debugging mem exception

README.md

@@ -48,10 +48,10 @@ This demo can be run on a STM32H743ZI-Nucleo board with the FreeRTOS OSAL.
 
 ## General Information
 
-The board is flashed and debugged with OpenOCD and this README specifies on how
+The board is flashed and debugged with [OpenOCD](https://openocd.org/) and this README specifies on
-to make this work with the Eclipse IDE. Other IDEs or the command line can be used as well as long 
+how to make this work with the Eclipse IDE. Other IDEs or the command line can be used as well as
-as long as OpenOCD integration is given. The example demo uses newlib nano (glibc). 
+long as long as OpenOCD integration is given. The example demo uses newlib nano (glibc). 
-Some system calls were overriden so the C and C++ stdio functions work. IO is sent via the HUART3,
+Some system calls were overriden so the C and C++ `stdio` functions work. IO is sent via the HUART3,
 so debug output can be read directly from the USB connection to the board.
 
 ## Prerequisites

bsp_stm32h7_freertos/boardtest/SpiTest.cpp

@@ -16,7 +16,7 @@ ReturnValue_t SpiTest::performOperation(uint8_t opCode) {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  std::array<uint8_t, 3> recBuf;
+  std::array<uint8_t, 3> recBuf{};
   uint8_t *recPtr = recBuf.data();
   size_t readLen = 0;
   return spiComIF.readReceivedMessage(&spiCookie, &recPtr, &readLen);

bsp_stm32h7_freertos/boardtest/SpiTest.h

@@ -7,7 +7,7 @@
 
 class SpiTest {
 public:
-  SpiTest(SpiComIF &spiComIF);
+  explicit SpiTest(SpiComIF &spiComIF);
 
   ReturnValue_t performOperation(uint8_t opCode = 0);
 

bsp_stm32h7_freertos/core/InitMission.cpp

@@ -17,15 +17,16 @@
 
 #include "FreeRTOS.h"
 
+void assemlyDemo();
+
 void InitMission::createTasks() {
   TaskFactory *taskFactory = TaskFactory::instance();
-
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 #if OBSW_ADD_CORE_COMPONENTS == 1
   /* TMTC Distribution */
   PeriodicTaskIF *distributerTask =
       taskFactory->createPeriodicTask("DIST", 5, 1024 * 2, 0.2, nullptr);
-  ReturnValue_t result =
+  result = distributerTask->addComponent(objects::CCSDS_DISTRIBUTOR);
-      distributerTask->addComponent(objects::CCSDS_DISTRIBUTOR);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     task::printInitError("CCSDS distributor", objects::CCSDS_DISTRIBUTOR);
   }
@@ -38,6 +39,7 @@ void InitMission::createTasks() {
     task::printInitError("TM funnel", objects::TM_FUNNEL);
   }
 
+#if OBSW_ADD_LWIP_COMPONENTS == 1
   /* UDP bridge */
   PeriodicTaskIF *udpBridgeTask = TaskFactory::instance()->createPeriodicTask(
       "UDP_UNIX_BRIDGE", 6, 1024 * 2, 0.2, nullptr);
@@ -51,6 +53,7 @@ void InitMission::createTasks() {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     task::printInitError("UDP polling task", objects::UDP_POLLING_TASK);
   }
+#endif
 
   PeriodicTaskIF *eventManagerTask =
       TaskFactory::instance()->createPeriodicTask("EVENT_MGMT", 4, 1024 * 2,
@@ -183,8 +186,10 @@ void InitMission::createTasks() {
 #if OBSW_ADD_CORE_COMPONENTS == 1
   distributerTask->startTask();
   eventManagerTask->startTask();
+#if OBSW_ADD_LWIP_COMPONENTS == 1
   udpBridgeTask->startTask();
   udpPollingTask->startTask();
+#endif
 #endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
 
 #if OBSW_ADD_PUS_STACK == 1
@@ -221,8 +226,7 @@ void InitMission::createTasks() {
 #endif
 
 #if OBSW_ADD_DEVICE_HANDLER_DEMO
-  HasModesIF *assembly =
+  auto *assembly = ObjectManager::instance()->get<HasModesIF>(objects::TEST_ASSEMBLY);
-      ObjectManager::instance()->get<HasModesIF>(objects::TEST_ASSEMBLY);
   if (assembly == nullptr) {
     return;
   }
@@ -236,16 +240,20 @@ void InitMission::createTasks() {
 #endif
 
   TaskFactory::delayTask(5000);
-  CommandMessage modeMessage;
+
-  ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND,
-                              DeviceHandlerIF::MODE_NORMAL,
-                              TestAssembly::submodes::DUAL);
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "Commanding Test Assembly to Normal, Dual" << std::endl;
-#else
-  sif::printInfo("Commanding Test Assembly to Normal, Dual \n");
-#endif
-  MessageQueueSenderIF::sendMessage(assembly->getCommandQueue(), &modeMessage,
-                                    MessageQueueIF::NO_QUEUE);
 #endif /* OBSW_ADD_DEVICE_HANDLER_DEMO */
 }
+
+void assemblyDemo(HasModesIF* assembly) {
+    CommandMessage modeMessage;
+    ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND,
+                                DeviceHandlerIF::MODE_NORMAL,
+                                TestAssembly::submodes::DUAL);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::info << "Commanding Test Assembly to Normal, Dual" << std::endl;
+#else
+    sif::printInfo("Commanding Test Assembly to Normal, Dual \n");
+#endif
+    MessageQueueSenderIF::sendMessage(assembly->getCommandQueue(), &modeMessage,
+                                      MessageQueueIF::NO_QUEUE);
+}

bsp_stm32h7_freertos/core/ObjectFactory.cpp

@@ -51,17 +51,19 @@ void ObjectFactory::produce(void *args) {
     new PoolManager(objects::IPC_STORE, poolCfg);
   }
 
+#if OBSW_ADD_LWIP_COMPONENTS == 1
   /* UDP Server */
   new TmTcLwIpUdpBridge(objects::UDP_BRIDGE, objects::CCSDS_DISTRIBUTOR,
                         objects::TM_STORE, objects::TC_STORE);
   new UdpTcLwIpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE,
                            &gnetif);
+#endif
 #endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
 
   ObjectFactory::produceGenericObjects();
 
   /* Test Device Handler */
-  new STM32TestTask(objects::TEST_TASK, false, true);
+  new STM32TestTask(objects::TEST_TASK, true, true);
 
 #if OBSW_PERFORM_L3GD20H_TEST == 1
 

bsp_stm32h7_freertos/main.cpp

@@ -1,6 +1,4 @@
 #include "OBSWConfig.h"
-#include "OBSWVersion.h"
-#include "boardconfig.h"
 #include "hardware_init.h"
 
 #if OBSW_ADD_LWIP_COMPONENTS == 1
@@ -16,7 +14,6 @@
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/tasks/TaskFactory.h>
 
-#include "FreeRTOS.h"
 #include "cmsis_os.h"
 #include "task.h"
 
@@ -52,8 +49,7 @@ int main() {
   osKernelStart();
 
   /* Should not be reached, scheduler should now be running. */
-  for (;;) {
+  for (;;) {}
-  }
   return 0;
 }
 
@@ -84,5 +80,5 @@ void initTask(void *parameters) {
   sif::printInfo("Creating tasks..\n\r");
 #endif
   InitMission::createTasks();
-  TaskFactory::instance()->deleteTask(nullptr);
+  TaskFactory::deleteTask(nullptr);
 }

fsfw

@@ -1 +1 @@
-Subproject commit a5245d55866af138b1f2d86d560b59f3a1bd3255
+Subproject commit 44402883b509f2116d48269edff3068a63c4c204