fsfw_example_public/bsp_stm32_freertos/core/ObjectFactory.cpp

#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 <common/stm32_nucleo/networking/UdpTcLwIpPollingTask.h>
#include <common/stm32_nucleo/networking/TmTcLwIpUdpBridge.h>
#include <common/stm32_nucleo/STM32TestTask.h>

#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/monitoring/MonitoringMessageContent.h>
#include <fsfw/storagemanager/PoolManager.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.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
}