Robin Mueller
c043375ae3
All checks were successful
EIVE/eive-obsw/pipeline/pr-develop This commit looks good
- FSFW update: SPI device is part of ComIF now - Only set RW mode (speed is set a side effect but not necessary) once - Release SPI bus in the 70 ms delay duration
321 lines
18 KiB
C++
321 lines
18 KiB
C++
#include "ObjectFactory.h"
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#include <fsfw/power/PowerSwitchIF.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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#include <fsfw_hal/common/gpio/GpioIF.h>
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#include <fsfw_hal/common/gpio/gpioDefinitions.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 <linux/callbacks/gpioCallbacks.h>
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#include <mission/devices/Max31865PT1000Handler.h>
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#include <mission/devices/SusHandler.h>
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#include <mission/system/SusAssembly.h>
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#include <mission/system/TcsBoardAssembly.h>
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#include <mission/system/fdir/RtdFdir.h>
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#include <mission/system/fdir/SusFdir.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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void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
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PowerSwitchIF* pwrSwitcher, std::string spiDev) {
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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);
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susgpio = new GpioCallback("Chip select SUS 11", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
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gpioChecker(gpioComIF->addGpios(gpioCookieSus), "Sun Sensors");
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#if OBSW_ADD_SUN_SENSORS == 1
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SusFdir* fdir = nullptr;
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std::array<SusHandler*, 12> susHandlers = {};
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SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
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spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
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susHandlers[0] =
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new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
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fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
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susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
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susHandlers[0]->setCustomFdir(fdir);
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spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE,
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spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
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susHandlers[1] =
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new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie);
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fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
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susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
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susHandlers[1]->setCustomFdir(fdir);
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spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE,
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spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
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susHandlers[2] =
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new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie);
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fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
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susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
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susHandlers[2]->setCustomFdir(fdir);
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spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE,
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spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
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susHandlers[3] =
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new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie);
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fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
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susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
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susHandlers[3]->setCustomFdir(fdir);
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spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE,
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spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
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susHandlers[4] =
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new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie);
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fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
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susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
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susHandlers[4]->setCustomFdir(fdir);
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spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE,
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spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
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susHandlers[5] =
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new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie);
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fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
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susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
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susHandlers[5]->setCustomFdir(fdir);
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spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
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spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
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susHandlers[6] =
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new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
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fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
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susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
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susHandlers[6]->setCustomFdir(fdir);
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spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE,
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spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
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susHandlers[7] =
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new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie);
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fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
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susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
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susHandlers[7]->setCustomFdir(fdir);
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spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE,
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spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
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susHandlers[8] =
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new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie);
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fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
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susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
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susHandlers[8]->setCustomFdir(fdir);
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spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE,
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spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
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susHandlers[9] =
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new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie);
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fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
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susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
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susHandlers[9]->setCustomFdir(fdir);
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spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE,
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spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
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susHandlers[10] =
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new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie);
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fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
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susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
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susHandlers[10]->setCustomFdir(fdir);
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spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE,
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spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
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susHandlers[11] =
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new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie);
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fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
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susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
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susHandlers[11]->setCustomFdir(fdir);
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for (auto& sus : susHandlers) {
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if (sus != nullptr) {
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#if OBSW_TEST_SUS == 1
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sus->setStartUpImmediately();
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sus->setToGoToNormalMode(true);
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#endif
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#if OBSW_DEBUG_SUS == 1
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sus->enablePeriodicPrintout(true, 3);
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#endif
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}
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}
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std::array<object_id_t, 12> susIds = {
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objects::SUS_0_N_LOC_XFYFZM_PT_XF, objects::SUS_1_N_LOC_XBYFZM_PT_XB,
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objects::SUS_2_N_LOC_XFYBZB_PT_YB, objects::SUS_3_N_LOC_XFYBZF_PT_YF,
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objects::SUS_4_N_LOC_XMYFZF_PT_ZF, objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
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objects::SUS_6_R_LOC_XFYBZM_PT_XF, objects::SUS_7_R_LOC_XBYBZM_PT_XB,
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objects::SUS_8_R_LOC_XBYBZB_PT_YB, objects::SUS_9_R_LOC_XBYBZB_PT_YF,
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objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::SUS_11_R_LOC_XBYMZB_PT_ZB};
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SusAssHelper susAssHelper = SusAssHelper(susIds);
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auto susAss =
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new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
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static_cast<void>(susAss);
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#endif /* OBSW_ADD_SUN_SENSORS == 1 */
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}
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void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
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PowerSwitchIF* pwrSwitcher) {
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using namespace gpio;
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GpioCookie* rtdGpioCookie = new GpioCookie;
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GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
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GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
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GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
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GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
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GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
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GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
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GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
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GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
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GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
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GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
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GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
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GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
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GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
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GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
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GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
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GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", Direction::OUT, Levels::HIGH,
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
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gpioChecker(gpioComIF->addGpios(rtdGpioCookie), "RTDs");
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#if OBSW_ADD_RTD_DEVICES == 1
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static constexpr uint8_t NUMBER_RTDS = 16;
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std::array<std::pair<address_t, gpioId_t>, NUMBER_RTDS> cookieArgs = {{
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{addresses::RTD_IC_3, gpioIds::RTD_IC_3},
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{addresses::RTD_IC_4, gpioIds::RTD_IC_4},
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{addresses::RTD_IC_5, gpioIds::RTD_IC_5},
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{addresses::RTD_IC_6, gpioIds::RTD_IC_6},
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{addresses::RTD_IC_7, gpioIds::RTD_IC_7},
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{addresses::RTD_IC_8, gpioIds::RTD_IC_8},
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{addresses::RTD_IC_9, gpioIds::RTD_IC_9},
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{addresses::RTD_IC_10, gpioIds::RTD_IC_10},
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{addresses::RTD_IC_11, gpioIds::RTD_IC_11},
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{addresses::RTD_IC_12, gpioIds::RTD_IC_12},
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{addresses::RTD_IC_13, gpioIds::RTD_IC_13},
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{addresses::RTD_IC_14, gpioIds::RTD_IC_14},
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{addresses::RTD_IC_15, gpioIds::RTD_IC_15},
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{addresses::RTD_IC_16, gpioIds::RTD_IC_16},
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{addresses::RTD_IC_17, gpioIds::RTD_IC_17},
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{addresses::RTD_IC_18, gpioIds::RTD_IC_18},
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}};
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std::array<object_id_t, NUMBER_RTDS> rtdIds = {objects::RTD_0_IC3_PLOC_HEATSPREADER,
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objects::RTD_1_IC4_PLOC_MISSIONBOARD,
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objects::RTD_2_IC5_4K_CAMERA,
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objects::RTD_3_IC6_DAC_HEATSPREADER,
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objects::RTD_4_IC7_STARTRACKER,
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objects::RTD_5_IC8_RW1_MX_MY,
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objects::RTD_6_IC9_DRO,
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objects::RTD_7_IC10_SCEX,
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objects::RTD_8_IC11_X8,
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objects::RTD_9_IC12_HPA,
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objects::RTD_10_IC13_PL_TX,
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objects::RTD_11_IC14_MPA,
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objects::RTD_12_IC15_ACU,
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objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
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objects::RTD_14_IC17_TCS_BOARD,
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objects::RTD_15_IC18_IMTQ};
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std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
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std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
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RtdFdir* rtdFdir = nullptr;
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for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
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rtdCookies[idx] =
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new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second,
|
|
Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
|
|
rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_MAIN_COM_IF, rtdCookies[idx]);
|
|
rtds[idx]->setParent(objects::TCS_BOARD_ASS);
|
|
rtdFdir = new RtdFdir(rtdIds[idx]);
|
|
rtds[idx]->setCustomFdir(rtdFdir);
|
|
rtds[idx]->setDeviceIdx(idx + 3);
|
|
#if OBSW_DEBUG_RTD == 1
|
|
rtds[idx]->setDebugMode(true);
|
|
#endif
|
|
}
|
|
|
|
#if OBSW_TEST_RTD == 1
|
|
for (auto& rtd : rtds) {
|
|
if (rtd != nullptr) {
|
|
rtd->setStartUpImmediately();
|
|
rtd->setInstantNormal(true);
|
|
}
|
|
}
|
|
#endif // OBSW_TEST_RTD == 1
|
|
TcsBoardHelper helper(rtdIds);
|
|
TcsBoardAssembly* tcsBoardAss =
|
|
new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
|
|
pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
|
|
static_cast<void>(tcsBoardAss);
|
|
#endif // OBSW_ADD_RTD_DEVICES == 1
|
|
}
|
|
|
|
void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
sif::error << "ObjectFactory: Adding GPIOs failed for " << output << std::endl;
|
|
}
|
|
}
|