blinking task

mission/controller/BlinkController.cpp

@@ -0,0 +1,33 @@
+#include "BlinkController.h"
+
+#include <cstdio>
+
+BlinkController::BlinkController(object_id_t setObjectId)
+    : SystemObject(setObjectId) {}
+
+ReturnValue_t BlinkController::initialize() {
+  ReturnValue_t result = SystemObject::initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  XGpioPs_Config config;
+  config.DeviceId = 4; // chosen by fair dice throw
+  config.BaseAddr = XPS_GPIO_BASEADDR;
+  s32 returncode = XGpioPs_CfgInitialize(&gpio, &config, XPS_GPIO_BASEADDR);
+  if (returncode != 0) {
+    return returnvalue::FAILED;
+  }
+  XGpioPs_SetDirection(&gpio, 0, (1 << 7));
+  XGpioPs_SetOutputEnable(&gpio, 0, (1 << 7));
+  XGpioPs_WritePin(&gpio, 7, 1);
+  return returnvalue::OK;
+}
+
+ReturnValue_t BlinkController::performOperation(uint8_t operationCode) {
+  printf("blinking\n");
+  static int pinvalue = 1;
+  pinvalue = pinvalue ^ 1;
+  XGpioPs_WritePin(&gpio, 7, pinvalue);
+  return returnvalue::OK;
+}