added SPI code

CMakeLists.txt

@@ -17,6 +17,7 @@ set(STM32_TOOLCHAIN_PATH $ENV{STM32_TOOLCHAIN_PATH})
 set(TARGET_TRIPLET "arm-none-eabi")
 set(OS_FSFW freertos CACHE STRING "OS for the FSFW")
 set(STM32_ADD_NETWORKING_CODE ON)
+set(FSFW_HAL_ADD_STM32H7 ON)
 
 # This call has to come before the project call
 set(CMAKE_TOOLCHAIN_FILE ${STM32_CMAKE_PATH}/cmake/stm32_gcc.cmake)
@@ -33,7 +34,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED True)
 
 find_package(CMSIS COMPONENTS STM32H743ZI STM32H7_M7 RTOS REQUIRED)
 find_package(FreeRTOS COMPONENTS STM32H7 ARM_CM7 REQUIRED)
-find_package(HAL COMPONENTS STM32H7M7 STM32H743ZI RCC GPIO UART TIM CORTEX ETH REQUIRED)
+find_package(HAL COMPONENTS STM32H7M7 STM32H743ZI RCC GPIO UART TIM CORTEX ETH SPI DMA REQUIRED)
 find_package(LwIP REQUIRED)
 
 set(TGT_BSP "arm/stm32h743zi-nucleo")
@@ -42,7 +43,14 @@ set(FREERTOS_NAMESPACE FreeRTOS::STM32::H7::M7)
 # These need to be set for the FSFW so the sources are compiled with the ABI flags
 # and to compile FreeRTOS first
 set(LIB_OS_NAME ${FREERTOS_NAMESPACE}::ARM_CM7)
-set(FSFW_ADDITIONAL_LINK_LIBS CMSIS::STM32::H743ZI::M7)
+# This target is used because a custom linker script is used
+set(CMSIS_LINK_TARGET CMSIS::STM32::H743xx::M7)
+set(FSFW_ADDITIONAL_LINK_LIBS ${CMSIS_LINK_TARGET})
+set(FSFW_HAL_LINK_LIBS 
+    HAL::STM32::H7::M7::CORTEX
+    ${CMSIS_LINK_TARGET}
+    ${LIB_OS_NAME}
+)
 
 # Set names and variables
 set(TARGET_NAME ${CMAKE_PROJECT_NAME}) 
@@ -58,6 +66,9 @@ set(BSP_PATH "bsp_stm32h7_freertos")
 set(COMMON_CONFIG_PATH "${COMMON_PATH}/config")
 set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
 set(BSP_NUCLEO_PATH "${BSP_PATH}/NUCLEO-H743ZI")
+set(BSP_NUCLEO_INC_PATH "${BSP_NUCLEO_PATH}/Inc")
+
+set(FSFW_HAL_ADDITIONAL_INC_PATHS ${BSP_NUCLEO_INC_PATH})
 
 set(FSFW_ADDITIONAL_INC_PATHS 
     "${COMMON_CONFIG_PATH}"
@@ -98,6 +109,7 @@ add_executable(${TARGET_NAME})
 # Add subdirectories
 add_subdirectory(${BSP_PATH})
 add_subdirectory(${FSFW_PATH})
+add_subdirectory(${LIB_FSFW_HAL_PATH})
 add_subdirectory(${COMMON_PATH})
 
 ################################################################################
@@ -107,6 +119,7 @@ add_subdirectory(${COMMON_PATH})
 # Add libraries for all sources.
 target_link_libraries(${TARGET_NAME} PRIVATE
     ${LIB_FSFW_NAME}
+    ${LIB_FSFW_HAL_NAME}
     ${FREERTOS_NAMESPACE}::Heap::4
     ${FREERTOS_NAMESPACE}::ARM_CM7
     HAL::STM32::H7::M7::RCC
@@ -117,7 +130,9 @@ target_link_libraries(${TARGET_NAME} PRIVATE
     HAL::STM32::H7::M7::TIM
     HAL::STM32::H7::M7::TIMEx
     HAL::STM32::H7::M7::ETH
-    CMSIS::STM32::H743ZI::M7
+    HAL::STM32::H7::M7::SPI
+    HAL::STM32::H7::M7::DMA
+    ${CMSIS_LINK_TARGET}
     CMSIS::STM32::H7::M7::RTOS
     STM32::NoSys
     STM32::Nano
@@ -179,6 +194,8 @@ string(CONCAT POST_BUILD_COMMENT
     "${TARGET_STRING}"
 )
 
+stm32_add_linker_script(${TARGET_NAME} "PRIVATE" "${BSP_NUCLEO_PATH}/STM32H743ZITx_FLASH.ld")
+
 include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
 set_build_type()
 

bsp_stm32h7_freertos/core/InitMission.cpp

@@ -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 */
 }
 

bsp_stm32h7_freertos/core/ObjectFactory.cpp

@@ -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/utility/TmFunnel.h"
-#include <mission/core/GenericFactory.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/datapoollocal/LocalDataPoolManager.h"
-#include <fsfw/monitoring/MonitoringMessageContent.h>
+#include "fsfw/monitoring/MonitoringMessageContent.h"
-#include <fsfw/storagemanager/PoolManager.h>
+#include "fsfw/storagemanager/PoolManager.h"
-#include <fsfw/tmtcpacket/pus/tm.h>
+#include "fsfw/tmtcpacket/pus/tm.h"
-#include <fsfw/tmtcservices/CommandingServiceBase.h>
+#include "fsfw/tmtcservices/CommandingServiceBase.h"
-#include <fsfw/tmtcservices/PusServiceBase.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
 }

bsp_stm32h7_freertos/fsfwconfig/OBSWConfig.h.in

@@ -6,18 +6,23 @@
 #ifndef FSFWCONFIG_OBSWCONFIG_H_
 #define FSFWCONFIG_OBSWCONFIG_H_
 
-// Specify whether lwIP components are added. TMTC commanding is not possible without them
+#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION     1
+
+//! Specify whether lwIP components are added. These are necessary for TMTC commanding
 #define OBSW_ADD_LWIP_COMPONENTS            1
-
+//! Specify whether TMTC commanding via Ethernet is possible
-// Specify whether TMTC commanding via Ethernet is possible
 #define OBSW_ETHERNET_TMTC_COMMANDING       1
-
+//! Only applies if TMTC commanding is enabled.
-// Only applies if TMTC commanding is enabled.
+//! Specify whether LEDs are used to display Ethernet connection status.
-// Specify whether LEDs are used to display Ethernet connection status.
 #define OBSW_ETHERNET_USE_LED1_LED2         0
 
 #define OBSW_ATTEMPT_DHCP_CONN              1
 
+#define OBSW_PERIPHERAL_PST                 0
+#define OBSW_PERFORM_SPI_TEST               0
+
+#define OBSW_PERFORM_L3GD20H_TEST           0
+
 #if OBSW_ATTEMPT_DHCP_CONN == 0
 #define MAX_DHCP_TRIES                      0
 #else
@@ -29,7 +34,7 @@
 
 #include "events/subsystemIdRanges.h"
 #include "objects/systemObjectList.h"
-#include "commonConfig.h"
+#include <commonConfig.h>
 
 namespace config {
 #endif

bsp_stm32h7_freertos/fsfwconfig/devices/devAddresses.h

@@ -0,0 +1,14 @@
+#ifndef BSP_STM32_FREERTOS_FSFWCONFIG_DEVICES_DEVADDRESSES_H_
+#define BSP_STM32_FREERTOS_FSFWCONFIG_DEVICES_DEVADDRESSES_H_
+
+#include <cstdint>
+
+namespace devaddress {
+enum devaddress: uint32_t {
+    L3GD20H = 1
+};
+
+}
+
+
+#endif /* BSP_STM32_FREERTOS_FSFWCONFIG_DEVICES_DEVADDRESSES_H_ */

bsp_stm32h7_freertos/fsfwconfig/objects/systemObjectList.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
 };

bsp_stm32h7_freertos/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -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;
+
+}

bsp_stm32h7_freertos/fsfwconfig/pollingsequence/pollingSequenceFactory.h

@@ -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);
 }

example_common

@@ -1 +1 @@
-Subproject commit 1176959a938d9e41d3805f1e6abcfb124ee5953f
+Subproject commit e4879130b09c76dac75265768fc757759e9aedcd

fsfw_hal

@@ -1 +1 @@
-Subproject commit ee875460e7e00afdad21ffcb09f85ba7fcdaf1e3
+Subproject commit 9d20b8878e5422fadeee52b2543f8140aed04dc0