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create and schedule ACS SS
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This commit is contained in:
Robin Müller
2022-04-25 10:50:59 +02:00
parent f014e2d5c7
commit f9dd77b8ec
4 changed files with 31 additions and 22 deletions
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14
bsp_q7s/core/InitMission.cpp
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@ -114,9 +114,9 @@ void initmission::initTasks() {
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
#if OBSW_ADD_ACS_HANDLERS == 1
PeriodicTaskIF* acsTask = factory->createPeriodicTask(
"ACS_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = acsTask->addComponent(objects::GPS_CONTROLLER);
PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
"ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = gpsTask->addComponent(objects::GPS_CONTROLLER);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
}
@ -124,7 +124,7 @@ void initmission::initTasks() {
#endif /* OBSW_ADD_ACS_HANDLERS */
PeriodicTaskIF* sysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
"SYS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = sysTask->addComponent(objects::ACS_BOARD_ASS);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
@ -139,6 +139,10 @@ void initmission::initTasks() {
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
}
result = sysTask->addComponent(objects::ACS_SUBSYSTEM);
if (result != HasReturnvaluesIF::RETURN_OK) {
initmission::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
}
// FS task, task interval does not matter because it runs in permanent loop, priority low
// because it is a non-essential background task
@ -227,7 +231,7 @@ void initmission::initTasks() {
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_ADD_ACS_HANDLERS == 1
acsTask->startTask();
gpsTask->startTask();
#endif
sysTask->startTask();