added pst for peripheral tests

bsp_stm32_freertos/core/InitMission.cpp

@@ -124,7 +124,7 @@ void InitMission::createTasks() {
 
 #if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
     FixedTimeslotTaskIF* testDevicesTask = TaskFactory::instance()->createFixedTimeslotTask(
-            "PST_TEST_TASK", 10, 1024 * 2, 1.0, nullptr);
+            "PST_TEST_TASK", 7, 1024 * 2, 1.0, nullptr);
     result = pst::pollingSequenceDevices(testDevicesTask);
     if(result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -151,6 +151,19 @@ void InitMission::createTasks() {
         task::printInitError("Test Task", objects::TEST_TASK);
     }
 
+#if OBSW_PERIPHERAL_PST == 1
+    FixedTimeslotTaskIF* peripheralPst = TaskFactory::instance()->createFixedTimeslotTask(
+            "PST_PERIPHERAL_TASK", 9, 1024 * 2, 2.0, nullptr);
+    result = pst::pstPeripheralsTest(peripheralPst);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "InitMission::createTasks: Test PST initialization failed!" << std::endl;
+#else
+        sif::printError("InitMission::createTasks: Test PST initialization faiedl!\n");
+#endif
+    }
+#endif
+
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::info << "Starting tasks.." << std::endl;
 #else
@@ -181,6 +194,10 @@ void InitMission::createTasks() {
     assemblyTask->startTask();
 #endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */
 
+#if OBSW_PERIPHERAL_PST == 1
+    peripheralPst->startTask();
+#endif /* OBSW_PERIPHERAL_PST == 1 */
+
     testTask->startTask();
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1

bsp_stm32_freertos/core/ObjectFactory.cpp

@@ -10,6 +10,8 @@
 #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>
@@ -17,6 +19,18 @@
 #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"
+
+namespace spi {
+SPI_TypeDef spiDriver = {};
+SPI_HandleTypeDef spiHandle = {};
+}
+
+#endif
+
 void ObjectFactory::produce(void* args) {
     /* Located inside GenericFactory source file */
 	Factory::setStaticFrameworkObjectIds();
@@ -53,4 +67,15 @@ void ObjectFactory::produce(void* args) {
 
     /* Test Device Handler */
     new STM32TestTask(objects::TEST_TASK, false, true);
+
+#if OBSW_PERFORM_L3GD20H_TEST == 1
+
+    new SpiComIF(objects::SPI_COM_IF, &spi::spiDriver, &spi::spiHandle,
+            spi::TransferModes::POLLING);
+    auto spiCookie = new SpiCookie(0, spi::SpiBus::SPI_1, 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();
+#endif
 }

bsp_stm32_freertos/fsfwconfig/OBSWConfig.h.in

@@ -16,6 +16,11 @@
 
 #define OBSW_ATTEMPT_DHCP_CONN              1
 
+#define OBSW_PERIPHERAL_PST                 0
+#define OBSW_PERFORM_SPI_TEST               0
+
+#define OBSW_PERFORM_L3GD20H_TEST           0
+
 #if OBSW_ATTEMPT_DHCP_CONN == 0
 #define MAX_DHCP_TRIES                      0
 #else

bsp_stm32_freertos/fsfwconfig/objects/systemObjectList.h

@@ -8,6 +8,10 @@ enum mission_objects {
     /* 0x62 ('b') Board and mission specific objects */
 	UDP_BRIDGE = 0x62000300,
 	UDP_POLLING_TASK = 0x62000400,
+
+	SPI_COM_IF = 0x63001000,
+	SPI_DEVICE_TEST = 0x74001000,
+
     /* Generic name for FSFW static ID setter */
     DOWNLINK_DESTINATION = UDP_BRIDGE
 };

bsp_stm32_freertos/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -2,4 +2,31 @@
  * Add polling sequence initialization which are not common to every BSP here.
  */
 #include "pollingSequenceFactory.h"
+#include "OBSWConfig.h"
 
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+
+ReturnValue_t pst::pstPeripheralsTest(FixedTimeslotTaskIF *thisSequence) {
+    uint32_t length = thisSequence->getPeriodMs();
+
+#if OBSW_PERFORM_L3GD20H_TEST == 1
+    thisSequence->addSlot(objects::SPI_DEVICE_TEST, 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SPI_DEVICE_TEST, 0.3, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SPI_DEVICE_TEST, 0.45 * length,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SPI_DEVICE_TEST, 0.6 * length, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SPI_DEVICE_TEST, 0.8 * length, DeviceHandlerIF::GET_READ);
+#endif
+
+    if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "pst::pollingSequenceInitFunction: Initialization errors!" << std::endl;
+#else
+    sif::printError("pst::pollingSequenceInitFunction: Initialization errors!\n");
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+
+}

bsp_stm32_freertos/fsfwconfig/pollingsequence/pollingSequenceFactory.h

@@ -7,6 +7,7 @@
 class FixedTimeslotTaskIF;
 
 namespace pst {
+ReturnValue_t pstPeripheralsTest(FixedTimeslotTaskIF *thisSequence);
 ReturnValue_t pollingSequenceExamples(FixedTimeslotTaskIF *thisSequence);
 ReturnValue_t pollingSequenceDevices(FixedTimeslotTaskIF* thisSequence);
 }

common/stm32_nucleo/STM32TestTask.cpp

@@ -22,7 +22,7 @@ ReturnValue_t STM32TestTask::performPeriodicAction() {
 }
 
 ReturnValue_t STM32TestTask::performOneShotAction() {
-    performSpiL3gd20hTest();
+    // performSpiL3gd20hTest();
     return HasReturnvaluesIF::RETURN_OK;
 }