fsfw/fsfw-example-stm32h7-rtems
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This commit is contained in:
Robin Müller 2021-07-16 12:22:35 +02:00
parent ce4a5ec7d1
commit 40ddaf1b40
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GPG Key ID: 71B58F8A3CDFA9AC
26 changed files with 1624 additions and 15 deletions
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14
CMakeLists.txt
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@ -18,6 +18,10 @@ set(FSFW_OSAL rtems CACHE STRING "OS for the FSFW")
set(STM32_ADD_NETWORKING_CODE OFF)
set(FSFW_HAL_ADD_STM32H7 ON)
# Set TGT_BSP to correct target for pre-project configuration
set(TGT_BSP "arm/stm32h743zi-nucleo")
add_definitions(-DSTM32H743ZI_NUCLEO)
# This call has to come before the project call
include("${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake")
@ -32,9 +36,6 @@ project(fsfw-example-stm32h7-rtems ASM C CXX)
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED True)
set(TGT_BSP "arm/stm32h743zi-nucleo")
# Set names and variables
set(TARGET_NAME ${CMAKE_PROJECT_NAME})
set(LIB_FSFW_NAME fsfw)
@ -43,10 +44,11 @@ set(LIB_FSFW_NAME fsfw)
set(FSFW_PATH fsfw)
set(COMMON_PATH example_common)
set(BSP_PATH "bsp_stm32h7_freertos")
set(BSP_PATH "bsp_stm32h7_rtems")
set(COMMON_CONFIG_PATH "${COMMON_PATH}/config")
set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
set(BSP_NUCLEO_PATH "${BSP_PATH}/NUCLEO-H743ZI")
set(BSP_NUCLEO_PATH "${BSP_PATH}/boarconfig/NUCLEO-H743ZI")
set(BSP_NUCLEO_PATH_INC "${BSP_PATH}/boardconfig/NUCLEO-H743ZI/Inc")
set(FSFW_ADDITIONAL_INC_PATHS
"${COMMON_CONFIG_PATH}"
@ -58,7 +60,7 @@ set(FSFW_ADDITIONAL_INC_PATHS
configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
configure_file(${BSP_NUCLEO_PATH}/lwipopts.h.in lwipopts.h)
configure_file(${BSP_NUCLEO_PATH_INC}/lwipopts.h.in lwipopts.h)
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
set(WARNING_FLAGS

9
bsp_stm32h7_rtems/CMakeLists.txt Normal file
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@ -0,0 +1,9 @@
target_sources(${TARGET_NAME} PRIVATE
init.c
main.cpp
)
add_subdirectory(boardconfig)
add_subdirectory(fsfwconfig)
add_subdirectory(core)
add_subdirectory(boardtest)

44
bsp_stm32h7_rtems/RTEMSConfig.h Normal file
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@ -0,0 +1,44 @@
#ifndef BSP_STM32_RTEMS_RTEMSCONFIG_H_
#define BSP_STM32_RTEMS_RTEMSCONFIG_H_
#include <rtems/rtems/tasks.h>
/* Forward declaration required */
rtems_task Init(rtems_task_argument argument);
#define CONFIGURE_MICROSECONDS_PER_TICK 1000
//! Specify the allocation scheme used for RTEMS.
//! See: https://docs.rtems.org/branches/master/c-user/config/intro.html
#define RTEMS_USE_UNLIMITED_OBJECTS_ALLOCATION 0
#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
#if RTEMS_USE_UNLIMITED_OBJECTS_ALLOCATION == 1
#define CONFIGURE_UNIFIED_WORK_AREAS
#define CONFIGURE_UNLIMITED_OBJECTS
#define CONFIGURE_INIT_TASK_STACK_SIZE (RTEMS_MINIMUM_STACK_SIZE * 6)
#else
#define CONFIGURE_MAXIMUM_TASKS 20
#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 30
#define CONFIGURE_MAXIMUM_SEMAPHORES 20
#define CONFIGURE_MAXIMUM_TIMERS 10
//! Required for Rate-Monotonic Scheduling (RMS)
#define CONFIGURE_MAXIMUM_PERIODS 15
#define CONFIGURE_INIT_TASK_STACK_SIZE (RTEMS_MINIMUM_STACK_SIZE * 6)
//! Around 41 kB extra task stack for now.
#define CONFIGURE_EXTRA_TASK_STACKS (10 * RTEMS_MINIMUM_STACK_SIZE)
#endif /* RTEMS_USE_UNLIMITED_OBJECTS_ALLOCATION == 1 */
#define CONFIGURE_INIT
#include <rtems/confdefs.h>
#endif /* BSP_STM32_RTEMS_RTEMSCONFIG_H_ */

4
bsp_stm32h7_rtems/boardconfig/CMakeLists.txt Normal file
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@ -0,0 +1,4 @@
target_sources(${TARGET_NAME} PRIVATE
)
add_subdirectory(NUCLEO-H743ZI)

5
bsp_stm32h7_rtems/boardconfig/NUCLEO-H743ZI/CMakeLists.txt Normal file
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@ -0,0 +1,5 @@
add_subdirectory(Src)
target_include_directories(${TARGET_NAME} PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}/Inc
)

17
bsp_stm32h7_rtems/boardconfig/NUCLEO-H743ZI/Inc/hardware_init.h Normal file
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@ -0,0 +1,17 @@
#ifndef BSP_STM32H7_RTEMS_NUCLEO_H743ZI_INC_HARDWARE_INIT_H_
#define BSP_STM32H7_RTEMS_NUCLEO_H743ZI_INC_HARDWARE_INIT_H_
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
void hardware_init();
#ifdef __cplusplus
}
#endif
#endif /* BSP_STM32H7_RTEMS_NUCLEO_H743ZI_INC_HARDWARE_INIT_H_ */

0
bsp_stm32h7_rtems/NUCLEO-H743ZI/lwipopts.h.in → bsp_stm32h7_rtems/boardconfig/NUCLEO-H743ZI/Inc/lwipopts.h.in
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338
bsp_stm32h7_rtems/boardconfig/NUCLEO-H743ZI/Inc/stm32h7xx_nucleo.h Normal file
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@ -0,0 +1,338 @@
/**
******************************************************************************
* @file stm32h7xx_nucleo.h
* @author MCD Application Team
* @brief This file contains definitions for:
* - LEDs and push-button available on STM32H7xx-Nucleo Kit
* from STMicroelectronics
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef STM32H7XX_NUCLEO_H
#define STM32H7XX_NUCLEO_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32h7xx_nucleo_conf.h"
#include "stm32h7xx_nucleo_errno.h"
#if (USE_BSP_COM_FEATURE > 0)
#if (USE_COM_LOG > 0)
#ifndef __GNUC__
#include <stdio.h>
#endif
#endif
#endif
/** @addtogroup BSP
* @{
*/
/** @defgroup STM32H7XX_NUCLEO STM32H7XX_NUCLEO
* @{
*/
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL LOW LEVEL
* @{
*/
/**
* @brief Define for STM32H7XX_NUCLEO board
*/
#if !defined (USE_STM32H7XX_NUCLEO)
#define USE_STM32H7XX_NUCLEO
#endif
#if !defined (USE_NUCLEO_144)
#error "Board Pin number not defined!! Add USE_NUCLEO_144 define within stm32h7xx_nucleo_conf.h file"
#endif
#if !defined (USE_NUCLEO_H745ZI_Q) && !defined (USE_NUCLEO_H743ZI) && !defined (USE_NUCLEO_H743ZI2) &&\
!defined (USE_NUCLEO_H7A3ZI_Q) && !defined (USE_NUCLEO_H723ZG)
#error "Board Part number not defined!! Add one of the following define within stm32h7xx_nucleo_conf.h file:\
USE_NUCLEO_H745ZI_Q, USE_NUCLEO_H743ZI, USE_NUCLEO_H743ZI2, USE_NUCLEO_H7A3ZI_Q, USE_NUCLEO_H723ZG"
#endif
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL_Exported_Types LOW LEVEL Exported Types
* @{
*/
#if defined (USE_NUCLEO_H745ZI_Q) || defined (USE_NUCLEO_H743ZI2) || defined (USE_NUCLEO_H7A3ZI_Q) || defined (USE_NUCLEO_H723ZG)
typedef enum
{
LED1 = 0,
LED_GREEN = LED1,
LED2 = 1,
LED_YELLOW = LED2,
LED3 = 2,
LED_RED = LED3,
LEDn
}Led_TypeDef;
#else /* USE_NUCLEO_H743ZI */
typedef enum
{
LED1 = 0,
LED_GREEN = LED1,
LED2 = 1,
LED_BLUE = LED2,
LED3 = 2,
LED_RED = LED3,
LEDn
}Led_TypeDef;
#endif
typedef enum
{
BUTTON_USER = 0U,
BUTTONn
}Button_TypeDef;
typedef enum
{
BUTTON_MODE_GPIO = 0,
BUTTON_MODE_EXTI = 1
}ButtonMode_TypeDef;
#if (USE_BSP_COM_FEATURE > 0)
typedef enum
{
COM1 = 0U,
COMn
}COM_TypeDef;
typedef enum
{
COM_STOPBITS_1 = UART_STOPBITS_1,
COM_STOPBITS_2 = UART_STOPBITS_2,
}COM_StopBitsTypeDef;
typedef enum
{
COM_PARITY_NONE = UART_PARITY_NONE,
COM_PARITY_EVEN = UART_PARITY_EVEN,
COM_PARITY_ODD = UART_PARITY_ODD,
}COM_ParityTypeDef;
typedef enum
{
COM_HWCONTROL_NONE = UART_HWCONTROL_NONE,
COM_HWCONTROL_RTS = UART_HWCONTROL_RTS,
COM_HWCONTROL_CTS = UART_HWCONTROL_CTS,
COM_HWCONTROL_RTS_CTS = UART_HWCONTROL_RTS_CTS,
}COM_HwFlowCtlTypeDef;
typedef enum
{
COM_WORDLENGTH_7B = UART_WORDLENGTH_7B,
COM_WORDLENGTH_8B = UART_WORDLENGTH_8B,
COM_WORDLENGTH_9B = UART_WORDLENGTH_9B,
}COM_WordLengthTypeDef;
typedef struct
{
uint32_t BaudRate;
COM_WordLengthTypeDef WordLength;
COM_StopBitsTypeDef StopBits;
COM_ParityTypeDef Parity;
COM_HwFlowCtlTypeDef HwFlowCtl;
}COM_InitTypeDef;
#if (USE_HAL_UART_REGISTER_CALLBACKS == 1)
typedef struct
{
void (* pMspInitCb)(UART_HandleTypeDef *);
void (* pMspDeInitCb)(UART_HandleTypeDef *);
}BSP_COM_Cb_t;
#endif /* (USE_HAL_UART_REGISTER_CALLBACKS == 1) */
#define MX_UART_InitTypeDef COM_InitTypeDef
#endif
/**
* @}
*/
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL_Exported_Constants LOW LEVEL Exported Constants
* @{
*/
/**
* @brief STM32H7XX NUCLEO BSP Driver version number V1.3.0
*/
#define STM32H7XX_NUCLEO_BSP_VERSION_MAIN (0x01U) /*!< [31:24] main version */
#define STM32H7XX_NUCLEO_BSP_VERSION_SUB1 (0x03U) /*!< [23:16] sub1 version */
#define STM32H7XX_NUCLEO_BSP_VERSION_SUB2 (0x00U) /*!< [15:8] sub2 version */
#define STM32H7XX_NUCLEO_BSP_VERSION_RC (0x00U) /*!< [7:0] release candidate */
#define STM32H7XX_NUCLEO_BSP_VERSION ((STM32H7XX_NUCLEO_BSP_VERSION_MAIN << 24)\
|(STM32H7XX_NUCLEO_BSP_VERSION_SUB1 << 16)\
|(STM32H7XX_NUCLEO_BSP_VERSION_SUB2 << 8 )\
|(STM32H7XX_NUCLEO_BSP_VERSION_RC))
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL_LED LOW LEVEL LED
* @{
*/
#define LEDn 3U
#define LED1_PIN GPIO_PIN_0
#define LED1_GPIO_PORT GPIOB
#define LED1_GPIO_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()
#define LED1_GPIO_CLK_DISABLE() __HAL_RCC_GPIOB_CLK_DISABLE()
#if defined (USE_NUCLEO_H745ZI_Q) || defined (USE_NUCLEO_H743ZI2) || defined (USE_NUCLEO_H7A3ZI_Q) || defined (USE_NUCLEO_H723ZG)
#define LED2_PIN GPIO_PIN_1
#define LED2_GPIO_PORT GPIOE
#define LED2_GPIO_CLK_ENABLE() __HAL_RCC_GPIOE_CLK_ENABLE()
#define LED2_GPIO_CLK_DISABLE() __HAL_RCC_GPIOE_CLK_DISABLE()
#else /* USE_NUCLEO_H743ZI */
#define LED2_PIN GPIO_PIN_7
#define LED2_GPIO_PORT GPIOB
#define LED2_GPIO_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()
#define LED2_GPIO_CLK_DISABLE() __HAL_RCC_GPIOB_CLK_DISABLE()
#endif
#define LED3_PIN GPIO_PIN_14
#define LED3_GPIO_PORT GPIOB
#define LED3_GPIO_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()
#define LED3_GPIO_CLK_DISABLE() __HAL_RCC_GPIOB_CLK_DISABLE()
/**
* @}
*/
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL_BUTTON LOW LEVEL BUTTON
* @{
*/
/* Button state */
#define BUTTON_RELEASED 0U
#define BUTTON_PRESSED 1U
#define BUTTONn 1U
/**
* @brief Key push-button
*/
#define BUTTON_USER_PIN GPIO_PIN_13
#define BUTTON_USER_GPIO_PORT GPIOC
#define BUTTON_USER_GPIO_CLK_ENABLE() __HAL_RCC_GPIOC_CLK_ENABLE()
#define BUTTON_USER_GPIO_CLK_DISABLE() __HAL_RCC_GPIOC_CLK_DISABLE()
#define BUTTON_USER_EXTI_IRQn EXTI15_10_IRQn
#define BUTTON_USER_EXTI_LINE EXTI_LINE_13
/**
* @}
*/
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL_COM LOW LEVEL COM
* @{
*/
/**
* @brief Definition for COM port1, connected to USART3
*/
#if (USE_BSP_COM_FEATURE > 0)
#define COMn 1U
#define COM1_UART USART3
#define COM1_CLK_ENABLE() __HAL_RCC_USART3_CLK_ENABLE()
#define COM1_CLK_DISABLE() __HAL_RCC_USART3_CLK_DISABLE()
#define COM1_TX_PIN GPIO_PIN_8
#define COM1_TX_GPIO_PORT GPIOD
#define COM1_TX_GPIO_CLK_ENABLE() __HAL_RCC_GPIOD_CLK_ENABLE()
#define COM1_TX_GPIO_CLK_DISABLE() __HAL_RCC_GPIOD_CLK_DISABLE()
#define COM1_TX_AF GPIO_AF7_USART3
#define COM1_RX_PIN GPIO_PIN_9
#define COM1_RX_GPIO_PORT GPIOD
#define COM1_RX_GPIO_CLK_ENABLE() __HAL_RCC_GPIOD_CLK_ENABLE()
#define COM1_RX_GPIO_CLK_DISABLE() __HAL_RCC_GPIOD_CLK_DISABLE()
#define COM1_RX_AF GPIO_AF7_USART3
#define COM_POLL_TIMEOUT 1000
#endif
/**
* @}
*/
/**
* @}
*/
/** @addtogroup STM32H7XX_NUCLEO_LOW_LEVEL_Exported_Variables
* @{
*/
extern EXTI_HandleTypeDef hpb_exti[];
#if (USE_BSP_COM_FEATURE > 0)
extern UART_HandleTypeDef hcom_uart[];
extern USART_TypeDef* COM_USART[];
#endif
/**
* @}
*/
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL_Exported_FunctionsPrototypes LOW LEVEL Exported Functions Prototypes
* @{
*/
int32_t BSP_GetVersion(void);
int32_t BSP_LED_Init(Led_TypeDef Led);
int32_t BSP_LED_DeInit(Led_TypeDef Led);
int32_t BSP_LED_On(Led_TypeDef Led);
int32_t BSP_LED_Off(Led_TypeDef Led);
int32_t BSP_LED_Toggle(Led_TypeDef Led);
int32_t BSP_LED_GetState (Led_TypeDef Led);
int32_t BSP_PB_Init(Button_TypeDef Button, ButtonMode_TypeDef ButtonMode);
int32_t BSP_PB_DeInit(Button_TypeDef Button);
int32_t BSP_PB_GetState(Button_TypeDef Button);
void BSP_PB_IRQHandler(Button_TypeDef Button);
void BSP_PB_Callback(Button_TypeDef Button);
#if (USE_BSP_COM_FEATURE > 0)
int32_t BSP_COM_Init(COM_TypeDef COM, COM_InitTypeDef *COM_Init);
int32_t BSP_COM_DeInit(COM_TypeDef COM);
#if (USE_COM_LOG > 0)
int32_t BSP_COM_SelectLogPort (COM_TypeDef COM);
#endif
#if (USE_HAL_UART_REGISTER_CALLBACKS == 1)
int32_t BSP_COM_RegisterDefaultMspCallbacks(COM_TypeDef COM);
int32_t BSP_COM_RegisterMspCallbacks(COM_TypeDef COM , BSP_COM_Cb_t *Callback);
#endif /* USE_HAL_UART_REGISTER_CALLBACKS */
HAL_StatusTypeDef MX_USART3_Init(UART_HandleTypeDef *huart, MX_UART_InitTypeDef *COM_Init);
#endif /* USE_BSP_COM_FEATURE */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* STM32H7XX_NUCLEO_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

82
bsp_stm32h7_rtems/boardconfig/NUCLEO-H743ZI/Inc/stm32h7xx_nucleo_conf.h Normal file
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@ -0,0 +1,82 @@
/**
******************************************************************************
* @file stm32h7xx_nucleo_conf.h
* @author MCD Application Team
* @brief STM32H7xx_Nuleo board configuration file.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef STM32H7XX_NUCLEO_CONF_H
#define STM32H7XX_NUCLEO_CONF_H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "stm32h7xx_hal.h"
#include "stm32h743xx.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup STM32H7XX_NUCLEO
* @{
*/
/** @defgroup STM32H7XX_NUCLEO_CONFIG Config
* @{
*/
/** @defgroup STM32H7XX_NUCLEO_CONFIG_Exported_Constants Exported Constants
* @{
*/
/* Nucleo pin and part number defines */
#define USE_NUCLEO_144
#define USE_NUCLEO_H743ZI
/* COM define */
#define USE_COM_LOG 0U
#define USE_BSP_COM_FEATURE 1U
/* IRQ priorities */
#define BSP_BUTTON_USER_IT_PRIORITY 15U
#define BUS_SPI1_BAUDRATE 18000000
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* STM32H7XX_NUCLEO_CONF_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

48
bsp_stm32h7_rtems/boardconfig/NUCLEO-H743ZI/Inc/stm32h7xx_nucleo_errno.h Normal file
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@ -0,0 +1,48 @@
/**
******************************************************************************
* @file stm32h7xx_nucleo_errno.h
* @author MCD Application Team
* @brief Error Code.
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef STM32H7XX_NUCLEO_ERRNO_H
#define STM32H7XX_NUCLEO_ERRNO_H
#ifdef __cplusplus
extern "C" {
#endif
/* Common Error codes */
#define BSP_ERROR_NONE 0
#define BSP_ERROR_NO_INIT -1
#define BSP_ERROR_WRONG_PARAM -2
#define BSP_ERROR_BUSY -3
#define BSP_ERROR_PERIPH_FAILURE -4
#define BSP_ERROR_COMPONENT_FAILURE -5
#define BSP_ERROR_UNKNOWN_FAILURE -6
#define BSP_ERROR_UNKNOWN_COMPONENT -7
#define BSP_ERROR_BUS_FAILURE -8
#define BSP_ERROR_CLOCK_FAILURE -9
#define BSP_ERROR_MSP_FAILURE -10
#define BSP_ERROR_FEATURE_NOT_SUPPORTED -11
#ifdef __cplusplus
}
#endif
#endif /* STM32H7XX_NUCLEO_ERRNO_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

4
bsp_stm32h7_rtems/boardconfig/NUCLEO-H743ZI/Src/CMakeLists.txt Normal file
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@ -0,0 +1,4 @@
target_sources(${TARGET_NAME} PRIVATE
hardware_init.cpp
stm32h7xx_nucleo.c
)

5
bsp_stm32h7_rtems/boardconfig/NUCLEO-H743ZI/Src/hardware_init.cpp Normal file
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@ -0,0 +1,5 @@
#include "hardware_init.h"
void hardware_init() {
}

693
bsp_stm32h7_rtems/boardconfig/NUCLEO-H743ZI/Src/stm32h7xx_nucleo.c Normal file
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@ -0,0 +1,693 @@
/**
******************************************************************************
* @file stm32h7xx_nucleo.c
* @author MCD Application Team
* @brief This file provides set of firmware functions to manage:
* - LEDs and push-button available on STM32H7xx-Nucleo Kit
* from STMicroelectronics
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2018 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32h7xx_nucleo.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup STM32H7XX_NUCLEO
* @{
*/
/** @addtogroup STM32H7XX_NUCLEO_LOW_LEVEL
* @brief This file provides set of firmware functions to manage Leds and push-button
* available on STM32H7xx-Nucleo Kit from STMicroelectronics.
* @{
*/
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL_Private_Defines LOW LEVEL Private Defines
* @{
*/
/**
* @}
*/
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL_Private_TypesDefinitions LOW LEVEL Private Typedef
* @{
*/
typedef void (* BSP_EXTI_LineCallback) (void);
/**
* @}
*/
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL_Exported_Variables LOW LEVEL Exported Variables
* @{
*/
EXTI_HandleTypeDef hpb_exti[BUTTONn];
#if (USE_BSP_COM_FEATURE > 0)
UART_HandleTypeDef hcom_uart[COMn];
USART_TypeDef* COM_USART[COMn] = {COM1_UART};
#endif
/**
* @}
*/
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL_Private_Variables LOW LEVEL Private Variables
* @{
*/
static GPIO_TypeDef* LED_PORT[LEDn] = {LED1_GPIO_PORT,
LED2_GPIO_PORT,
LED3_GPIO_PORT};
static const uint16_t LED_PIN[LEDn] = {LED1_PIN,
LED2_PIN,
LED3_PIN};
static GPIO_TypeDef* BUTTON_PORT[BUTTONn] = {BUTTON_USER_GPIO_PORT};
static const uint16_t BUTTON_PIN[BUTTONn] = {BUTTON_USER_PIN};
static const IRQn_Type BUTTON_IRQn[BUTTONn] = {BUTTON_USER_EXTI_IRQn};
#if (USE_BSP_COM_FEATURE > 0)
#if (USE_COM_LOG > 0)
static COM_TypeDef COM_ActiveLogPort = COM1;
#endif
#if (USE_HAL_UART_REGISTER_CALLBACKS == 1)
static uint32_t IsComMspCbValid[COMn] = {0};
#endif
#endif
/**
* @}
*/
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL_Private_FunctionPrototypes LOW LEVEL Private functions Prototypes
* @{
*/
static void BUTTON_USER_EXTI_Callback(void);
#if (USE_BSP_COM_FEATURE > 0)
static void COM1_MspInit(UART_HandleTypeDef *huart);
static void COM1_MspDeInit(UART_HandleTypeDef *huart);
#endif
/**
* @}
*/
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL_Exported_Functions LOW LEVEL Exported Functions
* @{
*/
/**
* @brief This method returns the STM32H7XX NUCLEO BSP Driver revision
* @retval version: 0xXYZR (8bits for each decimal, R for RC)
*/
int32_t BSP_GetVersion(void)
{
return (int32_t)STM32H7XX_NUCLEO_BSP_VERSION;
}
/**
* @brief Configures LED GPIO.
* @param Led Specifies the Led to be configured.
* This parameter can be one of following parameters:
* @arg LED1
* @arg LED2
* @arg LED3
* @retval BSP status
*/
int32_t BSP_LED_Init(Led_TypeDef Led)
{
int32_t ret = BSP_ERROR_NONE;
GPIO_InitTypeDef gpio_init_structure;
if((Led != LED1) && (Led != LED2) && (Led != LED3))
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
/* Enable the GPIO LED Clock */
if(Led == LED1)
{
LED1_GPIO_CLK_ENABLE();
}
else if(Led == LED2)
{
LED2_GPIO_CLK_ENABLE();
}
else
{
LED3_GPIO_CLK_ENABLE();
}
/* Configure the GPIO_LED pin */
gpio_init_structure.Pin = LED_PIN[Led];
gpio_init_structure.Mode = GPIO_MODE_OUTPUT_PP;
gpio_init_structure.Pull = GPIO_NOPULL;
gpio_init_structure.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
HAL_GPIO_Init(LED_PORT[Led], &gpio_init_structure);
HAL_GPIO_WritePin(LED_PORT[Led], LED_PIN[Led], GPIO_PIN_RESET);
}
return ret;
}
/**
* @brief DeInit LEDs.
* @param Led LED to be de-init.
* This parameter can be one of the following values:
* @arg LED1
* @arg LED2
* @arg LED3
* @note Led DeInit does not disable the GPIO clock nor disable the Mfx
* @retval BSP status
*/
int32_t BSP_LED_DeInit(Led_TypeDef Led)
{
int32_t ret = BSP_ERROR_NONE;
GPIO_InitTypeDef gpio_init_structure;
if((Led != LED1) && (Led != LED2) && (Led != LED3))
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
/* Turn off LED */
HAL_GPIO_WritePin(LED_PORT[Led], LED_PIN[Led], GPIO_PIN_RESET);
/* DeInit the GPIO_LED pin */
gpio_init_structure.Pin = LED_PIN[Led];
HAL_GPIO_DeInit(LED_PORT[Led], gpio_init_structure.Pin);
}
return ret;
}
/**
* @brief Turns selected LED On.
* @param Led Specifies the Led to be set on.
* This parameter can be one of following parameters:
* @arg LED1
* @arg LED2
* @arg LED3
* @retval BSP status
*/
int32_t BSP_LED_On(Led_TypeDef Led)
{
int32_t ret = BSP_ERROR_NONE;
if((Led != LED1) && (Led != LED2) && (Led != LED3))
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
HAL_GPIO_WritePin(LED_PORT[Led], LED_PIN[Led], GPIO_PIN_SET);
}
return ret;
}
/**
* @brief Turns selected LED Off.
* @param Led: Specifies the Led to be set off.
* This parameter can be one of following parameters:
* @arg LED1
* @arg LED2
* @arg LED3
* @retval BSP status
*/
int32_t BSP_LED_Off(Led_TypeDef Led)
{
int32_t ret = BSP_ERROR_NONE;
if((Led != LED1) && (Led != LED2) && (Led != LED3))
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
HAL_GPIO_WritePin(LED_PORT[Led], LED_PIN[Led], GPIO_PIN_RESET);
}
return ret;
}
/**
* @brief Toggles the selected LED.
* @param Led Specifies the Led to be toggled.
* This parameter can be one of following parameters:
* @arg LED1
* @arg LED2
* @arg LED3
* @retval BSP status
*/
int32_t BSP_LED_Toggle(Led_TypeDef Led)
{
int32_t ret = BSP_ERROR_NONE;
if((Led != LED1) && (Led != LED2) && (Led != LED3))
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
HAL_GPIO_TogglePin(LED_PORT[Led], LED_PIN[Led]);
}
return ret;
}
/**
* @brief Get the state of the selected LED.
* @param Led LED to get its state
* This parameter can be one of following parameters:
* @arg LED1
* @arg LED2
* @arg LED3
* @retval LED status
*/
int32_t BSP_LED_GetState (Led_TypeDef Led)
{
int32_t ret;
if((Led != LED1) && (Led != LED2) && (Led != LED3))
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
ret = (int32_t)HAL_GPIO_ReadPin (LED_PORT [Led], LED_PIN [Led]);
}
return ret;
}
/**
* @brief Configures button GPIO and EXTI Line.
* @param Button Button to be configured
* This parameter can be one of the following values:
* @arg BUTTON_USER: Wakeup Push Button
* @param ButtonMode Button mode
* This parameter can be one of the following values:
* @arg BUTTON_MODE_GPIO: Button will be used as simple IO
* @arg BUTTON_MODE_EXTI: Button will be connected to EXTI line
* with interrupt generation capability
*/
int32_t BSP_PB_Init(Button_TypeDef Button, ButtonMode_TypeDef ButtonMode)
{
GPIO_InitTypeDef gpio_init_structure;
static BSP_EXTI_LineCallback ButtonCallback[BUTTONn] = {BUTTON_USER_EXTI_Callback};
static uint32_t BSP_BUTTON_PRIO [BUTTONn] = {BSP_BUTTON_USER_IT_PRIORITY};
static const uint32_t BUTTON_EXTI_LINE[BUTTONn] = {BUTTON_USER_EXTI_LINE};
/* Enable the BUTTON clock */
BUTTON_USER_GPIO_CLK_ENABLE();
gpio_init_structure.Pin = BUTTON_PIN [Button];
gpio_init_structure.Pull = GPIO_PULLDOWN;
gpio_init_structure.Speed = GPIO_SPEED_FREQ_HIGH;
if(ButtonMode == BUTTON_MODE_GPIO)
{
/* Configure Button pin as input */
gpio_init_structure.Mode = GPIO_MODE_INPUT;
HAL_GPIO_Init(BUTTON_PORT [Button], &gpio_init_structure);
}
else /* (ButtonMode == BUTTON_MODE_EXTI) */
{
/* Configure Button pin as input with External interrupt */
gpio_init_structure.Mode = GPIO_MODE_IT_RISING;
HAL_GPIO_Init(BUTTON_PORT[Button], &gpio_init_structure);
(void)HAL_EXTI_GetHandle(&hpb_exti[Button], BUTTON_EXTI_LINE[Button]);
(void)HAL_EXTI_RegisterCallback(&hpb_exti[Button], HAL_EXTI_COMMON_CB_ID, ButtonCallback[Button]);
/* Enable and set Button EXTI Interrupt to the lowest priority */
HAL_NVIC_SetPriority((BUTTON_IRQn[Button]), BSP_BUTTON_PRIO[Button], 0x00);
HAL_NVIC_EnableIRQ((BUTTON_IRQn[Button]));
}
return BSP_ERROR_NONE;
}
/**
* @brief Push Button DeInit.
* @param Button Button to be configured
* This parameter can be one of the following values:
* @arg BUTTON_USER: Wakeup Push Button
* @note PB DeInit does not disable the GPIO clock
*/
int32_t BSP_PB_DeInit(Button_TypeDef Button)
{
GPIO_InitTypeDef gpio_init_structure;
gpio_init_structure.Pin = BUTTON_PIN[Button];
HAL_NVIC_DisableIRQ((IRQn_Type)(BUTTON_IRQn[Button]));
HAL_GPIO_DeInit(BUTTON_PORT[Button], gpio_init_structure.Pin);
return BSP_ERROR_NONE;
}
/**
* @brief Returns the selected button state.
* @param Button Button to be checked
* This parameter can be one of the following values:
* @arg BUTTON_USER: Wakeup Push Button
* @retval The Button GPIO pin value (GPIO_PIN_RESET = button pressed)
*/
int32_t BSP_PB_GetState(Button_TypeDef Button)
{
return (int32_t)HAL_GPIO_ReadPin(BUTTON_PORT[Button], BUTTON_PIN[Button]);
}
/**
* @brief BSP Button IRQ handler
* @param Button Can only be BUTTON_USER
* @retval None
*/
void BSP_PB_IRQHandler(Button_TypeDef Button)
{
HAL_EXTI_IRQHandler(&hpb_exti[Button]);
}
/**
* @brief BSP Push Button callback
* @param Button Specifies the pin connected EXTI line
* @retval None
*/
__weak void BSP_PB_Callback(Button_TypeDef Button)
{
/* Prevent unused argument(s) compilation warning */
UNUSED(Button);
/* This function should be implemented by the user application.
It is called into this driver when an event on Button is triggered. */
}
#if (USE_BSP_COM_FEATURE > 0)
/**
* @brief Configures COM port.
* @param COM COM port to be configured.
* This parameter can be COM1
* @param COM_Init Pointer to a UART_HandleTypeDef structure that contains the
* configuration information for the specified USART peripheral.
* @retval BSP error code
*/
int32_t BSP_COM_Init(COM_TypeDef COM, COM_InitTypeDef *COM_Init)
{
int32_t ret = BSP_ERROR_NONE;
if(COM >= COMn)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
#if (USE_HAL_UART_REGISTER_CALLBACKS == 0)
/* Init the UART Msp */
COM1_MspInit(&hcom_uart[COM]);
#else
if(IsComMspCbValid[COM] == 0U)
{
if(BSP_COM_RegisterDefaultMspCallbacks(COM) != BSP_ERROR_NONE)
{
return BSP_ERROR_MSP_FAILURE;
}
}
#endif
if(MX_USART3_Init(&hcom_uart[COM], COM_Init) != HAL_OK)
{
ret = BSP_ERROR_PERIPH_FAILURE;
}
}
return ret;
}
/**
* @brief DeInit COM port.
* @param COM COM port to be configured.
* This parameter can be COM1
* @retval BSP status
*/
int32_t BSP_COM_DeInit(COM_TypeDef COM)
{
int32_t ret = BSP_ERROR_NONE;
if(COM >= COMn)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
/* USART configuration */
hcom_uart[COM].Instance = COM_USART[COM];
#if (USE_HAL_UART_REGISTER_CALLBACKS == 0)
COM1_MspDeInit(&hcom_uart[COM]);
#endif /* (USE_HAL_UART_REGISTER_CALLBACKS == 0) */
if(HAL_UART_DeInit(&hcom_uart[COM]) != HAL_OK)
{
ret = BSP_ERROR_PERIPH_FAILURE;
}
}
return ret;
}
/**
* @brief Configures COM port.
* @param huart USART handle
* @param COM_Init Pointer to a UART_HandleTypeDef structure that contains the
* configuration information for the specified USART peripheral.
* @retval HAL error code
*/
__weak HAL_StatusTypeDef MX_USART3_Init(UART_HandleTypeDef *huart, MX_UART_InitTypeDef *COM_Init)
{
/* USART configuration */
huart->Instance = COM_USART[COM1];
huart->Init.BaudRate = COM_Init->BaudRate;
huart->Init.Mode = UART_MODE_TX_RX;
huart->Init.Parity = (uint32_t)COM_Init->Parity;
huart->Init.WordLength = (uint32_t)COM_Init->WordLength;
huart->Init.StopBits = (uint32_t)COM_Init->StopBits;
huart->Init.HwFlowCtl = (uint32_t)COM_Init->HwFlowCtl;
huart->Init.OverSampling = UART_OVERSAMPLING_8;
return HAL_UART_Init(huart);
}
#if (USE_HAL_UART_REGISTER_CALLBACKS == 1)
/**
* @brief Register Default COM Msp Callbacks
* @param COM COM port to be configured.
* This parameter can be COM1
* @retval BSP status
*/
int32_t BSP_COM_RegisterDefaultMspCallbacks(COM_TypeDef COM)
{
int32_t ret = BSP_ERROR_NONE;
if(COM >= COMn)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
__HAL_UART_RESET_HANDLE_STATE(&hcom_uart[COM]);
/* Register default MspInit/MspDeInit Callback */
if(HAL_UART_RegisterCallback(&hcom_uart[COM], HAL_UART_MSPINIT_CB_ID, COM1_MspInit) != HAL_OK)
{
ret = BSP_ERROR_PERIPH_FAILURE;
}
else if(HAL_UART_RegisterCallback(&hcom_uart[COM], HAL_UART_MSPDEINIT_CB_ID, COM1_MspDeInit) != HAL_OK)
{
ret = BSP_ERROR_PERIPH_FAILURE;
}
else
{
IsComMspCbValid[COM] = 1U;
}
}
/* BSP status */
return ret;
}
/**
* @brief Register COM Msp Callback registering
* @param COM COM port to be configured.
* This parameter can be COM1
* @param Callbacks pointer to COM1 MspInit/MspDeInit callback functions
* @retval BSP status
*/
int32_t BSP_COM_RegisterMspCallbacks(COM_TypeDef COM , BSP_COM_Cb_t *Callback)
{
int32_t ret = BSP_ERROR_NONE;
if(COM >= COMn)
{
ret = BSP_ERROR_WRONG_PARAM;
}
else
{
__HAL_UART_RESET_HANDLE_STATE(&hcom_uart[COM]);
/* Register MspInit/MspDeInit Callbacks */
if(HAL_UART_RegisterCallback(&hcom_uart[COM], HAL_UART_MSPINIT_CB_ID, Callback->pMspInitCb) != HAL_OK)
{
ret = BSP_ERROR_PERIPH_FAILURE;
}
else if(HAL_UART_RegisterCallback(&hcom_uart[COM], HAL_UART_MSPDEINIT_CB_ID, Callback->pMspDeInitCb) != HAL_OK)
{
ret = BSP_ERROR_PERIPH_FAILURE;
}
else
{
IsComMspCbValid[COM] = 1U;
}
}
/* BSP status */
return ret;
}
#endif /* USE_HAL_UART_REGISTER_CALLBACKS */
#if (USE_COM_LOG > 0)
/**
* @brief Select the active COM port.
* @param COM COM port to be activated.
* This parameter can be COM1
* @retval BSP status
*/
int32_t BSP_COM_SelectLogPort(COM_TypeDef COM)
{
if(COM_ActiveLogPort != COM)
{
COM_ActiveLogPort = COM;
}
return BSP_ERROR_NONE;
}
/**
* @brief Redirect console output to COM
*/
#ifdef __GNUC__
int __io_putchar (int ch)
#else
int fputc (int ch, FILE *f)
#endif /* __GNUC__ */
{
HAL_UART_Transmit (&hcom_uart [COM_ActiveLogPort], (uint8_t *) &ch, 1, COM_POLL_TIMEOUT);
return ch;
}
#endif /* USE_COM_LOG */
#endif /* USE_BSP_COM_FEATURE */
/**
* @}
*/
/** @defgroup STM32H7XX_NUCLEO_LOW_LEVEL_Private_Functions LOW LEVEL Private functions
* @{
*/
/**
* @brief Key EXTI line detection callbacks.
* @retval BSP status
*/
static void BUTTON_USER_EXTI_Callback(void)
{
BSP_PB_Callback(BUTTON_USER);
}
#if (USE_BSP_COM_FEATURE > 0)
/**
* @brief Initializes UART MSP.
* @param huart UART handle
* @retval BSP status
*/
static void COM1_MspInit(UART_HandleTypeDef *huart)
{
GPIO_InitTypeDef gpio_init_structure;
/* Prevent unused argument(s) compilation warning */
UNUSED(huart);
/* Enable GPIO clock */
COM1_TX_GPIO_CLK_ENABLE();
COM1_RX_GPIO_CLK_ENABLE();
/* Enable USART clock */
COM1_CLK_ENABLE();
/* Configure USART Tx as alternate function */
gpio_init_structure.Pin = COM1_TX_PIN;
gpio_init_structure.Mode = GPIO_MODE_AF_PP;
gpio_init_structure.Speed = GPIO_SPEED_FREQ_HIGH;
gpio_init_structure.Pull = GPIO_PULLUP;
gpio_init_structure.Alternate = COM1_TX_AF;
HAL_GPIO_Init(COM1_TX_GPIO_PORT, &gpio_init_structure);
/* Configure USART Rx as alternate function */
gpio_init_structure.Pin = COM1_RX_PIN;
gpio_init_structure.Mode = GPIO_MODE_AF_PP;
gpio_init_structure.Alternate = COM1_RX_AF;
HAL_GPIO_Init(COM1_RX_GPIO_PORT, &gpio_init_structure);
}
/**
* @brief Initialize USART3 Msp part
* @param huart UART handle
* @retval BSP status
*/
static void COM1_MspDeInit(UART_HandleTypeDef *huart)
{
GPIO_InitTypeDef gpio_init_structure;
/* Prevent unused argument(s) compilation warning */
UNUSED(huart);
/* COM GPIO pin configuration */
gpio_init_structure.Pin = COM1_TX_PIN;
HAL_GPIO_DeInit(COM1_TX_GPIO_PORT, gpio_init_structure.Pin);
gpio_init_structure.Pin = COM1_RX_PIN;
HAL_GPIO_DeInit(COM1_RX_GPIO_PORT, gpio_init_structure.Pin);
/* Disable USART clock */
COM1_CLK_DISABLE();
}
#endif /* USE_BSP_COM_FEATURE */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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target_sources(${TARGET_NAME} PRIVATE
)

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bsp_stm32h7_rtems/core/CMakeLists.txt Normal file
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target_sources(${TARGET_NAME} PRIVATE
InitMission.cpp
ObjectFactory.cpp
printChar.c
)

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#include "InitMission.h"
#include <OBSWConfig.h>
#include <mission/utility/TaskCreation.h>
#include <objects/systemObjectList.h>
#include <pollingsequence/pollingSequenceFactory.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 <rtems/rtems/support.h>
#include <rtems/score/heapinfo.h>
void InitMission::createTasks() {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if OBSW_ADD_CORE_COMPONENTS == 1
/* TMTC Distribution */
PeriodicTaskIF* distributerTask = TaskFactory::instance()->createPeriodicTask(
"DIST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr);
result = distributerTask->addComponent(objects::CCSDS_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("CCSDS distributor", objects::CCSDS_DISTRIBUTOR);
}
result = distributerTask->addComponent(objects::PUS_DISTRIBUTOR);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS distributor", objects::CCSDS_DISTRIBUTOR);
}
result = distributerTask->addComponent(objects::TM_FUNNEL);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("TM funnel", objects::TM_FUNNEL);
}
PeriodicTaskIF* eventManagerTask = TaskFactory::instance()->createPeriodicTask(
"EVENT_MGMT", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.1, nullptr);
result = eventManagerTask->addComponent(objects::EVENT_MANAGER);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("TM funnel", objects::TM_FUNNEL);
}
#if OBSW_ADD_LWIP_NETWORKING == 1
/* UDP bridge */
PeriodicTaskIF* udpBridgeTask = TaskFactory::instance()->createPeriodicTask(
"UDP_UNIX_BRIDGE", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr);
result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("UDP bridge", objects::UDP_BRIDGE);
}
PeriodicTaskIF* udpPollingTask = TaskFactory::instance()->createPeriodicTask(
"UDP_POLLING", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.1, nullptr);
result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("UDP polling task", objects::UDP_POLLING_TASK);
}
#endif /* OBSW_ADD_LWIP_NETWORKING == 1 */
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
#if OBSW_ADD_PUS_STACK == 1
/* PUS Services */
PeriodicTaskIF* pusVerification = TaskFactory::instance()->createPeriodicTask(
"PUS_VERIF_1", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
if(result != HasReturnvaluesIF::RETURN_OK){
task::printInitError("PUS 1", objects::PUS_SERVICE_1_VERIFICATION);
}
PeriodicTaskIF* pusHighPrio = TaskFactory::instance()->createPeriodicTask(
"PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr);
result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS 2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
if(result != HasReturnvaluesIF::RETURN_OK){
task::printInitError("PUS 5", objects::PUS_SERVICE_5_EVENT_REPORTING);
}
result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS 9", objects::PUS_SERVICE_9_TIME_MGMT);
}
PeriodicTaskIF* pusMedPrio = TaskFactory::instance()->createPeriodicTask(
"PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, nullptr);
result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS 8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
}
result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("PUS 200", objects::PUS_SERVICE_200_MODE_MGMT);
}
PeriodicTaskIF* pusLowPrio = TaskFactory::instance()->createPeriodicTask(
"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, nullptr);
result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
if(result != HasReturnvaluesIF::RETURN_OK){
task::printInitError("PUS 17", objects::PUS_SERVICE_17_TEST);
}
#endif /* OBSW_ADD_PUS_STACK == 1 */
#if OBSW_ADD_TASK_EXAMPLE == 1
FixedTimeslotTaskIF* timeslotDemoTask = TaskFactory::instance()->createFixedTimeslotTask(
"PST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, nullptr);
result = pst::pollingSequenceExamples(timeslotDemoTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "InitMission::createTasks: Examples PST initialization failed!" << std::endl;
#else
sif::printError("InitMission::createTasks: Examples PST initialization failed!\n");
#endif
}
PeriodicTaskIF* readerTask = TaskFactory::instance()->
createPeriodicTask("READER_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
result = readerTask->addComponent(objects::TEST_DUMMY_4);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("Demo Reader Task", objects::TEST_DUMMY_4);
}
#endif /* OBSW_ADD_TASK_EXAMPLE == 1 */
#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
FixedTimeslotTaskIF* testTimeslotTask = TaskFactory::instance()->createFixedTimeslotTask(
"PST_TEST_TASK", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
result = pst::pollingSequenceDevices(testTimeslotTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "InitMission::createTasks: Devices PST initialization failed!" << std::endl;
#else
sif::printError("InitMission::createTasks: Devices PST initialization failed!\n");
#endif
}
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
PeriodicTaskIF* testTask = TaskFactory::instance()->
createPeriodicTask("TEST", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
result = testTask->addComponent(objects::TEST_TASK);
if(result != HasReturnvaluesIF::RETURN_OK) {
task::printInitError("Test Task", objects::TEST_TASK);
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Starting tasks.." << std::endl;
#else
sif::printInfo("Starting tasks..\n");
#endif
#if OBSW_ADD_CORE_COMPONENTS == 1
distributerTask->startTask();
eventManagerTask->startTask();
#if OBSW_ADD_LWIP_NETWORKING == 1
udpBridgeTask->startTask();
udpPollingTask->startTask();
#endif /* OBSW_ADD_LWIP_NETWORKING == 1 */
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
#if OBSW_ADD_PUS_STACK == 1
pusVerification->startTask();
pusHighPrio->startTask();
pusMedPrio->startTask();
pusLowPrio->startTask();
#endif /* OBSW_ADD_PUS_STACK == 1 */
#if OBSW_ADD_TASK_EXAMPLE == 1
timeslotDemoTask->startTask();
readerTask->startTask();
#endif /* OBSW_ADD_TASK_EXAMPLE == 1 */
#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
testTimeslotTask->startTask();
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
testTask->startTask();
Heap_Information_block block;
rtems_workspace_get_information(&block);
uint32_t failedAllocs = block.Stats.failed_allocs;
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Tasks started.." << std::endl;
sif::info << "Remaining RTEMS heap: " << block.Stats.free_size << " bytes" << std::endl;
#else
sif::printInfo("Tasks started..\n");
sif::printInfo("Allocated RTEMS heap: %lu bytes\n", static_cast<unsigned long>(
block.Stats.size));
sif::printInfo("Remaining RTEMS heap: %lu bytes\n", static_cast<unsigned long>(
block.Stats.free_size));
if(failedAllocs > 0) {
sif::printWarning("%d allocations from RTEMS workspace failed!\n", failedAllocs);
}
#endif
}

8
bsp_stm32h7_rtems/core/InitMission.h Normal file
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@ -0,0 +1,8 @@
#ifndef MISSION_CORE_INITMISSION_H_
#define MISSION_CORE_INITMISSION_H_
namespace InitMission {
void createTasks();
};
#endif /* MISSION_CORE_INITMISSION_H_ */

58
bsp_stm32h7_rtems/core/ObjectFactory.cpp Normal file
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@ -0,0 +1,58 @@
#include "ObjectFactory.h"
#include <OBSWConfig.h>
#include <objects/systemObjectList.h>
#include "example_common/stm32h7/networking/UdpTcLwIpPollingTask.h"
#include "example_common/stm32h7/networking/TmTcLwIpUdpBridge.h"
#include "example_common/stm32h7/STM32TestTask.h"
#include <test/TestTask.h>
#include <mission/utility/TmFunnel.h>
#include <mission/core/GenericFactory.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>
void ObjectFactory::produce(void* args) {
/* Located inside GenericFactory source file */
Factory::setStaticFrameworkObjectIds();
#if OBSW_ADD_CORE_COMPONENTS == 1
{
LocalPool::LocalPoolConfig poolCfg = {
{15, 32}, {10, 64}, {5, 128}, {1, 1024}
};
new PoolManager(objects::TC_STORE, poolCfg);
}
{
LocalPool::LocalPoolConfig poolCfg = {
{15, 32}, {10, 64}, {5, 128}, {1, 1024}
};
new PoolManager(objects::TM_STORE, poolCfg);
}
{
LocalPool::LocalPoolConfig poolCfg = {
{15, 32}, {10, 64}, {5, 128}, {1, 1024}
};
new PoolManager(objects::IPC_STORE, poolCfg);
}
#if OBSW_ADD_LWIP_NETWORKING == 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_NETWORKING == 1 */
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
ObjectFactory::produceGenericObjects();
new STM32TestTask(objects::TEST_TASK, false);
}

9
bsp_stm32h7_rtems/core/ObjectFactory.h Normal file
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@ -0,0 +1,9 @@
#ifndef MISSION_CORE_OBJECTFACTORY_H_
#define MISSION_CORE_OBJECTFACTORY_H_
namespace ObjectFactory {
void produce(void* args);
};
#endif /* MISSION_CORE_OBJECTFACTORY_H_ */

16
bsp_stm32h7_rtems/core/printChar.c Normal file
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@ -0,0 +1,16 @@
#include <stdbool.h>
#include <stdio.h>
#include <OBSWConfig.h>
#include <stm32h7xx_hal_uart.h>
#include <hal.h>
void printChar(const char* character, bool errStream) {
HAL_UART_Transmit(&stm32h7_usart3_instance.uart, (uint8_t*) character, 1,
DEBUG_UART_MS_TIMEOUT);
/* Does not work for some reason */
//stm32h7_uart_polled_write(&stm32h7_usart3_instance.device, (int) character);
}

1
bsp_stm32h7_rtems/fsfwconfig/OBSWConfig.h.in
View File

@ -6,6 +6,7 @@
#ifndef FSFWCONFIG_OBSWCONFIG_H_
#define FSFWCONFIG_OBSWCONFIG_H_
#define DEBUG_UART_MS_TIMEOUT 10
#define STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION 1
//! Specify whether lwIP components are added. These are necessary for TMTC commanding

14
bsp_stm32h7_rtems/init.c Normal file
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@ -0,0 +1,14 @@
#include "RTEMSConfig.h"
extern int main();
/**
* Entry point for the RTEMS BSP after low level and RTEMS executive initialization.
* @param argument
* @return
*/
rtems_task Init(rtems_task_argument argument) {
main();
return (void) rtems_task_delete( RTEMS_SELF );
}

52
bsp_stm32h7_rtems/main.cpp Normal file
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@ -0,0 +1,52 @@
#include "core/ObjectFactory.h"
#include "core/InitMission.h"
#include "stm32h7xx_nucleo.h"
#include "hardware_init.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/Clock.h"
#include <rtems.h>
#include <rtems/console.h>
#include <rtems/rtems/clock.h>
#include <mission/utility/compile_time.h>
#define BOARD_NAME "stm32h743zi-nucleo"
ObjectManagerIF *objectManager = nullptr;
#if FSFW_CPP_OSTREAM_ENABLED == 1
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true);
#endif
/**
* @brief Core function for the RTEMS BSP, called in Init function.
* @return
* @author R. Mueller
*/
int main() {
hardware_init();
printf("\n\r%s-- FSFW Example (RTEMS) --\n", sif::ANSI_COLOR_RESET);
printf("-- Compiled for %s --\n", BOARD_NAME);
printf("-- Compiled on %s %s --\n\r",__DATE__, __TIME__);
timeval timeToSet;
timeToSet.tv_sec = UNIX_TIMESTAMP;
timeToSet.tv_usec = 0;
ReturnValue_t clockStatus = Clock::setClock(&timeToSet);
if(clockStatus != HasReturnvaluesIF::RETURN_OK) {
sif::printError("Clock configuration failed!\n");
}
else {
sif::printInfo("Clock configured successfully.\n");
}
ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
ObjectManager::instance()->initialize();
InitMission::createTasks();
}

10
cmake/PreProjectConfig.cmake
View File

@ -21,14 +21,13 @@ if(NOT DEFINED RTEMS_PREFIX)
endif()
endif()
if(${TGT_BSP} MATCHES "arm/stm32h743zi-nucleo")
if(TGT_BSP MATCHES "arm/stm32h743zi-nucleo")
set(RTEMS_BSP "arm/nucleo-h743zi")
else()
if(NOT DEFINED RTEMS_BSP)
if(NOT DEFINED ENV{RTEMS_BSP})
message(FATAL_ERROR
"RTEMS_BSP must be set either manually or as an environment"
"variable!"
"RTEMS_BSP must be set either manually or as an environment variable!"
)
else()
set(RTEMS_BSP $ENV{RTEMS_BSP})
@ -38,10 +37,7 @@ endif()
rtems_pre_project_config(${RTEMS_PREFIX} ${RTEMS_BSP})
set(CMAKE_TOOLCHAIN_FILE
${RTEMS_CONFIG_DIR}/RTEMSToolchain.cmake
PARENT_SCOPE
)
set(CMAKE_TOOLCHAIN_FILE ${RTEMS_CONFIG_DIR}/RTEMSToolchain.cmake)
set(RTEMS_BSP ${RTEMS_BSP} CACHE STRING "RTEMS BSP")
set(RTEMS_PREFIX ${RTEMS_PREFIX} CACHE STRING "RTEMS Prefix")

2
example_common

@ -1 +1 @@
Subproject commit e4879130b09c76dac75265768fc757759e9aedcd
Subproject commit 27215b67aaa0a3e540ff4e369781ccac332a4662

2
fsfw

@ -1 +1 @@
Subproject commit aafccd191e3a592e19c09b01b95dea89c8936e54
Subproject commit a65a1840838435f8ce3cfed8bc7a2adf74eac2ac