From c471de9179fa2f1b87d7ac4b65f877b79b76b0b8 Mon Sep 17 00:00:00 2001
From: paul nehlich <paul.nehlich@irs.uni-stuttgart.de>
Date: Tue, 18 Jun 2024 12:17:04 +0200
Subject: [PATCH] save all would be great

---
 mission/can_rust_helper.c  |  2 --
 mission/gpio_rust_helper.c | 73 +++++++++++++++++++-------------------
 mission_rust/src/lib.rs    | 20 ++++++++++-
 structures.txt             | 23 ++++++++++++
 4 files changed, 79 insertions(+), 39 deletions(-)
 create mode 100644 structures.txt

diff --git a/mission/can_rust_helper.c b/mission/can_rust_helper.c
index 135ee4d..078d7f8 100644
--- a/mission/can_rust_helper.c
+++ b/mission/can_rust_helper.c
@@ -335,5 +335,3 @@ static int RecvFrame(XCanPs *InstancePtr)
 
 	return Status;
 }
-
-#  define FALSE		2U
\ No newline at end of file
diff --git a/mission/gpio_rust_helper.c b/mission/gpio_rust_helper.c
index 186ad48..97ba906 100644
--- a/mission/gpio_rust_helper.c
+++ b/mission/gpio_rust_helper.c
@@ -8,54 +8,55 @@
 
 
 if(TargetIsLinux)
-    
-XGpioPs gpio;
-void gpio_setup() {
-}
+      
+  XGpioPs gpio;
+  void gpio_setup() {
+  }
 
 
-void gpio_write_pin(uint32_t pin, uint32_t data) {
-}
+  void gpio_write_pin(uint32_t pin, uint32_t data) {
+  }
 
-uint32_t gpio_read_pin(uint32_t pin) {
-  return 1;
-}
+  uint32_t gpio_read_pin(uint32_t pin) {
+    return 1;
+  }
+
+  void gpio_toggle_pin(uint32_t pin) {
+  }
 
-void gpio_toggle_pin(uint32_t pin) {
-}
 endif()
 
 if(TargetIsZedboard TRUE)   
 
-XGpioPs gpio;
-void gpio_setup() {
-  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);
-  //printf("Configured XGPIO");
-  XGpioPs_SetDirection(&gpio, 0, (1 << 7));
-  XGpioPs_SetOutputEnable(&gpio, 0, (1 << 7));
-  XGpioPs_WritePin(&gpio, 7, 1);
-  //printf("Blinking is initialized");
-  XGpioPs_WritePin(&gpio, 7, 0);
-  //printf("Value written once");
-}
+  XGpioPs gpio; // Global!
+  void gpio_setup() {
+    XGpioPs_Config config; // Global!
+    config.DeviceId = 4; // chosen by fair dice throw // Global!
+    config.BaseAddr = XPS_GPIO_BASEADDR; // Global!
+    s32 returncode = XGpioPs_CfgInitialize(&gpio, &config, XPS_GPIO_BASEADDR); // Global!
+    //printf("Configured XGPIO");
+    XGpioPs_SetDirection(&gpio, 0, (1 << 7));
+    XGpioPs_SetOutputEnable(&gpio, 0, (1 << 7));
+    XGpioPs_WritePin(&gpio, 7, 1);
+    //printf("Blinking is initialized");
+    XGpioPs_WritePin(&gpio, 7, 0);
+    //printf("Value written once");
+  }
 
 
-void gpio_write_pin(uint32_t pin, uint32_t data) {
-    XGpioPs_WritePin(&gpio, pin, data);
-}
+  void gpio_write_pin(uint32_t pin, uint32_t data) {
+      XGpioPs_WritePin(&gpio, pin, data);
+  }
 
-uint32_t gpio_read_pin(uint32_t pin) {
-  return XGpioPs_ReadPin(&gpio, pin);
-}
+  uint32_t gpio_read_pin(uint32_t pin) {
+    return XGpioPs_ReadPin(&gpio, pin);
+  }
 
-void gpio_toggle_pin(uint32_t pin) {
-  static int pinvalue = 1;
-  pinvalue = pinvalue ^ 1;
-  XGpioPs_WritePin(&gpio, pin, pinvalue);
-}
+  void gpio_toggle_pin(uint32_t pin) {
+    static int pinvalue = 1;
+    pinvalue = pinvalue ^ 1;
+    XGpioPs_WritePin(&gpio, pin, pinvalue);
+  }
 
 
 endif()
\ No newline at end of file
diff --git a/mission_rust/src/lib.rs b/mission_rust/src/lib.rs
index 7d94ed7..71bc3cf 100644
--- a/mission_rust/src/lib.rs
+++ b/mission_rust/src/lib.rs
@@ -170,10 +170,17 @@ impl SystemObjectIF for HandlerSender {
     }
 }
 
-fn mission() {
+fn mission() { // lets call it "main()"
     sifln!("Mission enter");
 
 
+    // When the IOs are initialized later.. what do we do here?!
+    setup_all_com_if {
+
+        gpio_cookie.setup() // needs to register cookies -> ComIFs haben ObjectIDs -> Kennt ein ComIF alle seine Cookies? (Potentiell ja, weil sie dort erstellt werden)
+
+    }
+    
     use crate::osal::*;
     unsafe {
     sifln!("Setup GPIO");
@@ -218,6 +225,17 @@ fn mission() {
         tasks: &mut [&mut t1, &mut t2],
     };
 
+
+    // Initialize all IOs
+    init_all_com_if {
+        for comIF in comIFs {
+            for cookie in comIF.get_cookies() {
+                cookie.init()
+            }
+        }
+    }
+
+    // At last HERE all IOs must be configerued and ready for operations!
     task_executor.init_and_run(false);
 
     sifln!("Mission delay");
diff --git a/structures.txt b/structures.txt
new file mode 100644
index 0000000..2d54ec4
--- /dev/null
+++ b/structures.txt
@@ -0,0 +1,23 @@
+
+
+C
+BSP_z7 XGpio...c // Linux (FreeRTOS compiled for Linux! (Wollen wir!))
+    mission-BSP gpio_rust_helper.c
+        FreeRTOS (/ RTEMS / Linux (haben wir nicht vor!)) (Für Hardwareabstractions egal!)
+            Rust
+                mod osal
+                    mod safe_osal
+                        FSRC
+
+
+
+BSP_z7
+FreeRTOS
+mission
+        osal (-> FreeRTOS / Linux)
+        hal (-> BSP_z7 / BSP_ROMEO_OBC / Linux_Sockets_Simulator)
+mission_rust
+        fsrc (-> osal (z.B TaskScheduler), hal (zB. trait ComIF))
+        rfsw (-> fsrc )
+
+