zed goes blink

CMakeLists.txt

@@ -23,6 +23,13 @@ set(MISSION_PATH mission/)
 set(FreeRTOS_CONFIG_PATH bsp_z7/freeRTOS)
 set(BSP_PATH bsp_z7)
 
+# ##############################################################################
+# Configuration
+# ##############################################################################
+
+
+
+
 # ##############################################################################
 # Executable and Sources
 # ##############################################################################
@@ -57,6 +64,8 @@ set(FSFW_ADDITIONAL_INC_PATHS
     "${COMMON_CONFIG_PATH}" "${CMAKE_CURRENT_BINARY_DIR}" "contrib/"
     CACHE STRING "FSFW configuration paths")
 
+set(FSFW_OSAL freertos CACHE STRING "FSFW OSAL")
+
 set(FSFW_ADD_MONITORING ON)
 
 add_subdirectory(fsfw)

bsp_z7/ps7_cortexa9_0/CMakeLists.txt

@@ -1,3 +1,4 @@
+add_subdirectory(libsrc/gpiops)
 add_subdirectory(libsrc/scugic)
 add_subdirectory(libsrc/scutimer)
 add_subdirectory(libsrc/scuwdt)

bsp_z7/ps7_cortexa9_0/include/xparameters.h

@@ -23,8 +23,10 @@
 
 #include "xparameters_ps.h"
 
-#define STDIN_BASEADDRESS 0xE0001000
-#define STDOUT_BASEADDRESS 0xE0001000
+
+#define STDIN_BASEADDRESS XPS_UART1_BASEADDR
+#define STDOUT_BASEADDRESS XPS_UART1_BASEADDR
+
 
 /******************************************************************/
 

bsp_z7/ps7_cortexa9_0/libsrc/gpiops/CMakeLists.txt

@@ -0,0 +1,8 @@
+target_sources(${TARGET_NAME} PUBLIC 
+    src/xgpiops_g.c
+    src/xgpiops_hw.c
+    src/xgpiops_intr.c
+    src/xgpiops.c
+    src/xgpiops_sinit.c
+    src/xgpiops_selftest.c
+)

mission/controller/PrintController.cpp

@@ -10,10 +10,24 @@ ReturnValue_t PrintController::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 PrintController::performOperation(uint8_t operationCode) {
   printf("running\n");
+  static int pinvalue = 1;
+  pinvalue = pinvalue ^ 1;
+  XGpioPs_WritePin(&gpio, 7, pinvalue);
   return returnvalue::OK;
 }

mission/controller/PrintController.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <xgpiops.h>
+
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 
@@ -12,4 +14,7 @@ class PrintController: public SystemObject, public ExecutableObjectIF {
     ReturnValue_t initialize() override;
 
     ReturnValue_t performOperation(uint8_t operationCode) override;
+
+    private:
+    XGpioPs gpio;
 };