartCookieGps1 = new UartCookie(objects::GPS1_HANDLER, q7s::UART_GNSS_1_DEV,
|
|
UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
|
|
uartCookieGps1->setToFlushInput(true);
|
|
uartCookieGps1->setReadCycles(6);
|
|
auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
|
|
uartCookieGps0, true);
|
|
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
|
|
gpsHandler0->setStartUpImmediately();
|
|
auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
|
|
uartCookieGps1, true);
|
|
gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1);
|
|
gpsHandler1->setStartUpImmediately();
|
|
}
|
|
|
|
void ObjectFactory::createHeaterComponents() {
|
|
|
|
GpioCookie* heaterGpiosCookie = new GpioCookie;
|
|
|
|
/* Pin H2-11 on stack connector */
|
|
GpiodRegular* gpioConfigHeater0 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
|
|
q7s::GPIO_HEATER_0_PIN, "Heater0", gpio::OUT, 0);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
|
|
|
|
/* Pin H2-12 on stack connector */
|
|
GpiodRegular* gpioConfigHeater1 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
|
|
q7s::GPIO_HEATER_1_PIN, "Heater1", gpio::OUT, 0);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
|
|
|
|
/* Pin H2-13 on stack connector */
|
|
GpiodRegular* gpioConfigHeater2 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
|
|
q7s::GPIO_HEATER_2_PIN, "Heater2", gpio::OUT, 0);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
|
|
|
|
GpiodRegular* gpioConfigHeater3 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
|
|
q7s::GPIO_HEATER_3_PIN, "Heater3", gpio::OUT, 0);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
|
|
|
|
GpiodRegular* gpioConfigHeater4 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
|
|
q7s::GPIO_HEATER_4_PIN, "Heater4", gpio::OUT, 0);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
|
|
|
|
GpiodRegular* gpioConfigHeater5 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
|
|
q7s::GPIO_HEATER_5_PIN, "Heater5", gpio::OUT, 0);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
|
|
|
|
GpiodRegular* gpioConfigHeater6 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
|
|
q7s::GPIO_HEATER_6_PIN, "Heater6", gpio::OUT, 0);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
|
|
|
|
GpiodRegular* gpioConfigHeater7 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
|
|
q7s::GPIO_HEATER_7_PIN, "Heater7", gpio::OUT, 0);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
|
|
|
|
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
|
|
objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
|
|
}
|
|
|
|
void ObjectFactory::createSolarArrayDeploymentComponents() {
|
|
GpioCookie* solarArrayDeplCookie = new GpioCookie;
|
|
|
|
GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
|
|
q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, 0);
|
|
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
|
|
GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
|
|
q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, 0);
|
|
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);
|
|
|
|
//TODO: Find out burn time. For now set to 1000 ms.
|
|
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
|
|
solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
|
|
gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
|
|
}
|
|
|
|
void ObjectFactory::createSyrlinksComponents() {
|
|
UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER,
|
|
q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL, uart::SYRLINKS_BAUD,
|
|
SYRLINKS::MAX_REPLY_SIZE);
|
|
syrlinksUartCookie->setParityEven();
|
|
|
|
new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
|
|
}
|
|
|
|
void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
|
|
GpioCookie* rtdGpioCookie = new GpioCookie;
|
|
|
|
GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC3, gpioRtdIc3);
|
|
GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC4, gpioRtdIc4);
|
|
GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC5, gpioRtdIc5);
|
|
GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC6, gpioRtdIc6);
|
|
GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC7, gpioRtdIc7);
|
|
GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC8, gpioRtdIc8);
|
|
GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC9, gpioRtdIc9);
|
|
GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC10, gpioRtdIc10);
|
|
GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC11, gpioRtdIc11);
|
|
GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC12, gpioRtdIc12);
|
|
GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC13, gpioRtdIc13);
|
|
GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC14, gpioRtdIc14);
|
|
GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC15, gpioRtdIc15);
|
|
GpioCallback* gpioRtdIc16 = new GpioCallback("Chip select RTD IC16", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC16, gpioRtdIc16);
|
|
GpioCallback* gpioRtdIc17 = new GpioCallback("Chip select RTD IC17", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC17, gpioRtdIc17);
|
|
GpioCallback* gpioRtdIc18 = new GpioCallback("Chip select RTD IC18", gpio::OUT, gpio::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC18, gpioRtdIc18);
|
|
|
|
gpioComIF->addGpios(rtdGpioCookie);
|
|
|
|
SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16,
|
|
std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18,
|
|
q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
|
|
spi::SpiModes::MODE_1, spi::RTD_SPEED);
|
|
|
|
Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3,
|
|
objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
|
|
Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4,
|
|
objects::SPI_COM_IF, spiRtdIc4, 0);
|
|
Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5,
|
|
objects::SPI_COM_IF, spiRtdIc5, 0);
|
|
Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6,
|
|
objects::SPI_COM_IF, spiRtdIc6, 0);
|
|
Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7,
|
|
objects::SPI_COM_IF, spiRtdIc7, 0);
|
|
Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8,
|
|
objects::SPI_COM_IF, spiRtdIc8, 0);
|
|
Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9,
|
|
objects::SPI_COM_IF, spiRtdIc9, 0);
|
|
Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10,
|
|
objects::SPI_COM_IF, spiRtdIc10, 0);
|
|
Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11,
|
|
objects::SPI_COM_IF, spiRtdIc11, 0);
|
|
Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC12,
|
|
objects::SPI_COM_IF, spiRtdIc12, 0);
|
|
Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC13,
|
|
objects::SPI_COM_IF, spiRtdIc13, 0);
|
|
Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC14,
|
|
objects::SPI_COM_IF, spiRtdIc14, 0);
|
|
Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC15,
|
|
objects::SPI_COM_IF, spiRtdIc15, 0);
|
|
Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16,
|
|
objects::SPI_COM_IF, spiRtdIc16, 0);
|
|
Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17,
|
|
objects::SPI_COM_IF, spiRtdIc17, 0);
|
|
Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18,
|
|
objects::SPI_COM_IF, spiRtdIc18, 0);
|
|
|
|
(void) rtdIc3;
|
|
(void) rtdIc4;
|
|
(void) rtdIc5;
|
|
(void) rtdIc6;
|
|
(void) rtdIc7;
|
|
(void) rtdIc8;
|
|
(void) rtdIc9;
|
|
(void) rtdIc10;
|
|
(void) rtdIc11;
|
|
(void) rtdIc12;
|
|
(void) rtdIc13;
|
|
(void) rtdIc14;
|
|
(void) rtdIc15;
|
|
(void) rtdIc16;
|
|
(void) rtdIc17;
|
|
(void) rtdIc18;
|
|
}
|
|
|
|
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
|
|
GpioCookie* gpioCookieRw = new GpioCookie;
|
|
GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT,
|
|
gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
|
|
GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT,
|
|
gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
|
|
GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT,
|
|
gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
|
|
GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT,
|
|
gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
|
|
|
|
GpiodRegular* enRw1 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_0_CS,
|
|
"Enable reaction wheel 1", gpio::OUT, 0);
|
|
gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
|
|
GpiodRegular* enRw2 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_1_CS,
|
|
"Enable reaction wheel 2", gpio::OUT, 0);
|
|
gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
|
|
GpiodRegular* enRw3 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_2_CS,
|
|
"Enable reaction wheel 3", gpio::OUT, 0);
|
|
gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
|
|
GpiodRegular* enRw4 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_3_CS,
|
|
"Enable reaction wheel 4", gpio::OUT, 0);
|
|
gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
|
|
|
|
/**
|
|
* This GPIO is only internally connected to the SPI MUX module and responsible to disconnect
|
|
* the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
|
|
* Per default the PS SPI is selected (EMIO = 0).
|
|
*/
|
|
GpiodRegular* spiMux = new GpiodRegular(q7s::GPIO_RW_SPI_MUX_CHIP, q7s::GPIO_RW_SPI_MUX_CS,
|
|
"EMIO 0 SPI Mux", gpio::OUT, 0);
|
|
gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
|
|
|
|
gpioComIF->addGpios(gpioCookieRw);
|
|
|
|
auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV,
|
|
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
|
|
nullptr);
|
|
auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV,
|
|
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
|
|
nullptr);
|
|
auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV,
|
|
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
|
|
nullptr);
|
|
auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV,
|
|
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
|
|
nullptr);
|
|
|
|
auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
|
|
gpioIds::EN_RW1);
|
|
rw1SpiCookie->setCallbackArgs(rwHandler1);
|
|
|
|
auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
|
|
gpioIds::EN_RW2);
|
|
rw2SpiCookie->setCallbackArgs(rwHandler2);
|
|
|
|
auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
|
|
gpioIds::EN_RW3);
|
|
rw3SpiCookie->setCallbackArgs(rwHandler3);
|
|
|
|
auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
|
|
gpioIds::EN_RW4);
|
|
rw4SpiCookie->setCallbackArgs(rwHandler4);
|
|
}
|
|
|
|
void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
|
|
|
|
#if BOARD_TE0720 == 0
|
|
new Q7STestTask(objects::TEST_TASK);
|
|
#endif
|
|
|
|
#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
|
|
/* Configure MIO0 as input */
|
|
GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
|
|
std::string("MIO0"), gpio::IN, 0);
|
|
GpioCookie* gpioCookie = new GpioCookie;
|
|
gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
|
|
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
|
|
#endif
|
|
|
|
#if BOARD_TE0720 == 1 && OBSW_TEST_SUS_HANDLER == 1
|
|
GpioCookie* gpioCookieSus = new GpioCookie;
|
|
GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9,
|
|
std::string("Chip Select Sus Sensor"), gpio::OUT, 1);
|
|
gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus);
|
|
gpioComIF->addGpios(gpioCookieSus);
|
|
|
|
SpiCookie* spiCookieSus = new SpiCookie(addresses::SUS_1, std::string("/dev/spidev1.0"),
|
|
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
|
|
|
|
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus, gpioComIF,
|
|
gpioIds::CS_SUS_1);
|
|
#endif
|
|
|
|
#if BOARD_TE0720 == 1 && OBSW_TEST_CCSDS_BRIDGE == 1
|
|
GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
|
|
GpiodRegular* papbBusyN = new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_N"));
|
|
gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
|
|
GpiodRegular* papbEmpty = new GpiodRegular(std::string("gpiochip0"), 1,
|
|
std::string("Chip Select Sus Sensor"));
|
|
gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_EMPTY, papbEmpty);
|
|
gpioComIF->addGpios(gpioCookieCcsdsIp);
|
|
|
|
new CCSDSIPCoreBridge(objects::CCSDS_IP_CORE_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR,
|
|
objects::TM_STORE, objects::TC_STORE, gpioComIF, std::string("/dev/uio0"),
|
|
gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY);
|
|
#endif
|
|
|
|
#if BOARD_TE0720 == 1 && OBSW_TEST_RADIATION_SENSOR_HANDLER == 1
|
|
GpioCookie* gpioCookieRadSensor = new GpioCookie;
|
|
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0,
|
|
std::string("Chip select radiation sensor"), gpio::OUT, 1);
|
|
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
|
|
gpioComIF->addGpios(gpioCookieRadSensor);
|
|
|
|
SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
|
|
std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
|
|
spi::DEFAULT_MAX_1227_SPEED);
|
|
|
|
RadiationSensorHandler* radSensor = new RadiationSensorHandler(objects::RAD_SENSOR,
|
|
objects::SPI_COM_IF, spiCookieRadSensor);
|
|
radSensor->setStartUpImmediately();
|
|
#endif
|
|
|
|
#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_MPSOC == 1
|
|
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200,
|
|
PLOC_MPSOC::MAX_REPLY_SIZE);
|
|
/* Testing PlocMPSoCHandler on TE0720-03-1CFA */
|
|
PlocMPSoCHandler* mpsocPlocHandler = new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF,
|
|
plocUartCookie);
|
|
mpsocPlocHandler->setStartUpImmediately();
|
|
#endif
|
|
|
|
#if BOARD_TE0720 == 1 && OBSW_TEST_TE7020_HEATER == 1
|
|
/* Configuration for MIO0 on TE0720-03-1CFA */
|
|
GpiodRegular* heaterGpio = new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
|
|
GpioCookie* gpioCookie = new GpioCookie;
|
|
gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
|
|
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
|
|
pcduSwitches::TCS_BOARD_8V_HEATER_IN);
|
|
#endif
|
|
|
|
#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_SUPERVISOR == 1
|
|
/* Configuration for MIO0 on TE0720-03-1CFA */
|
|
UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
|
|
std::string("/dev/ttyPS1"), UartModes::NON_CANONICAL, 115200,
|
|
PLOC_SPV::MAX_PACKET_SIZE * 20);
|
|
plocSupervisorCookie->setNoFixedSizeReply();
|
|
PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
|
|
objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
|
|
plocSupervisor->setStartUpImmediately();
|
|
#endif
|
|
|
|
#if OBSW_ADD_SPI_TEST_CODE == 1
|
|
new SpiTestClass(objects::SPI_TEST, gpioComIF);
|
|
#endif
|
|
|
|
}
|