102 lines
3.4 KiB
C++
102 lines
3.4 KiB
C++
#include "ObjectFactory.h"
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#include "OBSWConfig.h"
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#include "devices/devAddresses.h"
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#include "objects/systemObjectList.h"
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#include "hardware_init.h"
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#include "mission/utility/TmFunnel.h"
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#include "mission/core/GenericFactory.h"
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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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#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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#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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Factory::setStaticFrameworkObjectIds();
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#if OBSW_ADD_CORE_COMPONENTS == 1
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{
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LocalPool::LocalPoolConfig poolCfg = {
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{100, 32}, {30, 64}, {10, 128}, {2, 1024}
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};
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new PoolManager(objects::TC_STORE, poolCfg);
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}
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{
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LocalPool::LocalPoolConfig poolCfg = {
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{100, 32}, {30, 64}, {10, 128}, {2, 1024}
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};
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new PoolManager(objects::TM_STORE, poolCfg);
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}
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{
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LocalPool::LocalPoolConfig poolCfg = {
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{100, 32}, {30, 64}, {10, 128}, {2, 1024}
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};
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new PoolManager(objects::IPC_STORE, poolCfg);
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}
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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, &gnetif);
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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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