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f39981deca
eive-obsw/bsp_q7s/core/ObjectFactory.cpp
Robin Mueller f39981deca
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include fix
2023-04-04 17:55:57 +02:00

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#include "ObjectFactory.h"
#include <fsfw/devicehandlers/HealthDevice.h>
#include <fsfw/subsystem/Subsystem.h>
#include <linux/acs/AcsBoardPolling.h>
#include <linux/acs/GpsHyperionLinuxController.h>
#include <linux/acs/ImtqPollingTask.h>
#include <linux/acs/RwPollingTask.h>
#include <linux/acs/StrComHandler.h>
#include <linux/com/SyrlinksComHandler.h>
#include <linux/payload/PlocMemoryDumper.h>
#include <linux/payload/PlocMpsocHandler.h>
#include <linux/payload/PlocMpsocHelper.h>
#include <linux/payload/PlocSupervisorHandler.h>
#include <linux/payload/ScexUartReader.h>
#include <linux/payload/plocMpscoDefs.h>
#include <linux/power/CspComIF.h>
#include <mission/acs/GyrL3gCustomHandler.h>
#include <mission/acs/MgmLis3CustomHandler.h>
#include <mission/acs/MgmRm3100CustomHandler.h>
#include <mission/acs/str/StarTrackerHandler.h>
#include <mission/acs/str/strHelpers.h>
#include <mission/com/LiveTmTask.h>
#include <mission/com/PersistentLogTmStoreTask.h>
#include <mission/com/PersistentSingleTmStoreTask.h>
#include <mission/power/CspCookie.h>
#include <mission/system/acs/ImtqAssembly.h>
#include <mission/system/acs/StrAssembly.h>
#include <mission/system/acs/StrFdir.h>
#include <mission/system/objects/CamSwitcher.h>
#include <mission/system/objects/SyrlinksAssembly.h>
#include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
#include "bsp_q7s/callbacks/pcduSwitchCb.h"
#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "busConf.h"
#include "ccsdsConfig.h"
#include "devConf.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "devices/powerSwitcherList.h"
#include "eive/definitions.h"
#include "fsfw/ipc/QueueFactory.h"
#include "linux/ObjectFactory.h"
#include "linux/boardtest/I2cTestClass.h"
#include "linux/boardtest/SpiTestClass.h"
#include "linux/boardtest/UartTestClass.h"
#include "linux/callbacks/gpioCallbacks.h"
#include "linux/ipcore/AxiPtmeConfig.h"
#include "linux/ipcore/PapbVcInterface.h"
#include "linux/ipcore/PdecHandler.h"
#include "linux/ipcore/Ptme.h"
#include "linux/ipcore/PtmeConfig.h"
#include "mission/config/configfile.h"
#include "mission/system/acs/AcsBoardFdir.h"
#include "mission/system/acs/AcsSubsystem.h"
#include "mission/system/acs/RwAssembly.h"
#include "mission/system/acs/SusFdir.h"
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/com/SyrlinksFdir.h"
#include "mission/system/com/comModeTree.h"
#include "mission/system/fdir/GomspacePowerFdir.h"
#include "mission/system/fdir/RtdFdir.h"
#include "mission/system/objects/TcsBoardAssembly.h"
#include "mission/system/tree/payloadModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
#include "mission/tmtc/tmFilters.h"
#include "mission/utility/GlobalConfigHandler.h"
#include "tmtc/pusIds.h"
using gpio::Direction;
using gpio::Levels;
#if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h"
#endif
#include <mission/SolarArrayDeploymentHandler.h>
#include <mission/acs/GyrAdis1650XHandler.h>
#include <mission/acs/ImtqHandler.h>
#include <mission/acs/rwHelpers.h>
#include <mission/com/SyrlinksHandler.h>
#include <mission/com/VirtualChannelWithQueue.h>
#include <mission/payload/PayloadPcduHandler.h>
#include <mission/payload/RadiationSensorHandler.h>
#include <mission/payload/payloadPcduDefinitions.h>
#include <mission/payload/radSensorDefinitions.h>
#include <mission/power/AcuHandler.h>
#include <mission/power/BpxBatteryHandler.h>
#include <mission/power/P60DockHandler.h>
#include <mission/power/PcduHandler.h>
#include <mission/power/Pdu1Handler.h>
#include <mission/power/Pdu2Handler.h>
#include <mission/power/gsDefs.h>
#include <mission/tcs/HeaterHandler.h>
#include <mission/tcs/Max31865Definitions.h>
#include <mission/tcs/Max31865PT1000Handler.h>
#include <mission/tcs/Tmp1075Handler.h>
#include <sstream>
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/i2c/I2cCookie.h"
#include "fsfw_hal/linux/serial/SerialComIF.h"
#include "fsfw_hal/linux/serial/SerialCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "mission/acs/RwHandler.h"
#include "mission/com/CcsdsIpCoreHandler.h"
#include "mission/com/syrlinksDefs.h"
#include "mission/genericFactory.h"
#include "mission/system/acs/AcsBoardAssembly.h"
#include "mission/tmtc/TmFunnelHandler.h"
ResetArgs RESET_ARGS_GNSS;
std::atomic_bool LINK_STATE = CcsdsIpCoreHandler::LINK_DOWN;
std::atomic_bool PTME_LOCKED = false;
std::atomic_uint16_t I2C_FATAL_ERRORS = 0;
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
#if OBSW_Q7S_EM == 1
DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
#else
DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
#endif /* OBSW_Q7S_EM == 1 */
LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
}
void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
void ObjectFactory::createTmpComponents() {
std::vector<std::pair<object_id_t, address_t>> tmpDevIds = {{
{objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
{objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
{objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
// damaged
// {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
{objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
}};
std::vector<I2cCookie*> tmpDevCookies;
for (size_t idx = 0; idx < tmpDevIds.size(); idx++) {
tmpDevCookies.push_back(
new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
auto* tmpDevHandler =
new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
tmpDevHandler->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
// TODO: Remove this after TCS subsystem was added
// These devices are connected to the 3V3 stack and should be powered permanently. Therefore,
// we set them to normal mode immediately here.
tmpDevHandler->setModeNormal();
}
}
void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
SerialComIF** uartComIF, SpiComIF** spiMainComIF,
I2cComIF** i2cComIF) {
if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr) {
sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
<< std::endl;
}
*gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
/* Communication interfaces */
new CspComIF(objects::CSP_COM_IF, "CSP_ROUTER", 60);
*i2cComIF = new I2cComIF(objects::I2C_COM_IF);
*uartComIF = new SerialComIF(objects::UART_COM_IF);
*spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
//*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
}
void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
bool enableHkSets) {
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
p60DockCspCookie, p60Fdir, enableHkSets);
auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
Pdu1Handler* pdu1handler = new Pdu1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
pdu1CspCookie, pdu1Fdir, enableHkSets);
auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
Pdu2Handler* pdu2handler = new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
pdu2CspCookie, pdu2Fdir, enableHkSets);
auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie,
acuFdir, enableHkSets);
auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
/**
* Setting PCDU devices to mode normal immediately after start up because PCDU is always
* running.
*/
p60dockhandler->setModeNormal();
pdu1handler->setModeNormal();
pdu2handler->setModeNormal();
acuhandler->setModeNormal();
if (pwrSwitcher != nullptr) {
*pwrSwitcher = pcduHandler;
}
#if OBSW_DEBUG_P60DOCK == 1
p60dockhandler->setDebugMode(true);
#endif
#if OBSW_DEBUG_ACU == 1
acuhandler->setDebugMode(true);
#endif
}
ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
Stack5VHandler& stackHandler) {
using namespace gpio;
if (gpioComIF == nullptr) {
return returnvalue::FAILED;
}
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(gpioComIF->addGpios(gpioCookieRadSensor), "RAD sensor");
SpiCookie* spiCookieRadSensor =
new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
spiCookieRadSensor, gpioComIF, stackHandler);
static_cast<void>(radSensor);
#if OBSW_DEBUG_RAD_SENSOR == 1
radSensor->enablePeriodicDataPrint(true);
#endif
return returnvalue::OK;
}
void ObjectFactory::createAcsBoardGpios(GpioCookie& cookie) {
std::stringstream consumer;
GpiodRegularByLineName* gpio = nullptr;
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
cookie.addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
cookie.addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
cookie.addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
cookie.addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
cookie.addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
cookie.addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
cookie.addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), Direction::OUT,
Levels::HIGH);
cookie.addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
// GNSS reset pins are active low
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), Direction::OUT,
Levels::HIGH);
cookie.addGpio(gpioIds::GNSS_0_NRESET, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), Direction::OUT,
Levels::HIGH);
cookie.addGpio(gpioIds::GNSS_1_NRESET, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
// Enable pins must be pulled low for regular operations
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(), Direction::OUT,
Levels::LOW);
cookie.addGpio(gpioIds::GYRO_0_ENABLE, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), Direction::OUT,
Levels::LOW);
cookie.addGpio(gpioIds::GYRO_2_ENABLE, gpio);
// Enable pins for GNSS
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), Direction::OUT,
Levels::LOW);
cookie.addGpio(gpioIds::GNSS_0_ENABLE, gpio);
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), Direction::OUT,
Levels::LOW);
cookie.addGpio(gpioIds::GNSS_1_ENABLE, gpio);
// Select pin. 0 for GPS side A, 1 for GPS side B
consumer.str("");
consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
Levels::LOW);
cookie.addGpio(gpioIds::GNSS_SELECT, gpio);
}
void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF,
SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher) {
using namespace gpio;
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
createAcsBoardGpios(*gpioCookieAcsBoard);
gpioChecker(gpioComIF->addGpios(gpioCookieAcsBoard), "ACS Board");
AcsBoardFdir* fdir = nullptr;
static_cast<void>(fdir);
#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, adis1650x::Type::ADIS16505);
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, adis1650x::Type::ADIS16505);
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 = 100;
auto gpsCtrl =
new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, 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& pwrSwitch) {
using namespace gpio;
std::stringstream consumer;
auto* camSwitcher =
new CamSwitcher(objects::CAM_SWITCHER, pwrSwitch, 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 PlocMPSoCHelper(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);
auto supervisorCookie = new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER,
q7s::UART_PLOC_SUPERVSIOR_DEV, serial::PLOC_SUPV_BAUD,
supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
supervisorCookie->setNoFixedSizeReply();
auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER);
auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie,
Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
power::PDU1_CH6_PLOC_12V, *supvHelper);
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_BUSY_SIGNAL_VC0, "PAPB VC0");
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, "PAPB VC0");
gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, "PAPB VC1");
gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, 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_BUSY_SIGNAL_VC2, "PAPB VC2");
gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, 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_BUSY_SIGNAL_VC3, "PAPB VC3");
gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, 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_BUSY, gpioIds::VC0_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC0);
VirtualChannelIF* vc1 =
new PapbVcInterface(&args.gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC1);
VirtualChannelIF* vc2 =
new PapbVcInterface(&args.gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC2);
VirtualChannelIF* vc3 =
new PapbVcInterface(&args.gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY,
q7s::UIO_PTME, q7s::uiomapids::PTME_VC3);
// Creating ptme object and adding virtual channel interfaces
Ptme* ptme = new Ptme(objects::PTME);
ptme->addVcInterface(ccsds::VC0, vc0);
ptme->addVcInterface(ccsds::VC1, vc1);
ptme->addVcInterface(ccsds::VC2, vc2);
ptme->addVcInterface(ccsds::VC3, vc3);
AxiPtmeConfig* axiPtmeConfig =
new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
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 VirtualChannelWithQueue(objects::PTME_VC0_LIVE_TM, ccsds::VC0, "PTME VC0 LIVE TM", *ptme,
LINK_STATE, args.tmStore, 500);
args.liveDestination = vcWithQueue;
auto* liveTask = new LiveTmTask(objects::LIVE_TM_TASK, args.pusFunnel, args.cfdpFunnel,
*vcWithQueue, PTME_LOCKED);
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_STORE_DONE, *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);
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);
// plPcduHandler->enablePeriodicPrintout(true, 5);
// static_cast<void>(plPcduHandler);
#if OBSW_TEST_PL_PCDU == 1
plPcduHandler->setStartUpImmediately();
#endif
#if OBSW_DEBUG_PL_PCDU == 1
plPcduHandler->setToGoToNormalModeImmediately(true);
plPcduHandler->enablePeriodicPrintout(true, 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) {
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 = nullptr;
#ifdef EGSE
paramJsonFile = "/home/pi/arcsec/json/flight-config.json";
#else
#if OBSW_STAR_TRACKER_GROUND_CONFIG == 1
paramJsonFile = "/mnt/sd0/startracker/ground-config.json";
#else
paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
#endif
#endif
if (paramJsonFile == nullptr) {
sif::error << "No valid Star Tracker parameter JSON file" << std::endl;
}
auto strFdir = new StrFdir(objects::STAR_TRACKER);
auto starTracker =
new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie,
paramJsonFile, strComIF, power::PDU1_CH2_STAR_TRACKER_5V);
starTracker->setPowerSwitcher(pwrSwitcher);
starTracker->connectModeTreeParent(*strAssy);
starTracker->setCustomFdir(strFdir);
}
void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets) {
auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
new ImtqPollingTask(objects::IMTQ_POLLING, I2C_FATAL_ERRORS);
I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, imtq::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
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) {
I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
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;
}
}
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