Merge remote-tracking branch 'origin/develop' into mueller/tcs_subsystem

2022-11-14 13:27:23 +01:00 · 2022-11-14 13:27:23 +01:00 · 0c681a06c7
commit 0c681a06c7
parent bc32c51460 37558c0fdc
19 changed files with 212 additions and 110 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -20,6 +20,8 @@ list yields a list of all related PRs for each release.
 - MAX3185 Low Level Handler and Device Handler: Simplifications and bugfixes to allow switching
  off without triggering unrequested replies
  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/313
+- Add remaining missing TMP1075 device handlers.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/318

 # [v1.15.0] 27.10.2022

--- a/README.md
+++ b/README.md
@ -1108,11 +1108,19 @@ cat /proc/tty/driver

 ## I2C

-Getting information about I2C device
-````
+Getting information about some I2C device
+
+```sh
 ls /sys/class/i2c-dev/i2c-0/device/device/driver
-````
-This shows the memory mapping of /dev/i2c-0
+```
+This shows the memory mapping of `/dev/i2c-0`.
+
+You can use the `i2cdetect` utility to scan for I2C devices.
+For example, to do this for bus 0 (`/dev/i2c-0`), you can use
+
+```sh
+i2cdetect -r -y 0
+```

 ## CAN

--- a/bsp_q7s/OBSWConfig.h.in
+++ b/bsp_q7s/OBSWConfig.h.in
@ -104,6 +104,7 @@
 #define OBSW_PRINT_CORE_HK                          0
 #define OBSW_DEBUG_PDU1                             0
 #define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_TMP1075                          0
 #define OBSW_DEBUG_GPS                              0
 #define OBSW_DEBUG_ACU                              0
 #define OBSW_DEBUG_SYRLINKS                         0
--- a/bsp_q7s/boardconfig/busConf.h
+++ b/bsp_q7s/boardconfig/busConf.h
@ -8,7 +8,8 @@ static constexpr uint32_t SPI_MAIN_BUS_LOCK_TIMEOUT = 50;

 static constexpr char SPI_RW_DEV[] = "/dev/spi_rw";

-static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c_eive";
+static constexpr char I2C_PL_EIVE[] = "/dev/i2c_eive";
+static constexpr char I2C_PS_EIVE[] = "/dev/i2c-2";

 static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
 static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul_plmpsoc";
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@ -123,18 +123,25 @@ void Factory::setStaticFrameworkObjectIds() {
 void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }

 void ObjectFactory::createTmpComponents() {
-  I2cCookie* i2cCookieTmp1075tcs1 =
-      new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
-  I2cCookie* i2cCookieTmp1075tcs2 =
-      new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
+  std::array<std::pair<object_id_t, address_t>, 5> tmpDevIds = {{
+      {objects::TMP1075_HANDLER_TCS_0, addresses::TMP1075_TCS_0},
+      {objects::TMP1075_HANDLER_TCS_1, addresses::TMP1075_TCS_1},
+      {objects::TMP1075_HANDLER_PLPCDU_0, addresses::TMP1075_PLPCDU_0},
+      {objects::TMP1075_HANDLER_PLPCDU_1, addresses::TMP1075_PLPCDU_1},
+      {objects::TMP1075_HANDLER_IF_BOARD, addresses::TMP1075_IF_BOARD},
+  }};
+  std::vector<I2cCookie*> tmpDevCookies;

-  /* Temperature sensors */
-  Tmp1075Handler* tmp1075Handler_1 =
-      new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
-  (void)tmp1075Handler_1;
-  Tmp1075Handler* tmp1075Handler_2 =
-      new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
-  (void)tmp1075Handler_2;
+  for (size_t idx = 0; idx < tmpDevIds.size(); idx++) {
+    tmpDevCookies.push_back(
+        new I2cCookie(tmpDevIds[idx].second, TMP1075::MAX_REPLY_LENGTH, q7s::I2C_PS_EIVE));
+    auto* tmpDevHandler =
+        new Tmp1075Handler(tmpDevIds[idx].first, objects::I2C_COM_IF, tmpDevCookies[idx]);
+    // TODO: Remove this after TCS subsystem was added
+    // These devices are connected to the 3V3 stack and should be powered permanently. Therefore,
+    // we set them to normal mode immediately here.
+    tmpDevHandler->setModeNormal();
+  }
 }

 void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
@ -572,9 +579,9 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc
 }

 void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) {
-  UartCookie* syrlinksUartCookie =
-      new UartCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
-                     syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+  auto* syrlinksUartCookie =
+      new SerialCookie(objects::SYRLINKS_HK_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD,
+                       syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
  syrlinksUartCookie->setParityEven();

  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
@ -602,8 +609,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
  mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
  gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC");
  auto mpsocCookie =
-      new UartCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
-                     mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
+      new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD,
+                       mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL);
  mpsocCookie->setNoFixedSizeReply();
  auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
  auto* mpsocHandler = new PlocMPSoCHandler(
@ -619,8 +626,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit
  supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
  gpioComIF->addGpios(supvGpioCookie);
  auto supervisorCookie =
-      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
-                     uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+      new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
+                       uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
  supervisorCookie->setNoFixedSizeReply();
  auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
  auto* supvHandler = new PlocSupervisorHandler(
@ -896,7 +903,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
  new SpiTestClass(objects::SPI_TEST, gpioComIF);
 #endif
 #if OBSW_ADD_I2C_TEST_CODE == 1
-  new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
+  new I2cTestClass(objects::I2C_TEST, q7s::I2C_PL_EIVE);
 #endif
 #if OBSW_ADD_UART_TEST_CODE == 1
  // auto* reader= new ScexUartReader(objects::SCEX_UART_READER);
@ -905,9 +912,9 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 }

 void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
-  UartCookie* starTrackerCookie =
-      new UartCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
-                     startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
+  auto* starTrackerCookie =
+      new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD,
+                       startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
  starTrackerCookie->setNoFixedSizeReply();
  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
  auto starTracker =
@ -918,8 +925,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
 }

 void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
-  I2cCookie* imtqI2cCookie =
-      new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
+  I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_PL_EIVE);
  auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
                                     pcdu::Switches::PDU1_CH3_MGT_5V);
  imtqHandler->setPowerSwitcher(pwrSwitcher);
@ -935,7 +941,7 @@ void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
 }

 void ObjectFactory::createBpxBatteryComponent() {
-  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
+  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_PL_EIVE);
  BpxBatteryHandler* bpxHandler =
      new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
  bpxHandler->setStartUpImmediately();
--- a/common/config/eive/objects.h
+++ b/common/config/eive/objects.h
@ -39,8 +39,12 @@ enum commonObjects : uint32_t {
  GPS_CONTROLLER = 0x44130045,

  IMTQ_HANDLER = 0x44140014,
-  TMP1075_HANDLER_1 = 0x44420004,
-  TMP1075_HANDLER_2 = 0x44420005,
+  TMP1075_HANDLER_TCS_0 = 0x44420004,
+  TMP1075_HANDLER_TCS_1 = 0x44420005,
+  TMP1075_HANDLER_PLPCDU_0 = 0x44420006,
+  TMP1075_HANDLER_PLPCDU_1 = 0x44420007,
+  TMP1075_HANDLER_IF_BOARD = 0x44420008,
+  TMP1075_HANDLER_OBC_IF_BOARD = 0x44420009,
  PCDU_HANDLER = 0x442000A1,
  P60DOCK_HANDLER = 0x44250000,
  PDU1_HANDLER = 0x44250001,
--- a/dummies/TemperatureSensorsDummy.cpp
+++ b/dummies/TemperatureSensorsDummy.cpp
@ -23,8 +23,8 @@ TemperatureSensorsDummy::TemperatureSensorsDummy()
  ObjectManager::instance()->insert(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, this);
  ObjectManager::instance()->insert(objects::RTD_14_IC17_TCS_BOARD, this);
  ObjectManager::instance()->insert(objects::RTD_15_IC18_IMTQ, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_1, this);
-  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_2, this);
+  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_0, this);
+  ObjectManager::instance()->insert(objects::TMP1075_HANDLER_TCS_1, this);
 }

 ReturnValue_t TemperatureSensorsDummy::initialize() {
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 39946bff58db7c5ac9016ca3156abb059560d9cb
+Subproject commit e03e7f5260eb92d1903188c5ea14ea01616600ae
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@ -326,7 +326,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
 void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
                                         SdCardMountedIF& mountedIF, bool onImmediately,
                                         std::optional<power::Switch_t> switchId) {
-  auto* cookie = new UartCookie(objects::SCEX, uartDev, uart::SCEX_BAUD, 4096);
+  auto* cookie = new SerialCookie(objects::SCEX, uartDev, uart::SCEX_BAUD, 4096);
  cookie->setTwoStopBits();
  // cookie->setParityEven();
  auto scexUartReader = new ScexUartReader(objects::SCEX_UART_READER);
--- a/linux/boardtest/UartTestClass.cpp
+++ b/linux/boardtest/UartTestClass.cpp
@ -164,7 +164,7 @@ void UartTestClass::scexInit() {
 #else
    std::string devname = "/dev/ul-scex";
 #endif
-    uartCookie = new UartCookie(this->getObjectId(), devname, UartBaudRate::RATE_57600, 4096);
+    uartCookie = new SerialCookie(this->getObjectId(), devname, UartBaudRate::RATE_57600, 4096);
    reader->setDebugMode(false);
    ReturnValue_t result = reader->initializeInterface(uartCookie);
    if (result != OK) {
--- a/linux/boardtest/UartTestClass.h
+++ b/linux/boardtest/UartTestClass.h
@ -57,7 +57,7 @@ class UartTestClass : public TestTask {
  scex::Cmds currCmd = scex::Cmds::PING;
  TestModes mode = TestModes::GPS;
  DleEncoder dleEncoder = DleEncoder();
-  UartCookie* uartCookie = nullptr;
+  SerialCookie* uartCookie = nullptr;
  size_t encodedLen = 0;
  lwgps_t gpsData = {};
  struct termios tty = {};
--- a/linux/devices/ScexUartReader.cpp
+++ b/linux/devices/ScexUartReader.cpp
@ -84,7 +84,7 @@ ReturnValue_t ScexUartReader::performOperation(uint8_t operationCode) {
 }

 ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) {
-  UartCookie *uartCookie = dynamic_cast<UartCookie *>(cookie);
+  SerialCookie *uartCookie = dynamic_cast<SerialCookie *>(cookie);
  if (uartCookie == nullptr) {
    return FAILED;
  }
--- a/linux/fsfwconfig/devices/addresses.h
+++ b/linux/fsfwconfig/devices/addresses.h
@ -43,11 +43,14 @@ enum logicalAddresses : address_t {
  DUMMY_GPS1 = 131,
 };

-enum i2cAddresses : address_t {
+enum I2cAddress : address_t {
  BPX_BATTERY = 0x07,
  IMTQ = 0x10,
-  TMP1075_TCS_1 = 0x48,
-  TMP1075_TCS_2 = 0x49,
+  TMP1075_TCS_0 = 0x48,
+  TMP1075_TCS_1 = 0x49,
+  TMP1075_PLPCDU_0 = 0x4A,
+  TMP1075_PLPCDU_1 = 0x4B,
+  TMP1075_IF_BOARD = 0x4C,
 };

 enum spiAddresses : address_t {
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@ -55,30 +55,6 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
 #endif
-#if OBSW_ADD_TMP_DEVICES == 1
-  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-#endif
-
-#if OBSW_ADD_TMP_DEVICES == 1
-  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-#endif
-
-#if OBSW_ADD_TMP_DEVICES == 1
-  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::GET_WRITE);
-#endif
-
-#if OBSW_ADD_TMP_DEVICES == 1
-  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_READ);
-#endif
-
-#if OBSW_ADD_TMP_DEVICES == 1
-  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::GET_READ);
-#endif

 #if OBSW_ADD_SUN_SENSORS == 1

@ -425,33 +401,78 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
  return thisSequence->checkSequence();
 }

+// I don't think this needs to be in a PST because linux takes care of bus serialization, but
+// keep it like this for now, it works
 ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
  // Length of a communication cycle
  uint32_t length = thisSequence->getPeriodMs();
  static_cast<void>(length);
 #if OBSW_ADD_MGT == 1
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
 #endif
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2,
+                        DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
+#endif
+  // These are actually part of another bus, but this works, so keep it like this for now
+#if OBSW_ADD_TMP_DEVICES == 1
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
+                        DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
+                        DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
+                        DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
+                        DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
+                        DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
+                        DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
+                        DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
+                        DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
+                        DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4, DeviceHandlerIF::GET_READ);
 #endif
  static_cast<void>(length);
  return thisSequence->checkSequence();
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@ -38,8 +38,11 @@ ThermalController::ThermalController(object_id_t objectId)
                    EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set14(objects::RTD_14_IC17_TCS_BOARD, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set15(objects::RTD_15_IC18_IMTQ, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
-      tmp1075Set1(objects::TMP1075_HANDLER_1),
-      tmp1075Set2(objects::TMP1075_HANDLER_2),
+      tmp1075SetTcs0(objects::TMP1075_HANDLER_TCS_0),
+      tmp1075SetTcs1(objects::TMP1075_HANDLER_TCS_1),
+      tmp1075SetPlPcdu0(objects::TMP1075_HANDLER_PLPCDU_0),
+      tmp1075SetPlPcdu1(objects::TMP1075_HANDLER_PLPCDU_1),
+      tmp1075SetIfBoard(objects::TMP1075_HANDLER_IF_BOARD),
      susSet0(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
      susSet1(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
      susSet2(objects::SUS_2_N_LOC_XFYBZB_PT_YB),
@ -128,10 +131,11 @@ ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& lo
                           new PoolEntry<float>({14.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MAGNETTORQUER,
                           new PoolEntry<float>({15.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_1,
-                           new PoolEntry<float>({15.0}));
-  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_2,
-                           new PoolEntry<float>({15.0}));
+  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_TCS_0, &tmp1075Tcs0);
+  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_TCS_1, &tmp1075Tcs1);
+  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_PLPCDU_0, &tmp1075PlPcdu0);
+  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_PLPCDU_1, &tmp1075PlPcdu1);
+  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_IF_BOARD, &tmp1075IfBrd);

  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_0_N_LOC_XFYFZM_PT_XF,
                           new PoolEntry<float>({0.0}));
@ -415,23 +419,53 @@ void ThermalController::copySensors() {
  }

  {
-    PoolReadGuard pg111(&tmp1075Set1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
-    if (pg111.getReadResult() == returnvalue::OK) {
-      sensorTemperatures.sensor_tmp1075_1.value = tmp1075Set1.temperatureCelcius.value;
-      sensorTemperatures.sensor_tmp1075_1.setValid(tmp1075Set1.temperatureCelcius.isValid());
-      if (not tmp1075Set1.temperatureCelcius.isValid()) {
-        sensorTemperatures.sensor_tmp1075_1.value = INVALID_TEMPERATURE;
+    PoolReadGuard pg(&tmp1075SetTcs0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
+    if (pg.getReadResult() == returnvalue::OK) {
+      sensorTemperatures.tmp1075Tcs0.value = tmp1075SetTcs0.temperatureCelcius.value;
+      sensorTemperatures.tmp1075Tcs0.setValid(tmp1075SetTcs0.temperatureCelcius.isValid());
+      if (not tmp1075SetTcs0.temperatureCelcius.isValid()) {
+        sensorTemperatures.tmp1075Tcs0.value = INVALID_TEMPERATURE;
      }
    }
  }

  {
-    PoolReadGuard pg112(&tmp1075Set2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
-    if (pg112.getReadResult() == returnvalue::OK) {
-      sensorTemperatures.sensor_tmp1075_2.value = tmp1075Set2.temperatureCelcius.value;
-      sensorTemperatures.sensor_tmp1075_2.setValid(tmp1075Set2.temperatureCelcius.isValid());
-      if (not tmp1075Set2.temperatureCelcius.isValid()) {
-        sensorTemperatures.sensor_tmp1075_2.value = INVALID_TEMPERATURE;
+    PoolReadGuard pg(&tmp1075SetTcs1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
+    if (pg.getReadResult() == returnvalue::OK) {
+      sensorTemperatures.tmp1075Tcs1.value = tmp1075SetTcs1.temperatureCelcius.value;
+      sensorTemperatures.tmp1075Tcs1.setValid(tmp1075SetTcs1.temperatureCelcius.isValid());
+      if (not tmp1075SetTcs1.temperatureCelcius.isValid()) {
+        sensorTemperatures.tmp1075Tcs1.value = INVALID_TEMPERATURE;
+      }
+    }
+  }
+  {
+    PoolReadGuard pg(&tmp1075SetPlPcdu0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
+    if (pg.getReadResult() == returnvalue::OK) {
+      sensorTemperatures.tmp1075PlPcdu0.value = tmp1075SetPlPcdu0.temperatureCelcius.value;
+      sensorTemperatures.tmp1075PlPcdu0.setValid(tmp1075SetPlPcdu0.temperatureCelcius.isValid());
+      if (not tmp1075SetPlPcdu0.temperatureCelcius.isValid()) {
+        sensorTemperatures.tmp1075PlPcdu0.value = INVALID_TEMPERATURE;
+      }
+    }
+  }
+  {
+    PoolReadGuard pg(&tmp1075SetPlPcdu1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
+    if (pg.getReadResult() == returnvalue::OK) {
+      sensorTemperatures.tmp1075PlPcdu1.value = tmp1075SetPlPcdu1.temperatureCelcius.value;
+      sensorTemperatures.tmp1075PlPcdu1.setValid(tmp1075SetPlPcdu1.temperatureCelcius.isValid());
+      if (not tmp1075SetPlPcdu1.temperatureCelcius.isValid()) {
+        sensorTemperatures.tmp1075PlPcdu1.value = INVALID_TEMPERATURE;
+      }
+    }
+  }
+  {
+    PoolReadGuard pg(&tmp1075SetIfBoard, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
+    if (pg.getReadResult() == returnvalue::OK) {
+      sensorTemperatures.tmp1075IfBrd.value = tmp1075SetIfBoard.temperatureCelcius.value;
+      sensorTemperatures.tmp1075IfBrd.setValid(tmp1075SetIfBoard.temperatureCelcius.isValid());
+      if (not tmp1075SetIfBoard.temperatureCelcius.isValid()) {
+        sensorTemperatures.tmp1075IfBrd.value = INVALID_TEMPERATURE;
      }
    }
  }
--- a/mission/controller/ThermalController.h
+++ b/mission/controller/ThermalController.h
@ -55,8 +55,11 @@ class ThermalController : public ExtendedControllerBase {
  MAX31865::Max31865Set max31865Set13;
  MAX31865::Max31865Set max31865Set14;
  MAX31865::Max31865Set max31865Set15;
-  TMP1075::Tmp1075Dataset tmp1075Set1;
-  TMP1075::Tmp1075Dataset tmp1075Set2;
+  TMP1075::Tmp1075Dataset tmp1075SetTcs0;
+  TMP1075::Tmp1075Dataset tmp1075SetTcs1;
+  TMP1075::Tmp1075Dataset tmp1075SetPlPcdu0;
+  TMP1075::Tmp1075Dataset tmp1075SetPlPcdu1;
+  TMP1075::Tmp1075Dataset tmp1075SetIfBoard;

  // SUS
  SUS::SusDataset susSet0;
@ -75,6 +78,12 @@ class ThermalController : public ExtendedControllerBase {
  // Initial delay to make sure all pool variables have been initialized their owners
  Countdown initialCountdown = Countdown(DELAY);

+  PoolEntry<float> tmp1075Tcs0 = PoolEntry<float>(10.0);
+  PoolEntry<float> tmp1075Tcs1 = PoolEntry<float>(10.0);
+  PoolEntry<float> tmp1075PlPcdu0 = PoolEntry<float>(10.0);
+  PoolEntry<float> tmp1075PlPcdu1 = PoolEntry<float>(10.0);
+  PoolEntry<float> tmp1075IfBrd = PoolEntry<float>(10.0);
+
  static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
  void copySensors();
  void copySus();
--- a/mission/controller/controllerdefinitions/ThermalControllerDefinitions.h
+++ b/mission/controller/controllerdefinitions/ThermalControllerDefinitions.h
@ -30,8 +30,11 @@ enum PoolIds : lp_id_t {
  SENSOR_PLPCDU_HEATSPREADER,
  SENSOR_TCS_BOARD,
  SENSOR_MAGNETTORQUER,
-  SENSOR_TMP1075_1,
-  SENSOR_TMP1075_2,
+  SENSOR_TMP1075_TCS_0,
+  SENSOR_TMP1075_TCS_1,
+  SENSOR_TMP1075_PLPCDU_0,
+  SENSOR_TMP1075_PLPCDU_1,
+  SENSOR_TMP1075_IF_BOARD,

  SUS_0_N_LOC_XFYFZM_PT_XF,
  SUS_6_R_LOC_XFYBZM_PT_XF,
@ -111,8 +114,14 @@ class SensorTemperatures : public StaticLocalDataSet<ENTRIES_SENSOR_TEMPERATURE_
  lp_var_t<float> sensor_tcs_board = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TCS_BOARD, this);
  lp_var_t<float> sensor_magnettorquer =
      lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MAGNETTORQUER, this);
-  lp_var_t<float> sensor_tmp1075_1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_1, this);
-  lp_var_t<float> sensor_tmp1075_2 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_2, this);
+  lp_var_t<float> tmp1075Tcs0 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_TCS_0, this);
+  lp_var_t<float> tmp1075Tcs1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_TCS_1, this);
+  lp_var_t<float> tmp1075PlPcdu0 =
+      lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_PLPCDU_0, this);
+  lp_var_t<float> tmp1075PlPcdu1 =
+      lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_PLPCDU_1, this);
+  lp_var_t<float> tmp1075IfBrd =
+      lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TMP1075_IF_BOARD, this);
 };

 /**
--- a/mission/devices/Tmp1075Handler.cpp
+++ b/mission/devices/Tmp1075Handler.cpp
@ -86,7 +86,7 @@ ReturnValue_t Tmp1075Handler::interpretDeviceReply(DeviceCommandId_t id, const u
      int16_t tempValueRaw = 0;
      tempValueRaw = packet[0] << 4 | packet[1] >> 4;
      float tempValue = ((static_cast<float>(tempValueRaw)) * 0.0625);
-#if OBSW_VERBOSE_LEVEL >= 1
+#if OBSW_DEBUG_TMP1075 == 1
      sif::info << "Tmp1075 with object id: 0x" << std::hex << getObjectId()
                << ": Temperature: " << tempValue << " °C" << std::endl;
 #endif
@ -127,3 +127,5 @@ ReturnValue_t Tmp1075Handler::initializeLocalDataPool(localpool::DataPool &local
      subdp::RegularHkPeriodicParams(dataset.getSid(), false, 30.0));
  return returnvalue::OK;
 }
+
+void Tmp1075Handler::setModeNormal() { setMode(_MODE_TO_NORMAL); }
--- a/mission/devices/Tmp1075Handler.h
+++ b/mission/devices/Tmp1075Handler.h
@ -20,6 +20,8 @@ class Tmp1075Handler : public DeviceHandlerBase {
  Tmp1075Handler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie);
  virtual ~Tmp1075Handler();

+  void setModeNormal();
+
 protected:
  void doStartUp() override;
  void doShutDown() override;