89 lines
1.9 KiB
C++
89 lines
1.9 KiB
C++
#include "OBSWConfig.h"
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#include "OBSWVersion.h"
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#include "boardconfig.h"
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#include "hardware_init.h"
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#if OBSW_ADD_LWIP_COMPONENTS == 1
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#include <lwip/init.h>
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#endif
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#include "core/InitMission.h"
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#include "core/ObjectFactory.h"
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#include "example/utility/utility.h"
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw/serviceinterface/ServiceInterface.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include "FreeRTOS.h"
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#include "cmsis_os.h"
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#include "task.h"
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#include <cstdio>
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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#include <iostream>
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#endif
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#if !defined(BOARD_NAME)
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#define BOARD_NAME "unknown board"
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#endif
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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ServiceInterfaceStream sif::debug("DEBUG", true);
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ServiceInterfaceStream sif::info("INFO", true);
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ServiceInterfaceStream sif::warning("WARNING", true);
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ServiceInterfaceStream sif::error("ERROR", true);
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#endif
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void initTask(void *parameters);
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/**
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* @brief Core function for the STM32 FreeRTOS BSP
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* @return
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* @author R. Mueller, J. Meier
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*/
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int main() {
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performHardwareInit();
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xTaskCreate(initTask, "INIT_TASK", 2048, nullptr, 9, nullptr);
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/* Start scheduler */
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osKernelStart();
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/* Should not be reached, scheduler should now be running. */
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for (;;) {
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}
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return 0;
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}
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void initTask(void *parameters) {
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#if OBSW_ADD_LWIP_COMPONENTS == 1
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/* Initialize the LwIP stack */
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lwip_init();
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/* Configure the Network interface */
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Netif_Config();
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#endif
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utility::commonInitPrint("FreeRTOS", BOARD_NAME);
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Creating objects.." << std::endl;
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#else
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sif::printInfo("Creating objects..\n\r");
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#endif
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ObjectManager *objManager = ObjectManager::instance();
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objManager->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
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objManager->initialize();
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::info << "Creating tasks.." << std::endl;
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#else
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sif::printInfo("Creating tasks..\n\r");
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#endif
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InitMission::createTasks();
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TaskFactory::instance()->deleteTask(nullptr);
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}
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