1395 lines
65 KiB
C++
1395 lines
65 KiB
C++
#include "ObjectFactory.h"
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#include <fsfw/ipc/QueueFactory.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/system/AcsBoardFdir.h>
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#include <mission/system/SusAssembly.h>
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#include <mission/system/SusFdir.h>
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#include "OBSWConfig.h"
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#include "bsp_q7s/boardtest/Q7STestTask.h"
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#include "bsp_q7s/callbacks/gnssCallback.h"
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#include "bsp_q7s/callbacks/gpioCallbacks.h"
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#include "bsp_q7s/callbacks/pcduSwitchCb.h"
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#include "bsp_q7s/callbacks/rwSpiCallback.h"
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#include "bsp_q7s/core/CoreController.h"
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#include "bsp_q7s/devices/PlocMemoryDumper.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/memory/FileSystemHandler.h"
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#include "busConf.h"
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#include "ccsdsConfig.h"
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#include "devConf.h"
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#include "devices/addresses.h"
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#include "devices/gpioIds.h"
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#include "devices/powerSwitcherList.h"
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#include "linux/boardtest/I2cTestClass.h"
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#include "linux/boardtest/SpiTestClass.h"
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#include "linux/boardtest/UartTestClass.h"
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#include "linux/csp/CspComIF.h"
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#include "linux/csp/CspCookie.h"
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#include "linux/devices/GPSHyperionLinuxController.h"
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#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
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#include "linux/devices/startracker/StarTrackerHandler.h"
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#include "linux/devices/startracker/StrHelper.h"
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#include "tmtc/apid.h"
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#include "tmtc/pusIds.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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#include <sstream>
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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/common/gpio/GpioCookie.h"
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#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
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#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
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#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
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#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.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/spi/SpiComIF.h"
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#include "fsfw_hal/linux/spi/SpiCookie.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 "mission/core/GenericFactory.h"
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#include "mission/devices/ACUHandler.h"
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#include "mission/devices/BpxBatteryHandler.h"
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#include "mission/devices/GyroADIS1650XHandler.h"
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#include "mission/devices/HeaterHandler.h"
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#include "mission/devices/IMTQHandler.h"
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#include "mission/devices/Max31865PT1000Handler.h"
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#include "mission/devices/P60DockHandler.h"
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#include "mission/devices/PCDUHandler.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/PayloadPcduHandler.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/SolarArrayDeploymentHandler.h"
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#include "mission/devices/SusHandler.h"
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#include "mission/devices/SyrlinksHkHandler.h"
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#include "mission/devices/Tmp1075Handler.h"
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#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
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#include "mission/devices/devicedefinitions/Max31865Definitions.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/RwDefinitions.h"
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#include "mission/devices/devicedefinitions/SusDefinitions.h"
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#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
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#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
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#include "mission/system/AcsBoardAssembly.h"
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#include "mission/tmtc/CCSDSHandler.h"
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#include "mission/tmtc/VirtualChannel.h"
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#include "mission/utility/TmFunnel.h"
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ResetArgs resetArgsGnss0;
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ResetArgs resetArgsGnss1;
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void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
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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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#if OBSW_TM_TO_PTME == 1
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TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
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#else
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TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
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#endif /* OBSW_TM_TO_PTME == 1 */
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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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I2cComIF* i2cComIF = nullptr;
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PowerSwitchIF* pwrSwitcher = nullptr;
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createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
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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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gpioCallbacks::disableAllDecoder();
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createPcduComponents(gpioComIF, &pwrSwitcher);
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createRadSensorComponent(gpioComIF);
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createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher);
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#if OBSW_ADD_ACS_BOARD == 1
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createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
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#endif
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createHeaterComponents();
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createSolarArrayDeploymentComponents();
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createPlPcduComponents(gpioComIF, spiComIF);
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#if OBSW_ADD_SYRLINKS == 1
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createSyrlinksComponents();
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#endif /* OBSW_ADD_SYRLINKS == 1 */
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createRtdComponents(gpioComIF);
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#if OBSW_ADD_MGT == 1
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I2cCookie* imtqI2cCookie =
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new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
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auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
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static_cast<void>(imtqHandler);
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#if OBSW_DEBUG_IMTQ == 1
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imtqHandler->setToGoToNormal(true);
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imtqHandler->setStartUpImmediately();
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#else
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(void)imtqHandler;
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#endif
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#endif
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createReactionWheelComponents(gpioComIF);
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#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
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I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
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BpxBatteryHandler* bpxHandler =
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new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
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#if OBSW_TEST_BPX_BATT == 1
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bpxHandler->setToGoToNormalMode(true);
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bpxHandler->setStartUpImmediately();
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#else
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static_cast<void>(bpxHandler);
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#endif
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#endif
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#if OBSW_ADD_PLOC_MPSOC == 1
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UartCookie* plocMpsocCookie =
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new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
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UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, 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(
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objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL,
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uart::PLOC_SUPERVISOR_BAUD, 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 =
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new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL,
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uart::STAR_TRACKER_BAUD, StarTracker::MAX_FRAME_SIZE * 2 + 2);
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starTrackerCookie->setNoFixedSizeReply();
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StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
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StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(
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objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper);
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starTrackerHandler->setStartUpImmediately();
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#endif /* OBSW_ADD_STAR_TRACKER == 1 */
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#endif /* TE7020 == 0 */
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#if OBSW_USE_CCSDS_IP_CORE == 1
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createCcsdsComponents(gpioComIF);
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#endif /* OBSW_USE_CCSDS_IP_CORE == 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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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 =
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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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#else
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I2cCookie* i2cCookieTmp1075tcs1 =
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new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
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I2cCookie* i2cCookieTmp1075tcs2 =
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new I2cCookie(addresses::TMP1075_TCS_2, 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 =
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new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
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(void)tmp1075Handler_1;
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Tmp1075Handler* tmp1075Handler_2 =
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new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
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(void)tmp1075Handler_2;
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}
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void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
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SpiComIF** spiComIF, I2cComIF** i2cComIF) {
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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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*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
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*uartComIF = new UartComIF(objects::UART_COM_IF);
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*spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
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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(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
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CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
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CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
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CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
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CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
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/* Device Handler */
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P60DockHandler* p60dockhandler =
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new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
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PDU1Handler* pdu1handler =
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new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
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pdu1handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
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PDU2Handler* pdu2handler =
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new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
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pdu2handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
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ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
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auto pcduHandler = 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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if (pwrSwitcher != nullptr) {
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*pwrSwitcher = pcduHandler;
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}
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}
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void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
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using namespace gpio;
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GpioCookie* gpioCookieRadSensor = new GpioCookie;
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std::stringstream consumer;
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consumer << "0x" << std::hex << objects::RAD_SENSOR;
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GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
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q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), Direction::OUT, Levels::HIGH);
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gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
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Levels::LOW);
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gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
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gpioComIF->addGpios(gpioCookieRadSensor);
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SpiCookie* spiCookieRadSensor = new SpiCookie(
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addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
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RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
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auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF,
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spiCookieRadSensor, gpioComIF);
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static_cast<void>(radSensor);
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// The radiation sensor ADC is powered by the 5V stack connector which should always be on
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radSensor->setStartUpImmediately();
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// It's a simple sensor, so just to to normal mode immediately
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radSensor->setToGoToNormalModeImmediately();
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#if OBSW_DEBUG_RAD_SENSOR == 1
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radSensor->enablePeriodicDataPrint(true);
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#endif
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}
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void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher) {
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using namespace gpio;
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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 0", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_0, susgpio);
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susgpio = new GpioCallback("Chip select SUS 1", Direction::OUT, Levels::HIGH,
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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", Direction::OUT, Levels::HIGH,
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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", Direction::OUT, Levels::HIGH,
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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", Direction::OUT, Levels::HIGH,
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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", Direction::OUT, Levels::HIGH,
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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", Direction::OUT, Levels::HIGH,
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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", Direction::OUT, Levels::HIGH,
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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", Direction::OUT, Levels::HIGH,
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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", Direction::OUT, Levels::HIGH,
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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", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
|
|
susgpio = new GpioCallback("Chip select SUS 11", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
|
|
|
|
gpioComIF->addGpios(gpioCookieSus);
|
|
|
|
SusFdir* fdir = nullptr;
|
|
std::array<SusHandler*, 12> susHandlers = {};
|
|
#if OBSW_ADD_SUN_SENSORS == 1
|
|
SpiCookie* spiCookie =
|
|
new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
|
|
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
|
susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
|
|
fdir = new SusFdir(objects::SUS_0);
|
|
susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
|
|
susHandlers[0]->setCustomFdir(fdir);
|
|
|
|
spiCookie =
|
|
new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
|
|
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
|
susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
|
|
fdir = new SusFdir(objects::SUS_1);
|
|
susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
|
|
susHandlers[1]->setCustomFdir(fdir);
|
|
|
|
spiCookie =
|
|
new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
|
|
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
|
susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
|
|
fdir = new SusFdir(objects::SUS_2);
|
|
susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
|
|
susHandlers[2]->setCustomFdir(fdir);
|
|
|
|
spiCookie =
|
|
new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, std::string(q7s::SPI_DEFAULT_DEV),
|
|
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
|
susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
|
|
fdir = new SusFdir(objects::SUS_3);
|
|
susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
|
|
susHandlers[3]->setCustomFdir(fdir);
|
|
|
|
spiCookie =
|
|
new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, std::string(q7s::SPI_DEFAULT_DEV),
|
|
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
|
susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
|
|
fdir = new SusFdir(objects::SUS_4);
|
|
susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
|
|
susHandlers[4]->setCustomFdir(fdir);
|
|
|
|
spiCookie =
|
|
new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, std::string(q7s::SPI_DEFAULT_DEV),
|
|
SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
|
susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
|
|
fdir = new SusFdir(objects::SUS_5);
|
|
susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
|
|
susHandlers[5]->setCustomFdir(fdir);
|
|
|
|
spiCookie =
|
|
new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
|
|
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
|
susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
|
|
fdir = new SusFdir(objects::SUS_6);
|
|
susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
|
|
susHandlers[6]->setCustomFdir(fdir);
|
|
|
|
spiCookie =
|
|
new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
|
|
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
|
susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
|
|
fdir = new SusFdir(objects::SUS_7);
|
|
susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
|
|
susHandlers[7]->setCustomFdir(fdir);
|
|
|
|
spiCookie =
|
|
new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
|
|
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
|
susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
|
|
fdir = new SusFdir(objects::SUS_8);
|
|
susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
|
|
susHandlers[8]->setCustomFdir(fdir);
|
|
|
|
spiCookie =
|
|
new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
|
|
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
|
susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
|
|
fdir = new SusFdir(objects::SUS_9);
|
|
susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
|
|
susHandlers[9]->setCustomFdir(fdir);
|
|
|
|
spiCookie =
|
|
new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
|
|
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
|
susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
|
|
fdir = new SusFdir(objects::SUS_10);
|
|
susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
|
|
susHandlers[10]->setCustomFdir(fdir);
|
|
|
|
spiCookie =
|
|
new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
|
|
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
|
susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
|
|
fdir = new SusFdir(objects::SUS_11);
|
|
susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
|
|
susHandlers[11]->setCustomFdir(fdir);
|
|
|
|
for(auto& sus: susHandlers) {
|
|
if(sus != nullptr) {
|
|
#if OBSW_TEST_SUS == 1
|
|
sus->setStartUpImmediately();
|
|
sus->setToGoToNormalMode(true);
|
|
#endif
|
|
#if OBSW_DEBUG_SUS == 1
|
|
sus->enablePeriodicPrintout(true, 3);
|
|
#endif
|
|
}
|
|
}
|
|
std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1, objects::SUS_2,
|
|
objects::SUS_3, objects::SUS_4, objects::SUS_5,
|
|
objects::SUS_6, objects::SUS_7, objects::SUS_8,
|
|
objects::SUS_9, objects::SUS_10, objects::SUS_11};
|
|
SusAssHelper susAssHelper = SusAssHelper(susIds);
|
|
auto susAss =
|
|
new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
|
|
static_cast<void>(susAss);
|
|
#endif /* OBSW_ADD_SUN_SENSORS == 1 */
|
|
}
|
|
|
|
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
|
|
PowerSwitchIF* pwrSwitcher) {
|
|
using namespace gpio;
|
|
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
|
|
|
|
std::stringstream consumer;
|
|
GpiodRegularByLineName* gpio = nullptr;
|
|
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), Direction::OUT,
|
|
Levels::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
|
|
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), Direction::OUT,
|
|
Levels::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
|
|
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), Direction::OUT,
|
|
Levels::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
|
|
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), Direction::OUT,
|
|
Levels::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
|
|
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), Direction::OUT,
|
|
Levels::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
|
|
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), Direction::OUT,
|
|
Levels::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
|
|
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), Direction::OUT,
|
|
Levels::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
|
|
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), Direction::OUT,
|
|
Levels::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
|
|
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
|
// GNSS reset pins are active low
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), Direction::OUT,
|
|
Levels::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
|
|
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), Direction::OUT,
|
|
Levels::HIGH);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
|
|
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
|
|
// Enable pins must be pulled low for regular operations
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
|
|
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
|
|
|
|
// Enable pins for GNSS
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
|
|
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
|
|
|
|
// Select pin. 0 for GPS side A, 1 for GPS side B
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
|
|
gpioComIF->addGpios(gpioCookieAcsBoard);
|
|
AcsBoardFdir* fdir = nullptr;
|
|
static_cast<void>(fdir);
|
|
|
|
#if OBSW_ADD_ACS_HANDLERS == 1
|
|
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 MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
|
|
spiCookie, spi::LIS3_TRANSITION_DELAY);
|
|
fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
|
|
mgmLis3Handler->setCustomFdir(fdir);
|
|
static_cast<void>(mgmLis3Handler);
|
|
#if OBSW_TEST_ACS == 1
|
|
mgmLis3Handler->setStartUpImmediately();
|
|
mgmLis3Handler->setToGoToNormalMode(true);
|
|
#endif
|
|
#if OBSW_DEBUG_ACS == 1
|
|
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
|
|
#endif
|
|
|
|
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, spi::RM3100_TRANSITION_DELAY);
|
|
fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
|
|
mgmRm3100Handler->setCustomFdir(fdir);
|
|
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
|
|
static_cast<void>(mgmRm3100Handler);
|
|
#if OBSW_TEST_ACS == 1
|
|
mgmRm3100Handler->setStartUpImmediately();
|
|
mgmRm3100Handler->setToGoToNormalMode(true);
|
|
#endif
|
|
#if OBSW_DEBUG_ACS == 1
|
|
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
|
|
#endif
|
|
|
|
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);
|
|
mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
|
|
spiCookie, spi::LIS3_TRANSITION_DELAY);
|
|
fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
|
|
mgmLis3Handler->setCustomFdir(fdir);
|
|
mgmLis3Handler->setParent(objects::ACS_BOARD_ASS);
|
|
static_cast<void>(mgmLis3Handler);
|
|
#if OBSW_TEST_ACS == 1
|
|
mgmLis3Handler->setStartUpImmediately();
|
|
mgmLis3Handler->setToGoToNormalMode(true);
|
|
#endif
|
|
#if OBSW_DEBUG_ACS == 1
|
|
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
|
|
#endif
|
|
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, spi::RM3100_TRANSITION_DELAY);
|
|
fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
|
|
mgmRm3100Handler->setCustomFdir(fdir);
|
|
mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
|
|
#if OBSW_TEST_ACS == 1
|
|
mgmRm3100Handler->setStartUpImmediately();
|
|
mgmRm3100Handler->setToGoToNormalMode(true);
|
|
#endif
|
|
#if OBSW_DEBUG_ACS == 1
|
|
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
|
|
#endif
|
|
|
|
// 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,
|
|
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
|
spi::DEFAULT_ADIS16507_SPEED);
|
|
auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
|
|
spiCookie, ADIS1650X::Type::ADIS16505);
|
|
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
|
|
adisHandler->setCustomFdir(fdir);
|
|
adisHandler->setParent(objects::ACS_BOARD_ASS);
|
|
static_cast<void>(adisHandler);
|
|
#if OBSW_TEST_ACS == 1
|
|
adisHandler->setStartUpImmediately();
|
|
adisHandler->setToGoToNormalModeImmediately();
|
|
#endif
|
|
#if OBSW_DEBUG_ACS == 1
|
|
adisHandler->enablePeriodicPrintouts(true, 10);
|
|
#endif
|
|
|
|
// 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, spi::L3G_TRANSITION_DELAY);
|
|
fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
|
|
gyroL3gHandler->setCustomFdir(fdir);
|
|
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
|
|
static_cast<void>(gyroL3gHandler);
|
|
#if OBSW_TEST_ACS == 1
|
|
gyroL3gHandler->setStartUpImmediately();
|
|
gyroL3gHandler->setToGoToNormalMode(true);
|
|
#endif
|
|
#if OBSW_DEBUG_ACS == 1
|
|
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
|
|
#endif
|
|
|
|
// Gyro 2 Side B
|
|
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
|
|
ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
|
|
spi::DEFAULT_ADIS16507_SPEED);
|
|
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
|
|
spiCookie, ADIS1650X::Type::ADIS16505);
|
|
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
|
|
adisHandler->setCustomFdir(fdir);
|
|
adisHandler->setParent(objects::ACS_BOARD_ASS);
|
|
#if OBSW_TEST_ACS == 1
|
|
adisHandler->setStartUpImmediately();
|
|
adisHandler->setToGoToNormalModeImmediately();
|
|
#endif
|
|
// 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, spi::L3G_TRANSITION_DELAY);
|
|
fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
|
|
gyroL3gHandler->setCustomFdir(fdir);
|
|
gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
|
|
#if OBSW_TEST_ACS == 1
|
|
gyroL3gHandler->setStartUpImmediately();
|
|
gyroL3gHandler->setToGoToNormalMode(true);
|
|
#endif
|
|
#if OBSW_DEBUG_ACS == 1
|
|
gyroL3gHandler->enablePeriodicPrintouts(true, 10);
|
|
#endif
|
|
|
|
bool debugGps = false;
|
|
#if OBSW_DEBUG_GPS == 1
|
|
debugGps = true;
|
|
#endif
|
|
resetArgsGnss1.gnss1 = true;
|
|
resetArgsGnss1.gpioComIF = gpioComIF;
|
|
resetArgsGnss1.waitPeriodMs = 100;
|
|
resetArgsGnss0.gnss1 = false;
|
|
resetArgsGnss0.gpioComIF = gpioComIF;
|
|
resetArgsGnss0.waitPeriodMs = 100;
|
|
auto gpsHandler0 =
|
|
new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
|
|
gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
|
|
|
|
AcsBoardHelper acsBoardHelper = AcsBoardHelper(
|
|
objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
|
|
objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
|
|
objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
|
|
auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
|
|
acsBoardHelper, gpioComIF);
|
|
static_cast<void>(acsAss);
|
|
#if OBSW_TEST_ACS_BOARD_ASS == 1
|
|
CommandMessage msg;
|
|
ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
|
|
duallane::A_SIDE);
|
|
ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
sif::warning << "Sending mode command failed" << std::endl;
|
|
}
|
|
#endif
|
|
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
|
|
}
|
|
|
|
void ObjectFactory::createHeaterComponents() {
|
|
using namespace gpio;
|
|
GpioCookie* heaterGpiosCookie = new GpioCookie;
|
|
GpiodRegularByLineName* gpio = nullptr;
|
|
|
|
std::stringstream consumer;
|
|
consumer << "0x" << std::hex << objects::HEATER_HANDLER;
|
|
/* Pin H2-11 on stack connector */
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpio);
|
|
/* Pin H2-12 on stack connector */
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpio);
|
|
|
|
/* Pin H2-13 on stack connector */
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
|
|
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
|
|
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
|
|
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
|
|
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
|
|
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
|
|
|
|
new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
|
|
objects::PCDU_HANDLER, pcduSwitches::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
|
|
}
|
|
|
|
void ObjectFactory::createSolarArrayDeploymentComponents() {
|
|
using namespace gpio;
|
|
GpioCookie* solarArrayDeplCookie = new GpioCookie;
|
|
GpiodRegularByLineName* gpio = nullptr;
|
|
|
|
std::stringstream consumer;
|
|
consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
|
|
|
|
// 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::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
|
|
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) {
|
|
using namespace gpio;
|
|
GpioCookie* rtdGpioCookie = new GpioCookie;
|
|
|
|
GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
|
|
GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
|
|
GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
|
|
GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
|
|
GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
|
|
GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
|
|
GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
|
|
GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
|
|
GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
|
|
GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
|
|
GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
|
|
GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
|
|
GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
|
|
GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
|
|
GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
|
|
GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
|
|
|
|
gpioComIF->addGpios(rtdGpioCookie);
|
|
|
|
#if OBSW_ADD_RTD_DEVICES == 1
|
|
SpiCookie* spiRtdIc0 =
|
|
new SpiCookie(addresses::RTD_IC_3, gpioIds::RTD_IC_3, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc1 =
|
|
new SpiCookie(addresses::RTD_IC_4, gpioIds::RTD_IC_4, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc2 =
|
|
new SpiCookie(addresses::RTD_IC_5, gpioIds::RTD_IC_5, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc3 =
|
|
new SpiCookie(addresses::RTD_IC_6, gpioIds::RTD_IC_6, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc4 =
|
|
new SpiCookie(addresses::RTD_IC_7, gpioIds::RTD_IC_7, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc5 =
|
|
new SpiCookie(addresses::RTD_IC_8, gpioIds::RTD_IC_8, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc6 =
|
|
new SpiCookie(addresses::RTD_IC_9, gpioIds::RTD_IC_9, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc7 =
|
|
new SpiCookie(addresses::RTD_IC_10, gpioIds::RTD_IC_10, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc8 =
|
|
new SpiCookie(addresses::RTD_IC_11, gpioIds::RTD_IC_11, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc9 =
|
|
new SpiCookie(addresses::RTD_IC_12, gpioIds::RTD_IC_12, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc10 =
|
|
new SpiCookie(addresses::RTD_IC_13, gpioIds::RTD_IC_13, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc11 =
|
|
new SpiCookie(addresses::RTD_IC_14, gpioIds::RTD_IC_14, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc12 =
|
|
new SpiCookie(addresses::RTD_IC_15, gpioIds::RTD_IC_15, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc13 =
|
|
new SpiCookie(addresses::RTD_IC_16, gpioIds::RTD_IC_16, std::string(q7s::SPI_DEFAULT_DEV),
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc14 =
|
|
new SpiCookie(addresses::RTD_IC_17, gpioIds::RTD_IC_17, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
SpiCookie* spiRtdIc15 =
|
|
new SpiCookie(addresses::RTD_IC_18, gpioIds::RTD_IC_18, q7s::SPI_DEFAULT_DEV,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
|
|
Max31865PT1000Handler* rtdIc0 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_3, objects::SPI_COM_IF, spiRtdIc0);
|
|
Max31865PT1000Handler* rtdIc1 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_4, objects::SPI_COM_IF, spiRtdIc1);
|
|
Max31865PT1000Handler* rtdIc2 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_5, objects::SPI_COM_IF, spiRtdIc2);
|
|
Max31865PT1000Handler* rtdIc3 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_6, objects::SPI_COM_IF, spiRtdIc3);
|
|
Max31865PT1000Handler* rtdIc4 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_7, objects::SPI_COM_IF, spiRtdIc4);
|
|
Max31865PT1000Handler* rtdIc5 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_8, objects::SPI_COM_IF, spiRtdIc5);
|
|
Max31865PT1000Handler* rtdIc6 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_9, objects::SPI_COM_IF, spiRtdIc6);
|
|
Max31865PT1000Handler* rtdIc7 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_10, objects::SPI_COM_IF, spiRtdIc7);
|
|
Max31865PT1000Handler* rtdIc8 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_11, objects::SPI_COM_IF, spiRtdIc8);
|
|
Max31865PT1000Handler* rtdIc9 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_12, objects::SPI_COM_IF, spiRtdIc9);
|
|
Max31865PT1000Handler* rtdIc10 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_13, objects::SPI_COM_IF, spiRtdIc10);
|
|
Max31865PT1000Handler* rtdIc11 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_14, objects::SPI_COM_IF, spiRtdIc11);
|
|
Max31865PT1000Handler* rtdIc12 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_15, objects::SPI_COM_IF, spiRtdIc12);
|
|
Max31865PT1000Handler* rtdIc13 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_16, objects::SPI_COM_IF, spiRtdIc13);
|
|
Max31865PT1000Handler* rtdIc14 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_17, objects::SPI_COM_IF, spiRtdIc14);
|
|
Max31865PT1000Handler* rtdIc15 =
|
|
new Max31865PT1000Handler(objects::RTD_IC_18, objects::SPI_COM_IF, spiRtdIc15);
|
|
|
|
#if OBSW_TEST_RTD == 1
|
|
rtdIc0->setStartUpImmediately();
|
|
rtdIc1->setStartUpImmediately();
|
|
rtdIc2->setStartUpImmediately();
|
|
rtdIc3->setStartUpImmediately();
|
|
rtdIc4->setStartUpImmediately();
|
|
rtdIc5->setStartUpImmediately();
|
|
rtdIc6->setStartUpImmediately();
|
|
rtdIc7->setStartUpImmediately();
|
|
rtdIc8->setStartUpImmediately();
|
|
rtdIc9->setStartUpImmediately();
|
|
rtdIc10->setStartUpImmediately();
|
|
rtdIc11->setStartUpImmediately();
|
|
rtdIc12->setStartUpImmediately();
|
|
rtdIc13->setStartUpImmediately();
|
|
rtdIc14->setStartUpImmediately();
|
|
rtdIc15->setStartUpImmediately();
|
|
|
|
rtdIc0->setInstantNormal(true);
|
|
rtdIc1->setInstantNormal(true);
|
|
rtdIc2->setInstantNormal(true);
|
|
rtdIc3->setInstantNormal(true);
|
|
rtdIc4->setInstantNormal(true);
|
|
rtdIc5->setInstantNormal(true);
|
|
rtdIc6->setInstantNormal(true);
|
|
rtdIc7->setInstantNormal(true);
|
|
rtdIc8->setInstantNormal(true);
|
|
rtdIc9->setInstantNormal(true);
|
|
rtdIc10->setInstantNormal(true);
|
|
rtdIc11->setInstantNormal(true);
|
|
rtdIc12->setInstantNormal(true);
|
|
rtdIc13->setInstantNormal(true);
|
|
rtdIc14->setInstantNormal(true);
|
|
rtdIc15->setInstantNormal(true);
|
|
#endif
|
|
|
|
static_cast<void>(rtdIc0);
|
|
static_cast<void>(rtdIc1);
|
|
static_cast<void>(rtdIc2);
|
|
static_cast<void>(rtdIc3);
|
|
static_cast<void>(rtdIc4);
|
|
static_cast<void>(rtdIc5);
|
|
static_cast<void>(rtdIc6);
|
|
static_cast<void>(rtdIc7);
|
|
static_cast<void>(rtdIc8);
|
|
static_cast<void>(rtdIc9);
|
|
static_cast<void>(rtdIc10);
|
|
static_cast<void>(rtdIc11);
|
|
static_cast<void>(rtdIc12);
|
|
static_cast<void>(rtdIc13);
|
|
static_cast<void>(rtdIc14);
|
|
static_cast<void>(rtdIc15);
|
|
#endif
|
|
}
|
|
|
|
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
|
|
using namespace gpio;
|
|
GpioCookie* gpioCookieRw = new GpioCookie;
|
|
GpioCallback* csRw1 =
|
|
new GpioCallback("Chip select reaction wheel 1", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
|
|
GpioCallback* csRw2 =
|
|
new GpioCallback("Chip select reaction wheel 2", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
|
|
GpioCallback* csRw3 =
|
|
new GpioCallback("Chip select reaction wheel 3", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
|
|
GpioCallback* csRw4 =
|
|
new GpioCallback("Chip select reaction wheel 4", Direction::OUT, Levels::HIGH,
|
|
&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
|
|
gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
|
|
|
|
std::stringstream consumer;
|
|
GpiodRegularByLineName* gpio = nullptr;
|
|
consumer << "0x" << std::hex << objects::RW1;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::RW2;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::RW3;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::RW4;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
|
|
|
|
gpioComIF->addGpios(gpioCookieRw);
|
|
|
|
#if OBSW_ADD_RW == 1
|
|
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);
|
|
#if OBSW_DEBUG_RW == 1
|
|
rwHandler1->setStartUpImmediately();
|
|
#endif
|
|
rw1SpiCookie->setCallbackArgs(rwHandler1);
|
|
rwHandler1->setStartUpImmediately();
|
|
|
|
auto rwHandler2 =
|
|
new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
|
|
#if OBSW_DEBUG_RW == 1
|
|
rwHandler2->setStartUpImmediately();
|
|
#endif
|
|
rw2SpiCookie->setCallbackArgs(rwHandler2);
|
|
|
|
auto rwHandler3 =
|
|
new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
|
|
#if OBSW_DEBUG_RW == 1
|
|
rwHandler3->setStartUpImmediately();
|
|
#endif
|
|
rw3SpiCookie->setCallbackArgs(rwHandler3);
|
|
|
|
auto rwHandler4 =
|
|
new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
|
|
#if OBSW_DEBUG_RW == 1
|
|
rwHandler4->setStartUpImmediately();
|
|
#endif
|
|
rw4SpiCookie->setCallbackArgs(rwHandler4);
|
|
|
|
#endif /* OBSW_ADD_RW == 1 */
|
|
}
|
|
|
|
void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
|
|
using namespace gpio;
|
|
// GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
|
|
GpioCookie* gpioCookiePtmeIp = new GpioCookie;
|
|
GpiodRegularByLineName* gpio = nullptr;
|
|
std::stringstream consumer;
|
|
consumer.str("PAPB VC0");
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
|
|
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
|
|
consumer.str("PAPB VC0");
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
|
|
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
|
|
consumer.str("PAPB VC 1");
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
|
|
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
|
|
consumer.str("");
|
|
consumer.str("PAPB VC 1");
|
|
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
|
|
consumer.str("");
|
|
consumer.str("PAPB VC 2");
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
|
|
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
|
|
consumer.str("");
|
|
consumer.str("PAPB VC 2");
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
|
|
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
|
|
consumer.str("");
|
|
consumer.str("PAPB VC 3");
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
|
|
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
|
|
consumer.str("");
|
|
consumer.str("PAPB VC 3");
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
|
|
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
|
|
|
|
gpioComIF->addGpios(gpioCookiePtmeIp);
|
|
|
|
// Creating virtual channel interfaces
|
|
VcInterfaceIF* vc0 =
|
|
new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
|
|
q7s::uiomapids::PTME_VC0);
|
|
VcInterfaceIF* vc1 =
|
|
new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
|
|
q7s::uiomapids::PTME_VC1);
|
|
VcInterfaceIF* vc2 =
|
|
new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
|
|
q7s::uiomapids::PTME_VC2);
|
|
VcInterfaceIF* vc3 =
|
|
new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
|
|
q7s::uiomapids::PTME_VC3);
|
|
|
|
// Creating ptme object and adding virtual channel interfaces
|
|
Ptme* ptme = new Ptme(objects::PTME);
|
|
ptme->addVcInterface(ccsds::VC0, vc0);
|
|
ptme->addVcInterface(ccsds::VC1, vc1);
|
|
ptme->addVcInterface(ccsds::VC2, vc2);
|
|
ptme->addVcInterface(ccsds::VC3, vc3);
|
|
|
|
AxiPtmeConfig* axiPtmeConfig =
|
|
new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
|
|
PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
|
|
CCSDSHandler* ccsdsHandler = new CCSDSHandler(
|
|
objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
|
|
gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
|
|
|
|
VirtualChannel* vc = nullptr;
|
|
vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
|
ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
|
|
vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
|
ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
|
|
vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
|
ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
|
|
vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
|
|
ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);
|
|
|
|
GpioCookie* gpioCookiePdec = new GpioCookie;
|
|
consumer.str("");
|
|
consumer << "0x" << std::hex << objects::PDEC_HANDLER;
|
|
// GPIO also low after linux boot (specified by device-tree)
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
|
|
|
|
gpioComIF->addGpios(gpioCookiePdec);
|
|
|
|
new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
|
|
q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
|
|
|
|
#if BOARD_TE0720 == 0
|
|
GpioCookie* gpioRS485Chip = new GpioCookie;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
|
|
Direction::OUT, Levels::LOW);
|
|
gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
|
|
Direction::OUT, Levels::LOW);
|
|
gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
|
|
|
|
// Default configuration enables RX channels (RXEN = LOW)
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
|
|
Direction::OUT, Levels::LOW);
|
|
gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
|
|
Direction::OUT, Levels::LOW);
|
|
gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
|
|
|
|
gpioComIF->addGpios(gpioRS485Chip);
|
|
#endif /* BOARD_TE0720 == 0 */
|
|
}
|
|
|
|
void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF) {
|
|
using namespace gpio;
|
|
// Create all GPIO components first
|
|
GpioCookie* plPcduGpios = new GpioCookie;
|
|
GpiodRegularByLineName* gpio = nullptr;
|
|
std::string consumer;
|
|
// Switch pins are active high
|
|
consumer = "PLPCDU_ENB_VBAT_0";
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT0, consumer, Direction::OUT,
|
|
gpio::Levels::LOW);
|
|
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT0, gpio);
|
|
consumer = "PLPCDU_ENB_VBAT_1";
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT1, consumer, Direction::OUT,
|
|
gpio::Levels::LOW);
|
|
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT1, gpio);
|
|
consumer = "PLPCDU_ENB_DRO";
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_DRO, consumer, Direction::OUT,
|
|
gpio::Levels::LOW);
|
|
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_DRO, gpio);
|
|
consumer = "PLPCDU_ENB_X8";
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_X8, consumer, Direction::OUT,
|
|
gpio::Levels::LOW);
|
|
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_X8, gpio);
|
|
consumer = "PLPCDU_ENB_TX";
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_TX, consumer, Direction::OUT,
|
|
gpio::Levels::LOW);
|
|
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_TX, gpio);
|
|
consumer = "PLPCDU_ENB_MPA";
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_MPA, consumer, Direction::OUT,
|
|
gpio::Levels::LOW);
|
|
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_MPA, gpio);
|
|
consumer = "PLPCDU_ENB_HPA";
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_HPA, consumer, Direction::OUT,
|
|
gpio::Levels::LOW);
|
|
plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_HPA, gpio);
|
|
|
|
// Chip select pin is active low
|
|
consumer = "PLPCDU_ADC_CS";
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, Direction::OUT,
|
|
gpio::Levels::HIGH);
|
|
plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
|
|
gpioComIF->addGpios(plPcduGpios);
|
|
SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS,
|
|
q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
|
|
spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
|
|
// Create device handler components
|
|
auto plPcduHandler =
|
|
new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF,
|
|
SdCardManager::instance(), false);
|
|
spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
|
|
static_cast<void>(plPcduHandler);
|
|
#if OBSW_TEST_PL_PCDU == 1
|
|
plPcduHandler->setStartUpImmediately();
|
|
#endif
|
|
#if OBSW_DEBUG_PL_PCDU == 1
|
|
plPcduHandler->setToGoToNormalModeImmediately(true);
|
|
plPcduHandler->enablePeriodicPrintout(true, 5);
|
|
#endif
|
|
}
|
|
|
|
void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
|
|
#if BOARD_TE0720 == 0
|
|
new Q7STestTask(objects::TEST_TASK);
|
|
#endif
|
|
|
|
#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
|
|
#if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
|
|
/* Configure MIO0 as input */
|
|
GpiodRegular* testGpio = new GpiodRegular("MIO0", Direction::OUT, 0, "/amba_pl/gpio@41200000", 0);
|
|
#elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME
|
|
GpiodRegularByLineName* testGpio =
|
|
new GpiodRegularByLineName("test-name", "gpio-test", Direction::OUT, 0);
|
|
#else
|
|
/* Configure MIO0 as input */
|
|
GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
|
|
#endif /* OBSW_TEST_GPIO_LABEL == 1 */
|
|
GpioCookie* gpioCookie = new GpioCookie;
|
|
gpioCookie->addGpio(gpioIds::TEST_ID_0, testGpio);
|
|
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
|
|
#endif
|
|
|
|
#if BOARD_TE0720 == 1 && OBSW_TEST_SUS == 1
|
|
GpioCookie* gpioCookieSus = new GpioCookie;
|
|
GpiodRegular* chipSelectSus = new GpiodRegular(
|
|
std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), Direction::OUT, 1);
|
|
gpioCookieSus->addGpio(gpioIds::CS_SUS_0, chipSelectSus);
|
|
gpioComIF->addGpios(gpioCookieSus);
|
|
|
|
SpiCookie* spiCookieSus =
|
|
new SpiCookie(addresses::SUS_0, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE,
|
|
spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
|
|
|
|
new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_0);
|
|
#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_VC0"));
|
|
gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
|
|
GpiodRegular* papbEmpty =
|
|
new GpiodRegular(std::string("gpiochip0"), 1, std::string("PAPBEmpty_VC0"));
|
|
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_RAD_SENSOR == 1
|
|
GpioCookie* gpioCookieRadSensor = new GpioCookie;
|
|
GpiodRegular* chipSelectRadSensor = new GpiodRegular(
|
|
std::string("gpiochip1"), 0, std::string("Chip select radiation sensor"), Direction::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
|
|
#if OBSW_ADD_I2C_TEST_CODE == 1
|
|
new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
|
|
#endif
|
|
#if OBSW_ADD_UART_TEST_CODE == 1
|
|
new UartTestClass(objects::UART_TEST);
|
|
#endif
|
|
}
|