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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68
bsp_stm32h7_freertos/core/ObjectFactory.cpp
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@ -1,23 +1,32 @@
#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include <objects/systemObjectList.h>
#include "devices/devAddresses.h"
#include "objects/systemObjectList.h"
#include <mission/utility/TmFunnel.h>
#include <mission/core/GenericFactory.h>
#include "mission/utility/TmFunnel.h"
#include "mission/core/GenericFactory.h"
#if OBSW_ADD_LWIP_COMPONENTS == 1
#include "example_common/stm32h7/networking/UdpTcLwIpPollingTask.h"
#include "example_common/stm32h7/networking/TmTcLwIpUdpBridge.h"
#endif /* OBSW_ADD_LWIP_COMPONENTS == 1 */
#include "example_common/stm32h7/STM32TestTask.h"
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/monitoring/MonitoringMessageContent.h>
#include <fsfw/storagemanager/PoolManager.h>
#include <fsfw/tmtcpacket/pus/tm.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/monitoring/MonitoringMessageContent.h"
#include "fsfw/storagemanager/PoolManager.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#if OBSW_PERFORM_L3GD20H_TEST == 1
#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
#include "fsfw_hal/stm32h7/spi/SpiComIF.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/stm32h7/spi/stm32h743ziSpi.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
DMA_HandleTypeDef* txHandle = nullptr;
DMA_HandleTypeDef* rxHandle = nullptr;
#endif
void ObjectFactory::produce(void* args) {
/* Located inside GenericFactory source file */
@ -45,16 +54,47 @@ 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);
#endif /* OBSW_ADD_LWIP_COMPONENTS == 1 */
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
ObjectFactory::produceGenericObjects();
/* Test Device Handler */
new STM32TestTask(objects::TEST_TASK, false, true);
#if OBSW_PERFORM_L3GD20H_TEST == 1
spi::MspCfgBase* mspCfg = nullptr;
spi::TransferModes transferMode = spi::TransferModes::DMA;
if(transferMode == spi::TransferModes::POLLING) {
auto typedCfg = new spi::MspPollingConfigStruct();
spi::h743zi::standardPollingCfg(*typedCfg);
mspCfg = typedCfg;
}
else if(transferMode == spi::TransferModes::INTERRUPT) {
auto typedCfg = new spi::MspIrqConfigStruct();
spi::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
mspCfg = typedCfg;
}
else if(transferMode == spi::TransferModes::DMA) {
auto typedCfg = new spi::MspDmaConfigStruct();
txHandle = new DMA_HandleTypeDef();
rxHandle = new DMA_HandleTypeDef();
spi::setDmaHandles(txHandle, rxHandle);
spi::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
mspCfg = typedCfg;
}
new SpiComIF(objects::SPI_COM_IF);
auto spiCookie = new SpiCookie(devaddress::L3GD20H, spi::SpiBus::SPI_1, transferMode, mspCfg,
3900000, spi::SpiModes::MODE_3, GPIO_PIN_14, GPIOD, 32);
auto gyroDevice = new GyroHandlerL3GD20H(objects::SPI_DEVICE_TEST, objects::SPI_COM_IF,
spiCookie);
gyroDevice->setStartUpImmediately();
gyroDevice->setGoNormalModeAtStartup();
#endif
}