Robin Müller
bb8d4fbc57
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EIVE/eive-obsw/pipeline/pr-develop This commit looks good
145 lines
5.1 KiB
C++
145 lines
5.1 KiB
C++
#include <bsp_q7s/callbacks/q7sGpioCallbacks.h>
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#include <dummies/ComCookieDummy.h>
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#include <dummies/PcduHandlerDummy.h>
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#include <fsfw/health/HealthTableIF.h>
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#include <fsfw/power/DummyPowerSwitcher.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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#include <mission/power/gsDefs.h>
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#include <mission/system/tree/system.h>
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#include <mission/utility/DummySdCardManager.h>
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#include "OBSWConfig.h"
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#include "bsp_q7s/core/CoreController.h"
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#include "bsp_q7s/core/ObjectFactory.h"
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#include "busConf.h"
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#include "devConf.h"
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#include "dummies/helpers.h"
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#include "eive/objects.h"
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#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
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#include "linux/ObjectFactory.h"
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#include "linux/callbacks/gpioCallbacks.h"
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#include "mission/genericFactory.h"
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#include "mission/system/com/comModeTree.h"
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void ObjectFactory::produce(void* args) {
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ObjectFactory::setStatics();
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HealthTableIF* healthTable = nullptr;
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PusTmFunnel* pusFunnel = nullptr;
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CfdpTmFunnel* cfdpFunnel = nullptr;
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StorageManagerIF* ipcStore = nullptr;
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StorageManagerIF* tmStore = nullptr;
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bool enableHkSets = false;
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#if OBSW_ENABLE_PERIODIC_HK == 1
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enableHkSets = true;
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#endif
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PersistentTmStores stores;
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ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel,
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*SdCardManager::instance(), &ipcStore, &tmStore, stores);
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LinuxLibgpioIF* gpioComIF = nullptr;
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SerialComIF* uartComIF = nullptr;
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SpiComIF* spiMainComIF = nullptr;
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I2cComIF* i2cComIF = nullptr;
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createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF);
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/* Adding gpios for chip select decoding to the gpioComIf */
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q7s::gpioCallbacks::initSpiCsDecoder(gpioComIF);
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gpioCallbacks::disableAllDecoder(gpioComIF);
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// Hardware is usually not connected to EM, so we need to create dummies which replace lower
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// level components.
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dummy::DummyCfg dummyCfg;
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dummyCfg.addCoreCtrlCfg = false;
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#if OBSW_ADD_SYRLINKS == 1
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dummyCfg.addSyrlinksDummies = false;
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#endif
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#if OBSW_ADD_GOMSPACE_PCDU == 1
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dummyCfg.addPowerDummies = false;
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#endif
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#if OBSW_ADD_ACS_BOARD == 1
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dummyCfg.addAcsBoardDummies = false;
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#endif
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PowerSwitchIF* pwrSwitcher = nullptr;
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#if OBSW_ADD_GOMSPACE_PCDU == 0
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auto* comCookieDummy = new ComCookieDummy();
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pwrSwitcher = new PcduHandlerDummy(objects::PCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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#else
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createPcduComponents(gpioComIF, &pwrSwitcher, enableHkSets);
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#endif
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dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
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new CoreController(objects::CORE_CONTROLLER, I2C_FATAL_ERRORS, enableHkSets);
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// Regular FM code, does not work for EM if the hardware is not connected
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// createPcduComponents(gpioComIF, &pwrSwitcher);
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// createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
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// createSyrlinksComponents(pwrSwitcher);
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// createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
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// createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
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// createTmpComponents();
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// createSolarArrayDeploymentComponents();
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// createPayloadComponents(gpioComIF);
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// createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
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// TODO: Careful! Switching this on somehow messes with the communication with the ProASIC
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// and will cause xsc_boot_copy commands to always boot to 0 0
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// createRadSensorComponent(gpioComIF);
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#if OBSW_ADD_ACS_BOARD == 1
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createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
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#else
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// Still add all GPIOs for EM.
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GpioCookie* acsBoardGpios = new GpioCookie();
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createAcsBoardGpios(*acsBoardGpios);
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gpioChecker(gpioComIF->addGpios(acsBoardGpios), "ACS Board");
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#endif
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#if OBSW_ADD_MGT == 1
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createImtqComponents(pwrSwitcher, enableHkSets);
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#endif
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#if OBSW_ADD_SYRLINKS == 1
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createSyrlinksComponents(pwrSwitcher);
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#endif /* OBSW_ADD_SYRLINKS == 1 */
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#if OBSW_ADD_RW == 1
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createReactionWheelComponents(gpioComIF, pwrSwitcher);
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#endif
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#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
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createBpxBatteryComponent(enableHkSets);
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#endif
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#if OBSW_ADD_STAR_TRACKER == 1
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createStrComponents(pwrSwitcher);
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#endif /* OBSW_ADD_STAR_TRACKER == 1 */
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#if OBSW_ADD_CCSDS_IP_CORES == 1
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CcsdsIpCoreHandler* ipCoreHandler = nullptr;
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CcsdsComponentArgs ccsdsArgs(*gpioComIF, *ipcStore, *tmStore, stores, *pusFunnel, *cfdpFunnel,
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&ipCoreHandler);
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createCcsdsComponents(ccsdsArgs);
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#if OBSW_TM_TO_PTME == 1
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if (ccsdsArgs.liveDestination != nullptr) {
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pusFunnel->addLiveDestination("VC0 LIVE TM", *ccsdsArgs.liveDestination, 0);
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}
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#endif
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#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */
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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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#if OBSW_ADD_SCEX_DEVICE == 1
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createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
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pcdu::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
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#endif
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createAcsController(true, enableHkSets);
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HeaterHandler* heaterHandler = nullptr;
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ObjectFactory::createGenericHeaterComponents(*gpioComIF, *pwrSwitcher, heaterHandler);
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createThermalController(*heaterHandler);
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satsystem::init();
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}
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