added SPI code
This commit is contained in:
parent
9b2fec1940
commit
f1674aec4e
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@ -17,6 +17,7 @@ set(STM32_TOOLCHAIN_PATH $ENV{STM32_TOOLCHAIN_PATH})
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set(TARGET_TRIPLET "arm-none-eabi")
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set(OS_FSFW freertos CACHE STRING "OS for the FSFW")
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set(STM32_ADD_NETWORKING_CODE ON)
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set(FSFW_HAL_ADD_STM32H7 ON)
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# This call has to come before the project call
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set(CMAKE_TOOLCHAIN_FILE ${STM32_CMAKE_PATH}/cmake/stm32_gcc.cmake)
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@ -33,7 +34,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED True)
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find_package(CMSIS COMPONENTS STM32H743ZI STM32H7_M7 RTOS REQUIRED)
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find_package(FreeRTOS COMPONENTS STM32H7 ARM_CM7 REQUIRED)
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find_package(HAL COMPONENTS STM32H7M7 STM32H743ZI RCC GPIO UART TIM CORTEX ETH REQUIRED)
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find_package(HAL COMPONENTS STM32H7M7 STM32H743ZI RCC GPIO UART TIM CORTEX ETH SPI DMA REQUIRED)
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find_package(LwIP REQUIRED)
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set(TGT_BSP "arm/stm32h743zi-nucleo")
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@ -42,7 +43,14 @@ set(FREERTOS_NAMESPACE FreeRTOS::STM32::H7::M7)
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# These need to be set for the FSFW so the sources are compiled with the ABI flags
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# and to compile FreeRTOS first
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set(LIB_OS_NAME ${FREERTOS_NAMESPACE}::ARM_CM7)
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set(FSFW_ADDITIONAL_LINK_LIBS CMSIS::STM32::H743ZI::M7)
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# This target is used because a custom linker script is used
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set(CMSIS_LINK_TARGET CMSIS::STM32::H743xx::M7)
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set(FSFW_ADDITIONAL_LINK_LIBS ${CMSIS_LINK_TARGET})
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set(FSFW_HAL_LINK_LIBS
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HAL::STM32::H7::M7::CORTEX
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${CMSIS_LINK_TARGET}
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${LIB_OS_NAME}
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)
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# Set names and variables
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set(TARGET_NAME ${CMAKE_PROJECT_NAME})
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@ -58,6 +66,9 @@ set(BSP_PATH "bsp_stm32h7_freertos")
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set(COMMON_CONFIG_PATH "${COMMON_PATH}/config")
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set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
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set(BSP_NUCLEO_PATH "${BSP_PATH}/NUCLEO-H743ZI")
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set(BSP_NUCLEO_INC_PATH "${BSP_NUCLEO_PATH}/Inc")
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set(FSFW_HAL_ADDITIONAL_INC_PATHS ${BSP_NUCLEO_INC_PATH})
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set(FSFW_ADDITIONAL_INC_PATHS
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"${COMMON_CONFIG_PATH}"
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@ -98,6 +109,7 @@ add_executable(${TARGET_NAME})
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# Add subdirectories
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add_subdirectory(${BSP_PATH})
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add_subdirectory(${FSFW_PATH})
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add_subdirectory(${LIB_FSFW_HAL_PATH})
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add_subdirectory(${COMMON_PATH})
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################################################################################
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@ -107,6 +119,7 @@ add_subdirectory(${COMMON_PATH})
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# Add libraries for all sources.
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target_link_libraries(${TARGET_NAME} PRIVATE
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${LIB_FSFW_NAME}
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${LIB_FSFW_HAL_NAME}
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${FREERTOS_NAMESPACE}::Heap::4
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${FREERTOS_NAMESPACE}::ARM_CM7
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HAL::STM32::H7::M7::RCC
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@ -117,7 +130,9 @@ target_link_libraries(${TARGET_NAME} PRIVATE
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HAL::STM32::H7::M7::TIM
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HAL::STM32::H7::M7::TIMEx
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HAL::STM32::H7::M7::ETH
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CMSIS::STM32::H743ZI::M7
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HAL::STM32::H7::M7::SPI
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HAL::STM32::H7::M7::DMA
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${CMSIS_LINK_TARGET}
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CMSIS::STM32::H7::M7::RTOS
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STM32::NoSys
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STM32::Nano
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@ -179,6 +194,8 @@ string(CONCAT POST_BUILD_COMMENT
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"${TARGET_STRING}"
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)
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stm32_add_linker_script(${TARGET_NAME} "PRIVATE" "${BSP_NUCLEO_PATH}/STM32H743ZITx_FLASH.ld")
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include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
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set_build_type()
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@ -1,21 +1,28 @@
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#include "InitMission.h"
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#include "OBSWConfig.h"
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#include "objects/systemObjectList.h"
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#include "pollingsequence/pollingSequenceFactory.h"
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#include "mission/utility/TaskCreation.h"
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#include "mission/assemblies/TestAssembly.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/tasks/FixedTimeslotTaskIF.h"
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#include "fsfw/tasks/PeriodicTaskIF.h"
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#include "fsfw/tasks/TaskFactory.h"
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#include "fsfw/devicehandlers/DeviceHandlerIF.h"
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#include "fsfw/modes/HasModesIF.h"
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#include "fsfw/modes/ModeMessage.h"
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#include "FreeRTOS.h"
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#include <objects/systemObjectList.h>
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#include <mission/utility/TaskCreation.h>
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#include <pollingsequence/pollingSequenceFactory.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include <fsfw/tasks/PeriodicTaskIF.h>
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#include <fsfw/tasks/TaskFactory.h>
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void InitMission::createTasks() {
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TaskFactory* taskFactory = TaskFactory::instance();
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#if OBSW_ADD_CORE_COMPONENTS == 1
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/* TMTC Distribution */
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PeriodicTaskIF* distributerTask = TaskFactory::instance()->createPeriodicTask(
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PeriodicTaskIF* distributerTask = taskFactory->createPeriodicTask(
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"DIST", 5, 1024 * 2, 0.2, nullptr);
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ReturnValue_t result = distributerTask->addComponent(objects::CCSDS_DISTRIBUTOR);
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if(result!=HasReturnvaluesIF::RETURN_OK) {
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@ -30,7 +37,6 @@ void InitMission::createTasks() {
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task::printInitError("TM funnel", objects::TM_FUNNEL);
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}
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#if OBSW_ADD_LWIP_COMPONENTS == 1
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/* UDP bridge */
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PeriodicTaskIF* udpBridgeTask = TaskFactory::instance()->createPeriodicTask(
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"UDP_UNIX_BRIDGE", 6, 1024 * 2, 0.2, nullptr);
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@ -44,7 +50,6 @@ void InitMission::createTasks() {
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if(result != HasReturnvaluesIF::RETURN_OK) {
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task::printInitError("UDP polling task", objects::UDP_POLLING_TASK);
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}
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#endif /* OBSW_ADD_LWIP_COMPONENTS == 1 */
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PeriodicTaskIF* eventManagerTask = TaskFactory::instance()->createPeriodicTask(
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"EVENT_MGMT", 4, 1024 * 2, 0.1, nullptr);
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@ -119,7 +124,7 @@ void InitMission::createTasks() {
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#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
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FixedTimeslotTaskIF* testDevicesTask = TaskFactory::instance()->createFixedTimeslotTask(
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"PST_TEST_TASK", 10, 1024 * 2, 1.0, nullptr);
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"PST_TEST_TASK", 7, 1024 * 2, 1.0, nullptr);
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result = pst::pollingSequenceDevices(testDevicesTask);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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@ -128,6 +133,15 @@ void InitMission::createTasks() {
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sif::printError("InitMission::createTasks: Test PST initialization faiedl!\n");
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#endif
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}
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PeriodicTaskIF* assemblyTask = taskFactory->createPeriodicTask("ASS_TASK", 3,
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1024, 2.0, nullptr);
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if(assemblyTask == nullptr){
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task::printInitError("ASS_TASK", objects::TEST_ASSEMBLY);
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}
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result = assemblyTask->addComponent(objects::TEST_ASSEMBLY);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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task::printInitError("ASS_TASK", objects::TEST_ASSEMBLY);
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}
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#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
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PeriodicTaskIF* testTask = TaskFactory::instance()->createPeriodicTask(
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@ -137,6 +151,19 @@ void InitMission::createTasks() {
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task::printInitError("Test Task", objects::TEST_TASK);
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}
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#if OBSW_PERIPHERAL_PST == 1
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FixedTimeslotTaskIF* peripheralPst = TaskFactory::instance()->createFixedTimeslotTask(
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"PST_PERIPHERAL_TASK", 9, 1024 * 2, 2.0, nullptr);
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result = pst::pstPeripheralsTest(peripheralPst);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "InitMission::createTasks: Test PST initialization failed!" << std::endl;
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#else
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sif::printError("InitMission::createTasks: Test PST initialization faiedl!\n");
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#endif
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}
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#endif
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Starting tasks.." << std::endl;
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#else
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@ -146,10 +173,8 @@ void InitMission::createTasks() {
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#if OBSW_ADD_CORE_COMPONENTS == 1
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distributerTask->startTask();
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eventManagerTask->startTask();
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#if OBSW_ADD_LWIP_COMPONENTS == 1
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udpBridgeTask->startTask();
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udpPollingTask->startTask();
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#endif /* OBSW_ADD_LWIP_COMPONENTS == 1 */
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#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
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#if OBSW_ADD_PUS_STACK == 1
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@ -166,8 +191,13 @@ void InitMission::createTasks() {
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#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
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testDevicesTask->startTask();
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assemblyTask->startTask();
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#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
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#if OBSW_PERIPHERAL_PST == 1
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peripheralPst->startTask();
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#endif /* OBSW_PERIPHERAL_PST == 1 */
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testTask->startTask();
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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@ -179,5 +209,29 @@ void InitMission::createTasks() {
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static_cast<unsigned long>(xPortGetFreeHeapSize()));
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sif::printInfo("Tasks started..\n");
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#endif
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#if OBSW_ADD_DEVICE_HANDLER_DEMO
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HasModesIF* assembly = ObjectManager::instance()->get<HasModesIF>(objects::TEST_ASSEMBLY);
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if (assembly == nullptr){
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return;
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}
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Waiting 5 Seconds and then command Test Assembly to Normal, Dual" << std::endl;
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#else
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sif::printInfo("Waiting 5 Seconds and then command Test Assembly to Normal, Dual \n");
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#endif
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TaskFactory::delayTask(5000);
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CommandMessage modeMessage;
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ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND,
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DeviceHandlerIF::MODE_NORMAL, TestAssembly::submodes::DUAL);
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Commanding Test Assembly to Normal, Dual" << std::endl;
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#else
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sif::printInfo("Commanding Test Assembly to Normal, Dual \n");
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#endif
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MessageQueueSenderIF::sendMessage(assembly->getCommandQueue(), &modeMessage,
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MessageQueueIF::NO_QUEUE);
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#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO */
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}
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@ -1,23 +1,32 @@
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#include "ObjectFactory.h"
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#include "OBSWConfig.h"
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#include <objects/systemObjectList.h>
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#include "devices/devAddresses.h"
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#include "objects/systemObjectList.h"
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#include <mission/utility/TmFunnel.h>
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#include <mission/core/GenericFactory.h>
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#include "mission/utility/TmFunnel.h"
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#include "mission/core/GenericFactory.h"
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#if OBSW_ADD_LWIP_COMPONENTS == 1
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#include "example_common/stm32h7/networking/UdpTcLwIpPollingTask.h"
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#include "example_common/stm32h7/networking/TmTcLwIpUdpBridge.h"
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#endif /* OBSW_ADD_LWIP_COMPONENTS == 1 */
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#include "example_common/stm32h7/STM32TestTask.h"
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#include <fsfw/datapoollocal/LocalDataPoolManager.h>
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#include <fsfw/monitoring/MonitoringMessageContent.h>
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#include <fsfw/storagemanager/PoolManager.h>
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#include <fsfw/tmtcpacket/pus/tm.h>
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#include <fsfw/tmtcservices/CommandingServiceBase.h>
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#include <fsfw/tmtcservices/PusServiceBase.h>
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#include "fsfw/datapoollocal/LocalDataPoolManager.h"
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#include "fsfw/monitoring/MonitoringMessageContent.h"
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#include "fsfw/storagemanager/PoolManager.h"
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#include "fsfw/tmtcpacket/pus/tm.h"
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#include "fsfw/tmtcservices/CommandingServiceBase.h"
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#include "fsfw/tmtcservices/PusServiceBase.h"
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#if OBSW_PERFORM_L3GD20H_TEST == 1
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#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
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#include "fsfw_hal/stm32h7/spi/SpiComIF.h"
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#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
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#include "fsfw_hal/stm32h7/spi/stm32h743ziSpi.h"
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#include "fsfw_hal/stm32h7/spi/spiCore.h"
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DMA_HandleTypeDef* txHandle = nullptr;
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DMA_HandleTypeDef* rxHandle = nullptr;
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#endif
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void ObjectFactory::produce(void* args) {
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/* Located inside GenericFactory source file */
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@ -45,16 +54,47 @@ void ObjectFactory::produce(void* args) {
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new PoolManager(objects::IPC_STORE, poolCfg);
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}
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#if OBSW_ADD_LWIP_COMPONENTS == 1
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/* UDP Server */
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new TmTcLwIpUdpBridge(objects::UDP_BRIDGE,
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objects::CCSDS_DISTRIBUTOR, objects::TM_STORE, objects::TC_STORE);
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new UdpTcLwIpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
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#endif /* OBSW_ADD_LWIP_COMPONENTS == 1 */
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#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
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ObjectFactory::produceGenericObjects();
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/* Test Device Handler */
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new STM32TestTask(objects::TEST_TASK, false, true);
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#if OBSW_PERFORM_L3GD20H_TEST == 1
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spi::MspCfgBase* mspCfg = nullptr;
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spi::TransferModes transferMode = spi::TransferModes::DMA;
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if(transferMode == spi::TransferModes::POLLING) {
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auto typedCfg = new spi::MspPollingConfigStruct();
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spi::h743zi::standardPollingCfg(*typedCfg);
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mspCfg = typedCfg;
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}
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else if(transferMode == spi::TransferModes::INTERRUPT) {
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auto typedCfg = new spi::MspIrqConfigStruct();
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spi::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
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mspCfg = typedCfg;
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}
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else if(transferMode == spi::TransferModes::DMA) {
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auto typedCfg = new spi::MspDmaConfigStruct();
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txHandle = new DMA_HandleTypeDef();
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rxHandle = new DMA_HandleTypeDef();
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spi::setDmaHandles(txHandle, rxHandle);
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spi::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
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IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
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mspCfg = typedCfg;
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}
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new SpiComIF(objects::SPI_COM_IF);
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auto spiCookie = new SpiCookie(devaddress::L3GD20H, spi::SpiBus::SPI_1, transferMode, mspCfg,
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3900000, spi::SpiModes::MODE_3, GPIO_PIN_14, GPIOD, 32);
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auto gyroDevice = new GyroHandlerL3GD20H(objects::SPI_DEVICE_TEST, objects::SPI_COM_IF,
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spiCookie);
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gyroDevice->setStartUpImmediately();
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gyroDevice->setGoNormalModeAtStartup();
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#endif
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}
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@ -6,18 +6,23 @@
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#ifndef FSFWCONFIG_OBSWCONFIG_H_
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#define FSFWCONFIG_OBSWCONFIG_H_
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// Specify whether lwIP components are added. TMTC commanding is not possible without them
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#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
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//! Specify whether lwIP components are added. These are necessary for TMTC commanding
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#define OBSW_ADD_LWIP_COMPONENTS 1
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// Specify whether TMTC commanding via Ethernet is possible
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//! Specify whether TMTC commanding via Ethernet is possible
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#define OBSW_ETHERNET_TMTC_COMMANDING 1
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// Only applies if TMTC commanding is enabled.
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// Specify whether LEDs are used to display Ethernet connection status.
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//! Only applies if TMTC commanding is enabled.
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//! Specify whether LEDs are used to display Ethernet connection status.
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#define OBSW_ETHERNET_USE_LED1_LED2 0
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#define OBSW_ATTEMPT_DHCP_CONN 1
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#define OBSW_PERIPHERAL_PST 0
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#define OBSW_PERFORM_SPI_TEST 0
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#define OBSW_PERFORM_L3GD20H_TEST 0
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#if OBSW_ATTEMPT_DHCP_CONN == 0
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#define MAX_DHCP_TRIES 0
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#else
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@ -29,7 +34,7 @@
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#include "events/subsystemIdRanges.h"
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#include "objects/systemObjectList.h"
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#include "commonConfig.h"
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#include <commonConfig.h>
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namespace config {
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#endif
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@ -0,0 +1,14 @@
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#ifndef BSP_STM32_FREERTOS_FSFWCONFIG_DEVICES_DEVADDRESSES_H_
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#define BSP_STM32_FREERTOS_FSFWCONFIG_DEVICES_DEVADDRESSES_H_
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#include <cstdint>
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namespace devaddress {
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enum devaddress: uint32_t {
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L3GD20H = 1
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};
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}
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#endif /* BSP_STM32_FREERTOS_FSFWCONFIG_DEVICES_DEVADDRESSES_H_ */
|
||||
|
|
@ -8,6 +8,10 @@ enum mission_objects {
|
|||
/* 0x62 ('b') Board and mission specific objects */
|
||||
UDP_BRIDGE = 0x62000300,
|
||||
UDP_POLLING_TASK = 0x62000400,
|
||||
|
||||
SPI_COM_IF = 0x63001000,
|
||||
SPI_DEVICE_TEST = 0x74001000,
|
||||
|
||||
/* Generic name for FSFW static ID setter */
|
||||
DOWNLINK_DESTINATION = UDP_BRIDGE
|
||||
};
|
||||
|
|
|
|||
|
|
@ -2,4 +2,32 @@
|
|||
* Add polling sequence initialization which are not common to every BSP here.
|
||||
*/
|
||||
#include "pollingSequenceFactory.h"
|
||||
#include "OBSWConfig.h"
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
||||
|
||||
ReturnValue_t pst::pstPeripheralsTest(FixedTimeslotTaskIF *thisSequence) {
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
static_cast<void>(length);
|
||||
|
||||
#if OBSW_PERFORM_L3GD20H_TEST == 1
|
||||
thisSequence->addSlot(objects::SPI_DEVICE_TEST, 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SPI_DEVICE_TEST, 0.3, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SPI_DEVICE_TEST, 0.45 * length,
|
||||
DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SPI_DEVICE_TEST, 0.6 * length, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SPI_DEVICE_TEST, 0.8 * length, DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
|
||||
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "pst::pollingSequenceInitFunction: Initialization errors!" << std::endl;
|
||||
#else
|
||||
sif::printError("pst::pollingSequenceInitFunction: Initialization errors!\n");
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,11 +2,12 @@
|
|||
#define POLLINGSEQUENCE_POLLINGSEQUENCFACTORY_H_
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
|
||||
class FixedTimeslotTaskIF;
|
||||
|
||||
namespace pst {
|
||||
ReturnValue_t pstPeripheralsTest(FixedTimeslotTaskIF *thisSequence);
|
||||
ReturnValue_t pollingSequenceExamples(FixedTimeslotTaskIF *thisSequence);
|
||||
ReturnValue_t pollingSequenceDevices(FixedTimeslotTaskIF* thisSequence);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
Subproject commit 1176959a938d9e41d3805f1e6abcfb124ee5953f
|
||||
Subproject commit e4879130b09c76dac75265768fc757759e9aedcd
|
||||
2
fsfw_hal
2
fsfw_hal
|
|
@ -1 +1 @@
|
|||
Subproject commit ee875460e7e00afdad21ffcb09f85ba7fcdaf1e3
|
||||
Subproject commit 9d20b8878e5422fadeee52b2543f8140aed04dc0
|
||||
Loading…
Reference in New Issue