101 lines
3.4 KiB
C++
101 lines
3.4 KiB
C++
#include "ObjectFactory.h"
|
|
#include "OBSWConfig.h"
|
|
#include "devices/devAddresses.h"
|
|
#include "objects/systemObjectList.h"
|
|
|
|
#include "mission/utility/TmFunnel.h"
|
|
#include "mission/core/GenericFactory.h"
|
|
|
|
#include "example_common/stm32h7/networking/UdpTcLwIpPollingTask.h"
|
|
#include "example_common/stm32h7/networking/TmTcLwIpUdpBridge.h"
|
|
#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"
|
|
|
|
|
|
#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 */
|
|
Factory::setStaticFrameworkObjectIds();
|
|
|
|
#if OBSW_ADD_CORE_COMPONENTS == 1
|
|
{
|
|
LocalPool::LocalPoolConfig poolCfg = {
|
|
{100, 32}, {30, 64}, {10, 128}, {2, 1024}
|
|
};
|
|
new PoolManager(objects::TC_STORE, poolCfg);
|
|
}
|
|
|
|
{
|
|
LocalPool::LocalPoolConfig poolCfg = {
|
|
{100, 32}, {30, 64}, {10, 128}, {2, 1024}
|
|
};
|
|
new PoolManager(objects::TM_STORE, poolCfg);
|
|
}
|
|
|
|
{
|
|
LocalPool::LocalPoolConfig poolCfg = {
|
|
{100, 32}, {30, 64}, {10, 128}, {2, 1024}
|
|
};
|
|
new PoolManager(objects::IPC_STORE, poolCfg);
|
|
}
|
|
|
|
/* 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_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
|
|
}
|