fsfw/fsfw-example-stm32h7-freertos
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
No known key found for this signature in database
GPG Key ID: 11D4952C8CCEF814
10 changed files with 205 additions and 42 deletions
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23
CMakeLists.txt
View File

@ -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()

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 */
}

68
bsp_stm32h7_freertos/core/ObjectFactory.cpp
View File

@ -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
}

19
bsp_stm32h7_freertos/fsfwconfig/OBSWConfig.h.in
View File

@ -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.
// Specify whether LEDs are used to display Ethernet connection status.
//! Only applies if TMTC commanding is enabled.
//! 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

14
bsp_stm32h7_freertos/fsfwconfig/devices/devAddresses.h Normal file
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@ -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_ */

4
bsp_stm32h7_freertos/fsfwconfig/objects/systemObjectList.h
View File

@ -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
};

28
bsp_stm32h7_freertos/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -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;
}

3
bsp_stm32h7_freertos/fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

@ -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);
}

2
example_common

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

2
fsfw_hal

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