1088 lines
50 KiB
C++
1088 lines
50 KiB
C++
#include "objectFactory.h"
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#include <fsfw/devicehandlers/HealthDevice.h>
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#include <fsfw/subsystem/Subsystem.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <fsfw_hal/linux/uio/UioMapper.h>
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#include <linux/acs/AcsBoardPolling.h>
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#include <linux/acs/GpsHyperionLinuxController.h>
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#include <linux/acs/ImtqPollingTask.h>
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#include <linux/acs/RwPollingTask.h>
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#include <linux/acs/StrComHandler.h>
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#include <linux/com/SyrlinksComHandler.h>
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#include <linux/payload/PlocMemoryDumper.h>
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#include <linux/payload/PlocMpsocHandler.h>
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#include <linux/payload/PlocMpsocSpecialComHelper.h>
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#include <linux/payload/ScexUartReader.h>
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#include <linux/payload/plocMpsocHelpers.h>
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#include <linux/power/CspComIF.h>
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#include <mission/acs/GyrL3gCustomHandler.h>
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#include <mission/acs/MgmLis3CustomHandler.h>
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#include <mission/acs/MgmRm3100CustomHandler.h>
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#include <mission/acs/str/StarTrackerHandler.h>
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#include <mission/acs/str/strHelpers.h>
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#include <mission/com/LiveTmTask.h>
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#include <mission/com/PersistentLogTmStoreTask.h>
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#include <mission/com/PersistentSingleTmStoreTask.h>
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#include <mission/power/CspCookie.h>
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#include <mission/system/acs/ImtqAssembly.h>
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#include <mission/system/acs/StrAssembly.h>
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#include <mission/system/acs/StrFdir.h>
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#include <mission/system/com/SyrlinksAssembly.h>
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#include <mission/system/objects/CamSwitcher.h>
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#include <mission/system/tcs/TmpDevFdir.h>
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#include <cstdint>
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#include <cstring>
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#include "OBSWConfig.h"
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#include "bsp_q7s/acs/StrConfigPathGetter.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/q7sGpioCallbacks.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 "eive/definitions.h"
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#include "fsfw/ipc/QueueFactory.h"
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#include "linux/ObjectFactory.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/callbacks/gpioCallbacks.h"
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#include "linux/ipcore/AxiPtmeConfig.h"
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#include "linux/ipcore/PapbVcInterface.h"
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#include "linux/ipcore/PdecHandler.h"
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#include "linux/ipcore/Ptme.h"
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#include "linux/ipcore/PtmeConfig.h"
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#include "linux/payload/FreshSupvHandler.h"
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#include "mission/config/configfile.h"
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#include "mission/system/acs/AcsBoardFdir.h"
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#include "mission/system/acs/AcsSubsystem.h"
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#include "mission/system/acs/RwAssembly.h"
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#include "mission/system/acs/SusFdir.h"
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#include "mission/system/acs/acsModeTree.h"
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#include "mission/system/com/SyrlinksFdir.h"
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#include "mission/system/com/comModeTree.h"
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#include "mission/system/payload/payloadModeTree.h"
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#include "mission/system/power/GomspacePowerFdir.h"
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#include "mission/system/tcs/RtdFdir.h"
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#include "mission/system/tcs/TcsBoardAssembly.h"
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#include "mission/system/tcs/tcsModeTree.h"
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#include "mission/tmtc/tmFilters.h"
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#include "mission/utility/GlobalConfigHandler.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 <mission/SolarArrayDeploymentHandler.h>
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#include <mission/acs/GyrAdis1650XHandler.h>
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#include <mission/acs/ImtqHandler.h>
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#include <mission/acs/rwHelpers.h>
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#include <mission/com/SyrlinksHandler.h>
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#include <mission/com/VirtualChannelWithQueue.h>
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#include <mission/payload/PayloadPcduHandler.h>
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#include <mission/payload/RadiationSensorHandler.h>
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#include <mission/payload/payloadPcduDefinitions.h>
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#include <mission/payload/radSensorDefinitions.h>
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#include <mission/power/AcuHandler.h>
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#include <mission/power/BpxBatteryHandler.h>
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#include <mission/power/P60DockHandler.h>
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#include <mission/power/PcduHandler.h>
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#include <mission/power/Pdu1Handler.h>
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#include <mission/power/Pdu2Handler.h>
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#include <mission/power/gsDefs.h>
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#include <mission/tcs/HeaterHandler.h>
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#include <mission/tcs/Max31865Definitions.h>
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#include <mission/tcs/Max31865PT1000Handler.h>
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#include <mission/tcs/Tmp1075Handler.h>
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#include <sstream>
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#include "bsp_q7s/core/defs.h"
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#include "fsfw/datapoollocal/LocalDataPoolManager.h"
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#include "fsfw/tmtcpacket/pus/tm.h"
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#include "fsfw/tmtcservices/CommandingServiceBase.h"
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#include "fsfw/tmtcservices/PusServiceBase.h"
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#include "fsfw_hal/common/gpio/GpioCookie.h"
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#include "fsfw_hal/common/gpio/gpioDefinitions.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/serial/SerialComIF.h"
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#include "fsfw_hal/linux/serial/SerialCookie.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 "mission/acs/RwHandler.h"
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#include "mission/com/CcsdsIpCoreHandler.h"
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#include "mission/com/syrlinksDefs.h"
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#include "mission/genericFactory.h"
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#include "mission/system/acs/AcsBoardAssembly.h"
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#include "mission/tmtc/TmFunnelHandler.h"
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using gpio::Direction;
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using gpio::Levels;
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ResetArgs RESET_ARGS_GNSS;
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std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
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std::atomic_bool PTME_LOCKED = false;
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std::atomic_uint16_t signals::I2C_FATAL_ERRORS = 0;
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uint8_t core::FW_VERSION_MAJOR = 0;
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uint8_t core::FW_VERSION_MINOR = 0;
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uint8_t core::FW_VERSION_REVISION = 0;
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bool core::FW_VERSION_HAS_SHA = false;
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char core::FW_VERSION_GIT_SHA[4] = {};
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void Factory::setStaticFrameworkObjectIds() {
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PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
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PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
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CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
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CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
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#if OBSW_Q7S_EM == 1
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DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
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#else
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DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
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#endif /* OBSW_Q7S_EM == 1 */
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LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
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VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
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}
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void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
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void ObjectFactory::createTmpComponents(
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std::vector<std::pair<object_id_t, address_t>> tmpDevsToAdd) {
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const char* tmpI2cDev = q7s::I2C_PS_EIVE;
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if (core::FW_VERSION_MAJOR == 4) {
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tmpI2cDev = q7s::I2C_PL_EIVE;
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} else if (core::FW_VERSION_MAJOR >= 5) {
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tmpI2cDev = q7s::I2C_Q7_EIVE;
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}
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std::vector<I2cCookie*> tmpDevCookies;
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for (size_t idx = 0; idx < tmpDevsToAdd.size(); idx++) {
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tmpDevCookies.push_back(
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new I2cCookie(tmpDevsToAdd[idx].second, TMP1075::MAX_REPLY_LENGTH, tmpI2cDev));
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auto* tmpDevHandler =
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new Tmp1075Handler(tmpDevsToAdd[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
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tmpDevHandler->setCustomFdir(new TmpDevFdir(tmpDevsToAdd[idx].first));
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tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
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}
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}
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void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
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SerialComIF** uartComIF, SpiComIF** spiMainComIF,
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I2cComIF** i2cComIF) {
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if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == 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, "CSP_ROUTER", 60);
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*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
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*uartComIF = new SerialComIF(objects::UART_COM_IF);
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*spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
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}
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void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
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bool enableHkSets) {
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CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
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CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
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CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
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auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
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P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
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p60DockCspCookie, p60Fdir, enableHkSets);
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auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
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Pdu1Handler* pdu1handler = new Pdu1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
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pdu1CspCookie, pdu1Fdir, enableHkSets);
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auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
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Pdu2Handler* pdu2handler = new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
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pdu2CspCookie, pdu2Fdir, enableHkSets);
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#if OBSW_ADD_GOMSPACE_ACU == 1
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CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
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auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
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ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie,
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acuFdir, enableHkSets);
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#endif
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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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#if OBSW_ADD_GOMSPACE_ACU == 1
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acuhandler->setModeNormal();
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#endif
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if (pwrSwitcher != nullptr) {
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*pwrSwitcher = pcduHandler;
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}
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#if OBSW_DEBUG_P60DOCK == 1
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p60dockhandler->setDebugMode(true);
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#endif
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#if OBSW_DEBUG_ACU == 1
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acuhandler->setDebugMode(true);
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#endif
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}
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ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
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Stack5VHandler& stackHandler) {
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createRadSensorChipSelect(gpioComIF);
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SpiCookie* spiCookieRadSensor =
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new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, radSens::READ_SIZE,
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spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
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spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
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auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
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spiCookieRadSensor, gpioComIF, stackHandler);
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static_cast<void>(radSensor);
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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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return returnvalue::OK;
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}
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void ObjectFactory::createAcsBoardGpios(GpioCookie& cookie) {
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std::stringstream consumer;
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GpiodRegularByLineName* gpio = nullptr;
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consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), Direction::OUT,
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Levels::HIGH);
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cookie.addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), Direction::OUT,
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Levels::HIGH);
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cookie.addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), Direction::OUT,
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Levels::HIGH);
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cookie.addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), Direction::OUT,
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Levels::HIGH);
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cookie.addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), Direction::OUT,
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Levels::HIGH);
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cookie.addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), Direction::OUT,
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Levels::HIGH);
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cookie.addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), Direction::OUT,
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Levels::HIGH);
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cookie.addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), Direction::OUT,
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Levels::HIGH);
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cookie.addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
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// GNSS reset pins are active low
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gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), Direction::OUT,
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Levels::HIGH);
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cookie.addGpio(gpioIds::GNSS_0_NRESET, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), Direction::OUT,
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Levels::HIGH);
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cookie.addGpio(gpioIds::GNSS_1_NRESET, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
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// Enable pins must be pulled low for regular operations
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), Direction::OUT,
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Levels::LOW);
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cookie.addGpio(gpioIds::GYRO_0_ENABLE, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), Direction::OUT,
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Levels::LOW);
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cookie.addGpio(gpioIds::GYRO_2_ENABLE, gpio);
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// Enable pins for GNSS
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consumer.str("");
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consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), Direction::OUT,
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Levels::LOW);
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cookie.addGpio(gpioIds::GNSS_0_ENABLE, gpio);
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consumer.str("");
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consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), Direction::OUT,
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Levels::LOW);
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cookie.addGpio(gpioIds::GNSS_1_ENABLE, gpio);
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// Select pin. 0 for GPS side A, 1 for GPS side B
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consumer.str("");
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consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
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Levels::LOW);
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cookie.addGpio(gpioIds::GNSS_SELECT, gpio);
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}
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void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF,
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SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher,
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bool enableHkSets, adis1650x::Type adisType) {
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using namespace gpio;
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GpioCookie* gpioCookieAcsBoard = new GpioCookie();
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createAcsBoardGpios(*gpioCookieAcsBoard);
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gpioChecker(gpioComIF->addGpios(gpioCookieAcsBoard), "ACS Board");
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AcsBoardFdir* fdir = nullptr;
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static_cast<void>(fdir);
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#if OBSW_ADD_ACS_BOARD == 1
|
|
new AcsBoardPolling(objects::ACS_BOARD_POLLING_TASK, spiComIF, *gpioComIF);
|
|
std::string spiDev = q7s::SPI_DEFAULT_DEV;
|
|
std::array<DeviceHandlerBase*, 8> assemblyChildren;
|
|
SpiCookie* spiCookie =
|
|
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, mgmLis3::MAX_BUFFER_SIZE,
|
|
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
|
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
|
|
auto mgmLis3Handler0 =
|
|
new MgmLis3CustomHandler(objects::MGM_0_LIS3_HANDLER, objects::ACS_BOARD_POLLING_TASK,
|
|
spiCookie, spi::LIS3_TRANSITION_DELAY);
|
|
fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
|
|
mgmLis3Handler0->setCustomFdir(fdir);
|
|
assemblyChildren[0] = mgmLis3Handler0;
|
|
#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, mgmRm3100::MAX_BUFFER_SIZE,
|
|
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
|
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
|
|
auto mgmRm3100Handler1 =
|
|
new MgmRm3100CustomHandler(objects::MGM_1_RM3100_HANDLER, objects::ACS_BOARD_POLLING_TASK,
|
|
spiCookie, spi::RM3100_TRANSITION_DELAY);
|
|
fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
|
|
mgmRm3100Handler1->setCustomFdir(fdir);
|
|
assemblyChildren[1] = mgmRm3100Handler1;
|
|
#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, mgmLis3::MAX_BUFFER_SIZE,
|
|
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
|
|
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
|
|
auto* mgmLis3Handler2 =
|
|
new MgmLis3CustomHandler(objects::MGM_2_LIS3_HANDLER, objects::ACS_BOARD_POLLING_TASK,
|
|
spiCookie, spi::LIS3_TRANSITION_DELAY);
|
|
fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
|
|
mgmLis3Handler2->setCustomFdir(fdir);
|
|
assemblyChildren[2] = mgmLis3Handler2;
|
|
#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, mgmRm3100::MAX_BUFFER_SIZE,
|
|
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
|
|
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
|
|
auto* mgmRm3100Handler3 =
|
|
new MgmRm3100CustomHandler(objects::MGM_3_RM3100_HANDLER, objects::ACS_BOARD_POLLING_TASK,
|
|
spiCookie, spi::RM3100_TRANSITION_DELAY);
|
|
fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
|
|
mgmRm3100Handler3->setCustomFdir(fdir);
|
|
assemblyChildren[3] = mgmRm3100Handler3;
|
|
#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, adis1650x::MAXIMUM_REPLY_SIZE,
|
|
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
|
|
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
|
|
auto adisHandler = new GyrAdis1650XHandler(objects::GYRO_0_ADIS_HANDLER,
|
|
objects::ACS_BOARD_POLLING_TASK, spiCookie, adisType);
|
|
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
|
|
adisHandler->setCustomFdir(fdir);
|
|
assemblyChildren[4] = 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, l3gd20h::MAX_BUFFER_SIZE,
|
|
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
|
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
|
|
auto gyroL3gHandler1 =
|
|
new GyrL3gCustomHandler(objects::GYRO_1_L3G_HANDLER, objects::ACS_BOARD_POLLING_TASK,
|
|
spiCookie, spi::L3G_TRANSITION_DELAY);
|
|
fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
|
|
gyroL3gHandler1->setCustomFdir(fdir);
|
|
assemblyChildren[5] = gyroL3gHandler1;
|
|
#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, adis1650x::MAXIMUM_REPLY_SIZE,
|
|
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
|
|
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
|
|
adisHandler = new GyrAdis1650XHandler(objects::GYRO_2_ADIS_HANDLER,
|
|
objects::ACS_BOARD_POLLING_TASK, spiCookie, adisType);
|
|
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
|
|
adisHandler->setCustomFdir(fdir);
|
|
assemblyChildren[6] = adisHandler;
|
|
#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, l3gd20h::MAX_BUFFER_SIZE,
|
|
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
|
|
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
|
|
auto gyroL3gHandler3 =
|
|
new GyrL3gCustomHandler(objects::GYRO_3_L3G_HANDLER, objects::ACS_BOARD_POLLING_TASK,
|
|
spiCookie, spi::L3G_TRANSITION_DELAY);
|
|
fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
|
|
gyroL3gHandler3->setCustomFdir(fdir);
|
|
assemblyChildren[7] = gyroL3gHandler3;
|
|
#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
|
|
RESET_ARGS_GNSS.gpioComIF = gpioComIF;
|
|
RESET_ARGS_GNSS.waitPeriodMs = 10 * 1e3;
|
|
auto gpsCtrl = new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT,
|
|
enableHkSets, debugGps);
|
|
gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
|
|
|
|
ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF);
|
|
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
|
|
}
|
|
|
|
void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher,
|
|
HealthTableIF* healthTable,
|
|
HeaterHandler*& heaterHandler) {
|
|
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);
|
|
|
|
gpioIF->addGpios(heaterGpiosCookie);
|
|
|
|
ObjectFactory::createGenericHeaterComponents(*gpioIF, *pwrSwitcher, heaterHandler);
|
|
}
|
|
|
|
void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitcher,
|
|
GpioIF& gpioIF) {
|
|
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);
|
|
ReturnValue_t result = gpioIF.addGpios(solarArrayDeplCookie);
|
|
if (result != returnvalue::OK) {
|
|
sif::error << "Adding Solar Array Deployment GPIO cookie failed" << std::endl;
|
|
}
|
|
|
|
new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, gpioIF, pwrSwitcher,
|
|
power::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
|
|
gpioIds::DEPLSA1, gpioIds::DEPLSA2, *SdCardManager::instance());
|
|
}
|
|
|
|
void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
|
|
auto* syrlinksUartCookie =
|
|
new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, serial::SYRLINKS_BAUD,
|
|
syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
|
|
syrlinksUartCookie->setParityEven();
|
|
|
|
new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER);
|
|
auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY);
|
|
syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
|
|
auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER);
|
|
auto syrlinksHandler =
|
|
new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER,
|
|
syrlinksUartCookie, power::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
|
|
syrlinksHandler->setPowerSwitcher(pwrSwitcher);
|
|
syrlinksHandler->connectModeTreeParent(*syrlinksAssy);
|
|
#if OBSW_DEBUG_SYRLINKS == 1
|
|
syrlinksHandler->setDebugMode(true);
|
|
#endif
|
|
}
|
|
|
|
void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF& pwrSwitcher) {
|
|
using namespace gpio;
|
|
std::stringstream consumer;
|
|
auto* camSwitcher =
|
|
new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher, power::PDU2_CH8_PAYLOAD_CAMERA);
|
|
camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
|
|
#if OBSW_ADD_PLOC_MPSOC == 1
|
|
consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
|
|
auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
|
|
consumer.str(), Direction::OUT, Levels::HIGH);
|
|
auto mpsocGpioCookie = new GpioCookie;
|
|
mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
|
|
gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
|
|
auto mpsocCookie =
|
|
new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV,
|
|
serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
|
|
mpsocCookie->setNoFixedSizeReply();
|
|
auto plocMpsocHelper = new PlocMpsocSpecialComHelper(objects::PLOC_MPSOC_HELPER);
|
|
auto* mpsocHandler = new PlocMpsocHandler(
|
|
objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie, plocMpsocHelper,
|
|
Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF), objects::PLOC_SUPERVISOR_HANDLER);
|
|
mpsocHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
|
|
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
|
|
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
|
consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
|
|
auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(),
|
|
Direction::OUT, Levels::LOW);
|
|
auto supvGpioCookie = new GpioCookie;
|
|
supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
|
|
gpioComIF->addGpios(supvGpioCookie);
|
|
const char* plocSupvDev = q7s::UART_PLOC_SUPERVISOR_DEV;
|
|
if (not std::filesystem::exists(plocSupvDev)) {
|
|
plocSupvDev = q7s::UART_PLOC_SUPERVISOR_DEV_FALLBACK;
|
|
}
|
|
auto supervisorCookie =
|
|
new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, plocSupvDev, serial::PLOC_SUPV_BAUD,
|
|
supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
|
|
supervisorCookie->setNoFixedSizeReply();
|
|
new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
|
|
DhbConfig dhbConf(objects::PLOC_SUPERVISOR_HANDLER);
|
|
auto* supvHandler =
|
|
new FreshSupvHandler(dhbConf, supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
|
|
pwrSwitcher, power::PDU1_CH6_PLOC_12V);
|
|
supvHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
|
|
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
|
|
static_cast<void>(consumer);
|
|
}
|
|
|
|
void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
|
|
PowerSwitchIF* pwrSwitcher) {
|
|
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);
|
|
|
|
gpioChecker(gpioComIF->addGpios(gpioCookieRw), "RWs");
|
|
|
|
#if OBSW_ADD_RW == 1
|
|
std::array<std::pair<address_t, gpioId_t>, 4> rwCookieParams = {
|
|
{{addresses::RW1, gpioIds::CS_RW1},
|
|
{addresses::RW2, gpioIds::CS_RW2},
|
|
{addresses::RW3, gpioIds::CS_RW3},
|
|
{addresses::RW4, gpioIds::CS_RW4}}};
|
|
std::array<SpiCookie*, 4> rwCookies = {};
|
|
std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
|
|
std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
|
|
gpioIds::EN_RW4};
|
|
std::array<DeviceHandlerBase*, 4> rws = {};
|
|
new RwPollingTask(objects::RW_POLLING_TASK, q7s::SPI_RW_DEV, *gpioComIF);
|
|
for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
|
|
rwCookies[idx] = new RwCookie(idx, rwCookieParams[idx].first, rwCookieParams[idx].second,
|
|
rws::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED);
|
|
auto* rwHandler = new RwHandler(rwIds[idx], objects::RW_POLLING_TASK, rwCookies[idx], gpioComIF,
|
|
rwGpioIds[idx], idx);
|
|
#if OBSW_TEST_RW == 1
|
|
rws[idx]->setStartUpImmediately();
|
|
#endif
|
|
#if OBSW_DEBUG_RW == 1
|
|
rwHandler->setDebugMode(true);
|
|
#endif
|
|
rws[idx] = rwHandler;
|
|
}
|
|
|
|
createRwAssy(*pwrSwitcher, power::Switches::PDU2_CH2_RW_5V, rws, rwIds);
|
|
#endif /* OBSW_ADD_RW == 1 */
|
|
}
|
|
|
|
ReturnValue_t ObjectFactory::createCcsdsComponents(CcsdsComponentArgs& args) {
|
|
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;
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, "PAPB VC0");
|
|
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, "PAPB VC1");
|
|
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, "PAPB VC2");
|
|
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, "PAPB VC3");
|
|
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PTME_RESETN, "PTME RESETN",
|
|
gpio::Direction::OUT, gpio::Levels::HIGH);
|
|
gpioCookiePtmeIp->addGpio(gpioIds::PTME_RESETN, gpio);
|
|
gpioChecker(args.gpioComIF.addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
|
|
|
|
// Creating virtual channel interfaces
|
|
VirtualChannelIF* vc0 =
|
|
new PapbVcInterface(&args.gpioComIF, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
|
|
q7s::uiomapids::PTME_VC0, config::MAX_SPACEPACKET_TC_SIZE);
|
|
VirtualChannelIF* vc1 =
|
|
new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
|
|
q7s::uiomapids::PTME_VC1, config::MAX_SPACEPACKET_TC_SIZE);
|
|
VirtualChannelIF* vc2 =
|
|
new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
|
|
q7s::uiomapids::PTME_VC2, config::MAX_SPACEPACKET_TC_SIZE);
|
|
VirtualChannelIF* vc3 =
|
|
new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
|
|
q7s::uiomapids::PTME_VC3, config::MAX_SPACEPACKET_TC_SIZE);
|
|
// 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);
|
|
|
|
PtmeGpios gpios;
|
|
gpios.enableTxClock = gpioIds::RS485_EN_TX_CLOCK;
|
|
gpios.enableTxData = gpioIds::RS485_EN_TX_DATA;
|
|
gpios.ptmeResetn = gpioIds::PTME_RESETN;
|
|
|
|
*args.ipCoreHandler =
|
|
new CcsdsIpCoreHandler(objects::CCSDS_HANDLER, objects::CCSDS_PACKET_DISTRIBUTOR, *ptmeConfig,
|
|
LINK_STATE, &args.gpioComIF, gpios, PTME_LOCKED);
|
|
// This VC will receive all live TM
|
|
auto* vcWithQueue = new VirtualChannel(objects::PTME_VC0_LIVE_TM, ccsds::VC0, "PTME VC0 LIVE TM",
|
|
*ptme, LINK_STATE);
|
|
auto* liveTask = new LiveTmTask(objects::LIVE_TM_TASK, args.pusFunnel, args.cfdpFunnel,
|
|
*vcWithQueue, PTME_LOCKED, config::LIVE_CHANNEL_NORMAL_QUEUE_SIZE,
|
|
config::LIVE_CHANNEL_CFDP_QUEUE_SIZE);
|
|
args.normalLiveTmDest = liveTask->getNormalLiveQueueId();
|
|
args.cfdpLiveTmDest = liveTask->getCfdpLiveQueueId();
|
|
liveTask->connectModeTreeParent(satsystem::com::SUBSYSTEM);
|
|
|
|
// Set up log store.
|
|
auto* vc = new VirtualChannel(objects::PTME_VC1_LOG_TM, ccsds::VC1, "PTME VC1 LOG TM", *ptme,
|
|
LINK_STATE);
|
|
LogStores logStores(args.stores);
|
|
// Core task which handles the LOG store and takes care of dumping it as TM using a VC directly
|
|
auto* logStore =
|
|
new PersistentLogTmStoreTask(objects::LOG_STORE_AND_TM_TASK, args.ipcStore, logStores, *vc,
|
|
*SdCardManager::instance(), PTME_LOCKED);
|
|
logStore->connectModeTreeParent(satsystem::com::SUBSYSTEM);
|
|
|
|
vc = new VirtualChannel(objects::PTME_VC2_HK_TM, ccsds::VC2, "PTME VC2 HK TM", *ptme, LINK_STATE);
|
|
// Core task which handles the HK store and takes care of dumping it as TM using a VC directly
|
|
auto* hkStore = new PersistentSingleTmStoreTask(
|
|
objects::HK_STORE_AND_TM_TASK, args.ipcStore, *args.stores.hkStore, *vc,
|
|
persTmStore::DUMP_HK_STORE_DONE, persTmStore::DUMP_HK_CANCELLED, *SdCardManager::instance(),
|
|
PTME_LOCKED);
|
|
hkStore->connectModeTreeParent(satsystem::com::SUBSYSTEM);
|
|
|
|
vc = new VirtualChannel(objects::PTME_VC3_CFDP_TM, ccsds::VC3, "PTME VC3 CFDP TM", *ptme,
|
|
LINK_STATE);
|
|
// Core task which handles the CFDP store and takes care of dumping it as TM using a VC directly
|
|
auto* cfdpTask = new PersistentSingleTmStoreTask(
|
|
objects::CFDP_STORE_AND_TM_TASK, args.ipcStore, *args.stores.cfdpStore, *vc,
|
|
persTmStore::DUMP_CFDP_STORE_DONE, persTmStore::DUMP_CFDP_CANCELLED,
|
|
*SdCardManager::instance(), PTME_LOCKED);
|
|
cfdpTask->connectModeTreeParent(satsystem::com::SUBSYSTEM);
|
|
|
|
ReturnValue_t result = (*args.ipCoreHandler)->connectModeTreeParent(satsystem::com::SUBSYSTEM);
|
|
if (result != returnvalue::OK) {
|
|
sif::error
|
|
<< "ObjectFactory::createCcsdsComponents: Connecting COM subsystem to CCSDS handler failed"
|
|
<< std::endl;
|
|
}
|
|
|
|
GpioCookie* gpioCookiePdec = new GpioCookie;
|
|
// GPIO also low after linux boot (specified by device-tree)
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, "PDEC Handler", Direction::OUT,
|
|
Levels::LOW);
|
|
gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
|
|
gpioChecker(args.gpioComIF.addGpios(gpioCookiePdec), "PDEC");
|
|
struct UioNames uioNames {};
|
|
uioNames.configMemory = q7s::UIO_PDEC_CONFIG_MEMORY;
|
|
uioNames.ramMemory = q7s::UIO_PDEC_RAM;
|
|
uioNames.registers = q7s::UIO_PDEC_REGISTERS;
|
|
uioNames.irq = q7s::UIO_PDEC_IRQ;
|
|
new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, &args.gpioComIF,
|
|
gpioIds::PDEC_RESET, uioNames, args.pdecCfgMemBaseAddr, args.pdecRamBaseAddr);
|
|
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);
|
|
gpioChecker(args.gpioComIF.addGpios(gpioRS485Chip), "RS485 Transceiver");
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
|
|
PowerSwitchIF* pwrSwitcher,
|
|
Stack5VHandler& stackHandler) {
|
|
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);
|
|
gpioChecker(gpioComIF->addGpios(plPcduGpios), "PL PCDU");
|
|
SpiCookie* spiCookie =
|
|
new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, 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_MAIN_COM_IF, spiCookie,
|
|
gpioComIF, SdCardManager::instance(), stackHandler, false);
|
|
spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
|
|
#if OBSW_TEST_PL_PCDU == 1
|
|
plPcduHandler->setStartUpImmediately();
|
|
#endif
|
|
#if OBSW_DEBUG_PL_PCDU == 1
|
|
plPcduHandler->setToGoToNormalModeImmediately(true);
|
|
plPcduHandler->enablePeriodicPrintout(true, 10);
|
|
#endif
|
|
plPcduHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
|
|
}
|
|
|
|
void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
|
|
new Q7STestTask(objects::TEST_TASK);
|
|
#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_PL_EIVE);
|
|
#endif
|
|
#if OBSW_ADD_UART_TEST_CODE == 1
|
|
// auto* reader= new ScexUartReader(objects::SCEX_UART_READER);
|
|
new UartTestClass(objects::UART_TEST);
|
|
#endif
|
|
}
|
|
|
|
void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher, SdCardManager& sdcMan) {
|
|
auto* strAssy = new StrAssembly(objects::STR_ASSY);
|
|
strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
|
|
auto* starTrackerCookie =
|
|
new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, serial::STAR_TRACKER_BAUD,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
|
|
starTrackerCookie->setNoFixedSizeReply();
|
|
StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF);
|
|
|
|
const char* paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
|
|
if (paramJsonFile == nullptr) {
|
|
sif::error << "No valid Star Tracker parameter JSON file" << std::endl;
|
|
}
|
|
auto strFdir = new StrFdir(objects::STAR_TRACKER);
|
|
auto cfgGetter = new StrConfigPathGetter(sdcMan);
|
|
auto starTracker =
|
|
new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie,
|
|
strComIF, power::PDU1_CH2_STAR_TRACKER_5V, *cfgGetter, sdcMan);
|
|
starTracker->setPowerSwitcher(pwrSwitcher);
|
|
starTracker->connectModeTreeParent(*strAssy);
|
|
starTracker->setCustomFdir(strFdir);
|
|
}
|
|
|
|
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets,
|
|
const char* i2cDev) {
|
|
auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
|
|
imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
|
|
|
|
new ImtqPollingTask(objects::IMTQ_POLLING, signals::I2C_FATAL_ERRORS);
|
|
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, i2cDev);
|
|
auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::IMTQ_POLLING, imtqI2cCookie,
|
|
power::Switches::PDU1_CH3_MGT_5V, enableHkSets);
|
|
imtqHandler->enableThermalModule(ThermalStateCfg());
|
|
imtqHandler->setPowerSwitcher(pwrSwitcher);
|
|
imtqHandler->connectModeTreeParent(*imtqAssy);
|
|
static_cast<void>(imtqHandler);
|
|
#if OBSW_TEST_IMTQ == 1
|
|
imtqHandler->setStartUpImmediately();
|
|
imtqHandler->setToGoToNormal(true);
|
|
#endif
|
|
#if OBSW_DEBUG_IMTQ == 1
|
|
imtqHandler->setDebugMode(true);
|
|
#endif
|
|
}
|
|
|
|
void ObjectFactory::createBpxBatteryComponent(bool enableHkSets, const char* i2cDev) {
|
|
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, i2cDev);
|
|
BpxBatteryHandler* bpxHandler = new BpxBatteryHandler(
|
|
objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie, enableHkSets);
|
|
bpxHandler->setStartUpImmediately();
|
|
bpxHandler->setToGoToNormalMode(true);
|
|
#if OBSW_DEBUG_BPX_BATT == 1
|
|
bpxHandler->setDebugMode(true);
|
|
#endif
|
|
}
|
|
|
|
void ObjectFactory::createMiscComponents() { new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER); }
|
|
|
|
void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
|
|
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 != returnvalue::OK) {
|
|
sif::warning << "Sending mode command failed" << std::endl;
|
|
}
|
|
}
|
|
|
|
void ObjectFactory::createRadSensorChipSelect(LinuxLibgpioIF* gpioIF) {
|
|
using namespace gpio;
|
|
if (gpioIF == nullptr) {
|
|
return;
|
|
}
|
|
GpioCookie* gpioCookieRadSensor = new GpioCookie;
|
|
std::stringstream consumer;
|
|
consumer << "0x" << std::hex << objects::RAD_SENSOR;
|
|
GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
|
|
q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), Direction::OUT, Levels::HIGH);
|
|
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
|
|
gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
|
|
Levels::LOW);
|
|
gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
|
|
gpioChecker(gpioIF->addGpios(gpioCookieRadSensor), "RAD sensor");
|
|
}
|
|
|
|
void ObjectFactory::createPlI2cResetGpio(LinuxLibgpioIF* gpioIF) {
|
|
using namespace gpio;
|
|
if (common::OBSW_VERSION_MAJOR >= 6 or common::OBSW_VERSION_MAJOR == 4) {
|
|
if (gpioIF == nullptr) {
|
|
return;
|
|
}
|
|
GpioCookie* gpioI2cResetnCookie = new GpioCookie;
|
|
GpiodRegularByLineName* gpioI2cResetn = new GpiodRegularByLineName(
|
|
q7s::gpioNames::PL_I2C_ARESETN, "PL_I2C_ARESETN", Direction::OUT, Levels::HIGH);
|
|
gpioI2cResetnCookie->addGpio(gpioIds::PL_I2C_ARESETN, gpioI2cResetn);
|
|
gpioChecker(gpioIF->addGpios(gpioI2cResetnCookie), "PL I2C ARESETN");
|
|
// Reset I2C explicitely again.
|
|
gpioIF->pullLow(gpioIds::PL_I2C_ARESETN);
|
|
TaskFactory::delayTask(1);
|
|
gpioIF->pullHigh(gpioIds::PL_I2C_ARESETN);
|
|
}
|
|
}
|
|
|
|
ReturnValue_t ObjectFactory::readFirmwareVersion() {
|
|
uint32_t* mappedSysRomAddr = nullptr;
|
|
// The SYS ROM FPGA block is only available in those versions.
|
|
if (not(common::OBSW_VERSION_MAJOR >= 6) or (common::OBSW_VERSION_MAJOR == 4)) {
|
|
return returnvalue::OK;
|
|
}
|
|
// This has to come before the version announce because it might be required for retrieving
|
|
// the firmware version.
|
|
UioMapper sysRomMapper(q7s::UIO_SYS_ROM);
|
|
ReturnValue_t result =
|
|
sysRomMapper.getMappedAdress(&mappedSysRomAddr, UioMapper::Permissions::READ_ONLY);
|
|
if (result != returnvalue::OK) {
|
|
sif::error << "Getting mapped SYS ROM UIO address failed" << std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
if (mappedSysRomAddr != nullptr) {
|
|
uint32_t firstEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr));
|
|
uint32_t secondEntry = *(reinterpret_cast<uint32_t*>(mappedSysRomAddr) + 1);
|
|
core::FW_VERSION_MAJOR = (firstEntry >> 24) & 0xff;
|
|
core::FW_VERSION_MINOR = (firstEntry >> 16) & 0xff;
|
|
core::FW_VERSION_REVISION = (firstEntry >> 8) & 0xff;
|
|
bool hasGitSha = (firstEntry & 0x0b1);
|
|
if (hasGitSha) {
|
|
std::memcpy(core::FW_VERSION_GIT_SHA, &secondEntry, 4);
|
|
}
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t ObjectFactory::createCcsdsIpComponentsWrapper(CcsdsComponentArgs& ccsdsArgs) {
|
|
ccsdsArgs.pdecCfgMemBaseAddr = config::pdec::PDEC_CONFIG_BASE_ADDR;
|
|
ccsdsArgs.pdecRamBaseAddr = config::pdec::PDEC_RAM_ADDR;
|
|
if (core::FW_VERSION_MAJOR < 6) {
|
|
ccsdsArgs.pdecCfgMemBaseAddr = config::pdec::PDEC_CONFIG_BASE_ADDR_LEGACY;
|
|
ccsdsArgs.pdecRamBaseAddr = config::pdec::PDEC_RAM_ADDR_LEGACY;
|
|
}
|
|
ReturnValue_t result = createCcsdsComponents(ccsdsArgs);
|
|
#if OBSW_TM_TO_PTME == 1
|
|
if (ccsdsArgs.normalLiveTmDest != MessageQueueIF::NO_QUEUE) {
|
|
ccsdsArgs.pusFunnel.addLiveDestinationByRawId("VC0 NORMAL LIVE TM", ccsdsArgs.normalLiveTmDest,
|
|
0);
|
|
}
|
|
if (ccsdsArgs.cfdpLiveTmDest != MessageQueueIF::NO_QUEUE) {
|
|
ccsdsArgs.cfdpFunnel.addLiveDestinationByRawId("VC0 CFDP LIVE TM", ccsdsArgs.cfdpLiveTmDest, 0);
|
|
}
|
|
#endif
|
|
return result;
|
|
}
|