249 lines
10 KiB
C++
249 lines
10 KiB
C++
#include "ObjectFactory.h"
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#include <bsp_linux_board/RPiSdCardManager.h>
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#include <linux/devices/ScexUartReader.h>
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#include "OBSWConfig.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 "fsfw/datapoollocal/LocalDataPoolManager.h"
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#include "fsfw/power/DummyPowerSwitcher.h"
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#include "fsfw/tasks/TaskFactory.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 "gpioInit.h"
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#include "linux/ObjectFactory.h"
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#include "linux/boardtest/LibgpiodTest.h"
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#include "linux/boardtest/SpiTestClass.h"
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#include "linux/boardtest/UartTestClass.h"
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#include "mission/core/GenericFactory.h"
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#include "mission/devices/GPSHyperionHandler.h"
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#include "mission/devices/GyroADIS1650XHandler.h"
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#include "mission/tmtc/TmFunnel.h"
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#include "objects/systemObjectList.h"
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#include "tmtc/pusIds.h"
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/* UDP server includes */
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#if OBSW_USE_TMTC_TCP_BRIDGE == 1
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#include <fsfw/src/fsfw/osal/common/TcpTmTcBridge.h>
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#include <fsfw/src/fsfw/osal/common/TcpTmTcServer.h>
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#else
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#include "fsfw/osal/common/UdpTcPollingTask.h"
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#include "fsfw/osal/common/UdpTmTcBridge.h"
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#endif
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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/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/rpi/GpioRPi.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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void Factory::setStaticFrameworkObjectIds() {
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PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
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PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;
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CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
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CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
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TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
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// No storage object for now.
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TmFunnel::storageDestination = objects::NO_OBJECT;
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}
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void ObjectFactory::produce(void* args) {
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Factory::setStaticFrameworkObjectIds();
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ObjectFactory::produceGenericObjects();
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GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
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GpioCookie* gpioCookie = nullptr;
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static_cast<void>(gpioCookie);
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SpiComIF* spiComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, spi::DEV, gpioIF);
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static_cast<void>(spiComIF);
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auto pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
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static_cast<void>(pwrSwitcher);
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#if OBSW_ADD_ACS_BOARD == 1 && defined(RASPBERRY_PI)
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createRpiAcsBoard(gpioIF, spiDev);
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#endif
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#if OBSW_ADD_SUN_SENSORS == 1 || OBSW_ADD_RTD_DEVICES == 1
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#ifdef RASPBERRY_PI
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rpi::gpio::initSpiCsDecoder(gpioIF);
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#endif
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#endif
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#if OBSW_ADD_SCEX_DEVICE == 1
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auto* sdcMan = new RPiSdCardManager("/tmp");
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createScexComponents(uart::DEV, pwrSwitcher, *sdcMan, true, std::nullopt);
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#endif
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#if OBSW_ADD_SUN_SENSORS == 1
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createSunSensorComponents(gpioIF, spiComIF, pwrSwitcher, spi::DEV);
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#endif
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#if OBSW_ADD_RTD_DEVICES == 1
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createRtdComponents(spi::DEV, gpioIF, pwrSwitcher);
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#endif
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#if OBSW_ADD_TEST_CODE == 1
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createTestTasks();
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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}
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void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
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GpioCookie* gpioCookie = new GpioCookie();
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// TODO: Missing pin for Gyro 2
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3",
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gpio::Direction::OUT, gpio::Levels::HIGH);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
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"MGM_1_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
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gpio::Direction::OUT, gpio::Levels::HIGH);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
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"MGM_3_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
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"GYRO_0_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
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gpio::Direction::OUT, gpio::Levels::HIGH);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
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"GYRO_2_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
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gpio::Direction::OUT, gpio::Levels::HIGH);
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gpioIF->addGpios(gpioCookie);
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SpiCookie* spiCookie =
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new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
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spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
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auto mgmLis3Handler =
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new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
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mgmLis3Handler->setStartUpImmediately();
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#if OBSW_TEST_ACS == 1
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mgmLis3Handler->setToGoToNormalMode(true);
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#endif
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spiCookie =
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new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
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spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
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auto mgmRm3100Handler =
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new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
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mgmRm3100Handler->setStartUpImmediately();
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#if OBSW_TEST_ACS == 1
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mgmRm3100Handler->setToGoToNormalMode(true);
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#endif
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spiCookie =
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new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
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spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
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mgmLis3Handler =
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new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
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mgmLis3Handler->setStartUpImmediately();
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#if OBSW_TEST_ACS == 1
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mgmLis3Handler->setToGoToNormalMode(true);
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#endif
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spiCookie =
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new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
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spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
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mgmRm3100Handler =
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new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
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mgmRm3100Handler->setStartUpImmediately();
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#if OBSW_TEST_ACS == 1
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mgmRm3100Handler->setToGoToNormalMode(true);
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#endif
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spiCookie =
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new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
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spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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auto adisHandler =
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new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
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ADIS1650X::Type::ADIS16505);
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adisHandler->setStartUpImmediately();
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spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
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spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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auto gyroL3gHandler =
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new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
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gyroL3gHandler->setStartUpImmediately();
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#if OBSW_TEST_ACS == 1
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gyroL3gHandler->setToGoToNormalMode(true);
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#endif
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spiCookie =
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new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
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spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
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spiCookie, ADIS1650X::Type::ADIS16505);
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adisHandler->setStartUpImmediately();
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spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
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spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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gyroL3gHandler =
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new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
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gyroL3gHandler->setStartUpImmediately();
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#if OBSW_TEST_ACS == 1
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gyroL3gHandler->setToGoToNormalMode(true);
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#endif
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}
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void ObjectFactory::createTestTasks() {
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new TestTask(objects::TEST_TASK);
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#if OBSW_ADD_SPI_TEST_CODE == 1
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new SpiTestClass(objects::SPI_TEST, gpioIF);
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#endif
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#if OBSW_ADD_UART_TEST_CODE == 1
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new UartTestClass(objects::UART_TEST);
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#else
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newSerialComIF(objects::UART_COM_IF);
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#endif
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#if RPI_LOOPBACK_TEST_GPIO == 1
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GpioCookie* gpioCookieLoopback = new GpioCookie();
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/* Loopback pins. Adapt according to setup */
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gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
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int bcmPinSender = 26;
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gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
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int bcmPinReader = 16;
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gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
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gpio::Direction::OUT, 0);
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gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
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gpio::Direction::IN, 0);
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new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
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#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
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#if RPI_TEST_ADIS16507 == 1
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if (gpioCookie == nullptr) {
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gpioCookie = new GpioCookie();
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}
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gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
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"GYRO_0_ADIS", gpio::Direction::OUT, 1);
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gpioIF->addGpios(gpioCookie);
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spiDev = "/dev/spidev0.1";
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spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
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ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
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spi::DEFAULT_ADIS16507_SPEED, nullptr, nullptr);
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auto adisGyroHandler =
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new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
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adisGyroHandler->setStartUpImmediately();
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#endif /* RPI_TEST_ADIS16507 == 1 */
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#if RPI_TEST_GPS_HANDLER == 1
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UartCookie* uartCookie =
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new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", UartModes::CANONICAL, 9600, 1024);
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uartCookie->setToFlushInput(true);
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uartCookie->setReadCycles(6);
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GPSHyperionHandler* gpsHandler =
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new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookie, false);
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gpsHandler->setStartUpImmediately();
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#endif
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}
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