eive/eive-obsw
eive/eive-obsw
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new system ctl task
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Robin Müller 2022-03-22 19:15:13 +01:00
parent 5b7dd7c432
commit 4afacbe82b
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GPG Key ID: 71B58F8A3CDFA9AC
1 changed files with 14 additions and 5 deletions
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19
bsp_q7s/core/InitMission.cpp
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@ -117,20 +117,28 @@ void initmission::initTasks() {
#if OBSW_ADD_ACS_HANDLERS == 1 #if OBSW_ADD_ACS_HANDLERS == 1
PeriodicTaskIF* acsTask = factory->createPeriodicTask( PeriodicTaskIF* acsTask = factory->createPeriodicTask(
"ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); "ACS_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = acsTask->addComponent(objects::GPS_CONTROLLER); result = acsTask->addComponent(objects::GPS_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER); initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
} }
result = acsTask->addComponent(objects::ACS_BOARD_ASS);
#endif /* OBSW_ADD_ACS_HANDLERS */
PeriodicTaskIF* sysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = sysTask->addComponent(objects::ACS_BOARD_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_ASS", objects::ACS_BOARD_ASS); initmission::printAddObjectError("ACS_ASS", objects::ACS_BOARD_ASS);
} }
result = acsTask->addComponent(objects::SUS_BOARD_ASS); result = sysTask->addComponent(objects::SUS_BOARD_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("SUS_ASS", objects::SUS_BOARD_ASS); initmission::printAddObjectError("SUS_ASS", objects::SUS_BOARD_ASS);
} }
#endif /* OBSW_ADD_ACS_HANDLERS */ result = sysTask->addComponent(objects::TCS_BOARD_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
}
#if BOARD_TE0720 == 0 #if BOARD_TE0720 == 0
// FS task, task interval does not matter because it runs in permanent loop, priority low // FS task, task interval does not matter because it runs in permanent loop, priority low
@ -219,6 +227,7 @@ void initmission::initTasks() {
#if OBSW_ADD_ACS_HANDLERS == 1 #if OBSW_ADD_ACS_HANDLERS == 1
acsTask->startTask(); acsTask->startTask();
#endif #endif
sysTask->startTask();
sif::info << "Tasks started.." << std::endl; sif::info << "Tasks started.." << std::endl;
} }