42 lines
1.1 KiB
C++
42 lines
1.1 KiB
C++
#include "STM32TestTask.h"
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#include "stm32h7xx_nucleo.h"
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#include "OBSWConfig.h"
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#include "fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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STM32TestTask::STM32TestTask(object_id_t objectId, bool enablePrintout,
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bool blinkyLed): TestTask(objectId, enablePrintout),
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blinkyLed(blinkyLed) {
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}
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ReturnValue_t STM32TestTask::performPeriodicAction() {
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if(blinkyLed) {
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#if OBSW_ETHERNET_USE_LEDS == 0
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BSP_LED_Toggle(LED1);
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BSP_LED_Toggle(LED2);
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#endif
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BSP_LED_Toggle(LED3);
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}
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if(gyro != nullptr) {
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gyro->performOperation();
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}
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return TestTask::performPeriodicAction();
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}
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ReturnValue_t STM32TestTask::performOneShotAction() {
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// Might be confusing but if this is defined to 1, the real device handler is tested and we
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// should not mess with the SPI bus
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#if OBSW_PERFORM_L3GD20H_TEST == 0
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performSpiL3gd20hTest();
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#endif
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return HasReturnvaluesIF::RETURN_OK;
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}
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void STM32TestTask::performSpiL3gd20hTest() {
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gyro = new GyroL3GD20H(&spiHandle, spi::TransferModes::DMA);
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gyro->initialize();
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gyro->performOperation();
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}
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