fsfw/fsfw-example-stm32h7-freertos
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added SPI code

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This commit is contained in:
Robin Müller
2021-07-13 10:23:17 +02:00
parent 9b2fec1940
commit f1674aec4e
10 changed files with 205 additions and 42 deletions
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84
bsp_stm32h7_freertos/core/InitMission.cpp
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@ -1,21 +1,28 @@
#include "InitMission.h"
#include "OBSWConfig.h"
#include "objects/systemObjectList.h"
#include "pollingsequence/pollingSequenceFactory.h"
#include "mission/utility/TaskCreation.h"
#include "mission/assemblies/TestAssembly.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/modes/HasModesIF.h"
#include "fsfw/modes/ModeMessage.h"
#include "FreeRTOS.h"
#include <objects/systemObjectList.h>
#include <mission/utility/TaskCreation.h>
#include <pollingsequence/pollingSequenceFactory.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
void InitMission::createTasks() {
TaskFactory* taskFactory = TaskFactory::instance();
#if OBSW_ADD_CORE_COMPONENTS == 1
/* TMTC Distribution */
PeriodicTaskIF* distributerTask = TaskFactory::instance()->createPeriodicTask(
PeriodicTaskIF* distributerTask = taskFactory->createPeriodicTask(
"DIST", 5, 1024 * 2, 0.2, nullptr);
ReturnValue_t result = distributerTask->addComponent(objects::CCSDS_DISTRIBUTOR);
if(result!=HasReturnvaluesIF::RETURN_OK) {
@ -30,7 +37,6 @@ 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);
@ -44,7 +50,6 @@ void InitMission::createTasks() {
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("UDP polling task", objects::UDP_POLLING_TASK);
}
#endif /* OBSW_ADD_LWIP_COMPONENTS == 1 */
PeriodicTaskIF* eventManagerTask = TaskFactory::instance()->createPeriodicTask(
"EVENT_MGMT", 4, 1024 * 2, 0.1, nullptr);
@ -119,7 +124,7 @@ void InitMission::createTasks() {
#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
FixedTimeslotTaskIF* testDevicesTask = TaskFactory::instance()->createFixedTimeslotTask(
"PST_TEST_TASK", 10, 1024 * 2, 1.0, nullptr);
"PST_TEST_TASK", 7, 1024 * 2, 1.0, nullptr);
result = pst::pollingSequenceDevices(testDevicesTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -128,6 +133,15 @@ void InitMission::createTasks() {
sif::printError("InitMission::createTasks: Test PST initialization faiedl!\n");
#endif
}
PeriodicTaskIF* assemblyTask = taskFactory->createPeriodicTask("ASS_TASK", 3,
1024, 2.0, nullptr);
if(assemblyTask == nullptr){
task::printInitError("ASS_TASK", objects::TEST_ASSEMBLY);
}
result = assemblyTask->addComponent(objects::TEST_ASSEMBLY);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("ASS_TASK", objects::TEST_ASSEMBLY);
}
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
PeriodicTaskIF* testTask = TaskFactory::instance()->createPeriodicTask(
@ -137,6 +151,19 @@ void InitMission::createTasks() {
task::printInitError("Test Task", objects::TEST_TASK);
}
#if OBSW_PERIPHERAL_PST == 1
FixedTimeslotTaskIF* peripheralPst = TaskFactory::instance()->createFixedTimeslotTask(
"PST_PERIPHERAL_TASK", 9, 1024 * 2, 2.0, nullptr);
result = pst::pstPeripheralsTest(peripheralPst);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "InitMission::createTasks: Test PST initialization failed!" << std::endl;
#else
sif::printError("InitMission::createTasks: Test PST initialization faiedl!\n");
#endif
}
#endif
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Starting tasks.." << std::endl;
#else
@ -146,10 +173,8 @@ void InitMission::createTasks() {
#if OBSW_ADD_CORE_COMPONENTS == 1
distributerTask->startTask();
eventManagerTask->startTask();
#if OBSW_ADD_LWIP_COMPONENTS == 1
udpBridgeTask->startTask();
udpPollingTask->startTask();
#endif /* OBSW_ADD_LWIP_COMPONENTS == 1 */
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
#if OBSW_ADD_PUS_STACK == 1
@ -166,8 +191,13 @@ void InitMission::createTasks() {
#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
testDevicesTask->startTask();
assemblyTask->startTask();
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
#if OBSW_PERIPHERAL_PST == 1
peripheralPst->startTask();
#endif /* OBSW_PERIPHERAL_PST == 1 */
testTask->startTask();
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -179,5 +209,29 @@ void InitMission::createTasks() {
static_cast<unsigned long>(xPortGetFreeHeapSize()));
sif::printInfo("Tasks started..\n");
#endif
#if OBSW_ADD_DEVICE_HANDLER_DEMO
HasModesIF* assembly = ObjectManager::instance()->get<HasModesIF>(objects::TEST_ASSEMBLY);
if (assembly == nullptr){
return;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Waiting 5 Seconds and then command Test Assembly to Normal, Dual" << std::endl;
#else
sif::printInfo("Waiting 5 Seconds and then command Test Assembly to Normal, Dual \n");
#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 */
}