cleaned up

bsp_q7s/boardconfig/busConf.h

@@ -3,15 +3,54 @@
 
 namespace q7s {
 
-static constexpr char SPI_DEFAULT_DEV[] = "dev/spidev2.0";
-static constexpr char SPI_RW_DEV[] = "dev/spidev3.0";
+static constexpr char SPI_DEFAULT_DEV[] = "/dev/spidev2.0";
+static constexpr char SPI_RW_DEV[] = "/dev/spidev3.0";
 
-static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-0";
+static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-1";
 
 static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL3";
+static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL4";
+static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8";
 
+static constexpr char GPIO_ACS_BOARD_DEFAULT_CHIP[] = "gpiochip5";
+static constexpr char GPIO_MGM2_LIS3_CHIP[] = "gpiochip6";
+
+// TODO: Determine new pins, additional ADIS gyro device
+static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 1;
+static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 7;
+static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 3;
+static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 3;
+
+static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5;
+static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;
+static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0;
+static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10;
+
+static constexpr char GPIO_RW_DEFAULT_CHIP[] = "gpiochip5";
+static constexpr uint32_t GPIO_RW_0_CS = 7;
+static constexpr uint32_t GPIO_RW_1_CS = 3;
+static constexpr uint32_t GPIO_RW_2_CS = 11;
+static constexpr uint32_t GPIO_RW_3_CS = 6;
+
+static constexpr char GPIO_RW_SPI_MUX_CHIP[] = "gpiochip11";
+static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 57;
+
+static constexpr char GPIO_HEATER_CHIP[] = "gpiochip7";
+static constexpr uint32_t GPIO_HEATER_0_PIN = 6;
+static constexpr uint32_t GPIO_HEATER_1_PIN = 12;
+static constexpr uint32_t GPIO_HEATER_2_PIN = 7;
+static constexpr uint32_t GPIO_HEATER_3_PIN = 5;
+static constexpr uint32_t GPIO_HEATER_4_PIN = 3;
+static constexpr uint32_t GPIO_HEATER_5_PIN = 0;
+static constexpr uint32_t GPIO_HEATER_6_PIN = 1;
+static constexpr uint32_t GPIO_HEATER_7_PIN = 11;
+
+static constexpr char GPIO_SOLAR_ARR_DEPL_CHIP[] = "gpiochip7";
+static constexpr uint32_t GPIO_SOL_DEPL_SA_0_PIN = 4;
+static constexpr uint32_t GPIO_SOL_DEPL_SA_1_PIN = 2;
+
+static constexpr char GPIO_RAD_SENSOR_CHIP[] = "gpiochip5";
+static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19;
 }
 
-
-
 #endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */

bsp_q7s/core/ObjectFactory.cpp

@@ -21,6 +21,7 @@
 #include "linux/devices/SusHandler.h"
 #include "linux/csp/CspCookie.h"
 #include "linux/csp/CspComIF.h"
+#include "linux/obc/CCSDSIPCoreBridge.h"
 
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/PDU1Handler.h"
@@ -44,10 +45,9 @@
 #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
-#include <mission/devices/devicedefinitions/StarTrackerDefinitions.h>
-#include <mission/devices/GPSHyperionHandler.h>
+#include "mission/devices/devicedefinitions/StarTrackerDefinitions.h"
+#include "mission/devices/GPSHyperionHandler.h"
 #include "mission/utility/TmFunnel.h"
-#include "linux/obc/CCSDSIPCoreBridge.h"
 
 #include "fsfw_hal/linux/uart/UartComIF.h"
 #include "fsfw_hal/linux/uart/UartCookie.h"
@@ -107,13 +107,14 @@ void ObjectFactory::produce(void* args){
     new CoreController(objects::CORE_CONTROLLER);
     LinuxLibgpioIF* gpioComIF = nullptr;
     UartComIF* uartComIF = nullptr;
-    createCommunicationInterfaces(&gpioComIF, &uartComIF);
+    SpiComIF* spiComIF = nullptr;
+    createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF);
     createTmpComponents();
 #if BOARD_TE0720 == 0
 
     createPcduComponents();
     createRadSensorComponent(gpioComIF);
-    createSunSensorComponents(gpioComIF);
+    createSunSensorComponents(gpioComIF, spiComIF);
 #if OBSW_ADD_ACS_BOARD == 1
     createAcsBoardComponents(gpioComIF, uartComIF);
 #endif /* OBSW_ADD_ACS_BOARD == 1 */
@@ -130,13 +131,6 @@ void ObjectFactory::produce(void* args){
     I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ,
             IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
     new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
-
-#if OBSW_ADD_PLOC_MPSOC == 1
-    UartCookie* mpsocUartCookie = new UartCookie(objects::RW1, q7s::UART_PLOC_MPSOC_DEV,
-            UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, PLOC_MPSOC::MAX_REPLY_SIZE);
-    new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie);
-#endif /* OBSW_ADD_PLOC_MPSOC */
-
     createReactionWheelComponents(gpioComIF);
 #endif /* TE7020 != 0 */
 
@@ -160,27 +154,28 @@ void ObjectFactory::produce(void* args){
     new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
 
 #if OBSW_ADD_PLOC_MPSOC == 1
-    UartCookie* plocMpsocCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
-            UartModes::NON_CANONICAL, 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
+    UartCookie* plocMpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER,
+            q7s::UART_PLOC_MPSOC_DEV, UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD,
+            PLOC_MPSOC::MAX_REPLY_SIZE);
     new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie);
 #endif
 
-#if OBSW_ADD_STAR_TRACKER == 1
-    UartCookie* starTrackerCookie = new UartCookie(objects::START_TRACKER, std::string("/dev/ttyUL8"),
-            UartModes::NON_CANONICAL, 115200, StarTracker::MAX_FRAME_SIZE* 2 + 2);
-    starTrackerCookie->setNoFixedSizeReply();
-    new StarTrackerHandler(objects::START_TRACKER, objects::UART_COM_IF, starTrackerCookie);
-#endif
-
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
     UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
-            std::string("/dev/ttyUL4"), UartModes::NON_CANONICAL, 115200,
+            q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL, uart::PLOC_SUPERVISOR_BAUD,
             PLOC_SPV::MAX_PACKET_SIZE * 20);
     plocSupervisorCookie->setNoFixedSizeReply();
     PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
             objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
     plocSupervisor->setStartUpImmediately();
+#endif
 
+#if OBSW_ADD_STAR_TRACKER == 1
+    UartCookie* starTrackerCookie = new UartCookie(objects::START_TRACKER,
+            q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL, uart::STAR_TRACKER_BAUD,
+            StarTracker::MAX_FRAME_SIZE* 2 + 2);
+    starTrackerCookie->setNoFixedSizeReply();
+    new StarTrackerHandler(objects::START_TRACKER, objects::UART_COM_IF, starTrackerCookie);
 #endif
 
     new PlocUpdater(objects::PLOC_UPDATER);
@@ -194,9 +189,9 @@ void ObjectFactory::createTmpComponents() {
             TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
 #else
     I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
-            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
+            TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
     I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
-            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
+            TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
 #endif
 
     /* Temperature sensors */
@@ -211,8 +206,8 @@ void ObjectFactory::createTmpComponents() {
 }
 
 void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
-        UartComIF** uartComIF) {
-    if(gpioComIF == nullptr or uartComIF == nullptr) {
+        UartComIF** uartComIF, SpiComIF** spiComIF) {
+    if(gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
         sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                 << std::endl;
     }
@@ -223,7 +218,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
     new I2cComIF(objects::I2C_COM_IF);
     *uartComIF = new UartComIF(objects::UART_COM_IF);
 #if Q7S_ADD_SPI_TEST == 0
-    new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
+    *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
 #endif /* Q7S_ADD_SPI_TEST == 0 */
     /* Adding gpios for chip select decoding to the gpioComIf */
     gpioCallbacks::initSpiCsDecoder(*gpioComIF);
@@ -261,8 +256,8 @@ void ObjectFactory::createPcduComponents() {
 
 void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
     GpioCookie* gpioCookieRadSensor = new GpioCookie;
-    GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip5"), 19,
-            std::string("Chip Select Radiation Sensor"), gpio::OUT, 1);
+    GpiodRegular* chipSelectRadSensor = new GpiodRegular(q7s::GPIO_RAD_SENSOR_CHIP,
+            q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, 1);
     gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
     gpioComIF->addGpios(gpioCookieRadSensor);
 
@@ -272,46 +267,48 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
     new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
 }
 
-void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF) {
+void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
+        SpiComIF* spiComIF) {
     GpioCookie* gpioCookieSus = new GpioCookie();
+    GpioCallback* susgpio = nullptr;
 
-    GpioCallback* susgpio = new GpioCallback(std::string("Chip select SUS 1"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 1", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 2"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 2", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 3"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 3", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 4"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 4", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 5"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 5", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 6"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 6", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 7"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 7", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 8"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 8", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 9"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 9", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 10"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 10", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 11"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 11", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 12"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 12", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 13"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 13", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio);
 
@@ -388,30 +385,31 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF) {
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
     GpioCookie* gpioCookieAcsBoard = new GpioCookie();
     GpiodRegular* gpio = nullptr;
-    gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_0_ADIS"),
-            gpio::OUT, gpio::HIGH);
+    // TODO: Determine new Gyro GPIO pins
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_0_ADIS_CS,
+            "CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
-    gpio = new GpiodRegular(std::string("gpiochip5"), 7, std::string("CS_GYRO_1_L3G"),
-            gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_1_L3G_CS,
+            "CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
-    gpio = new GpiodRegular(std::string("gpiochip5"), 3, std::string("CS_GYRO_2_L3G"),
-            gpio::OUT, gpio::HIGH);
-    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_2_ADIS_CS,
+            "CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
+    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_3_L3G_CS,
+            "CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH);
+    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
-    gpio = new GpiodRegular(std::string("gpiochip5"), 5, std::string("CS_MGM_0_LIS3_A"),
-            gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_0_LIS3_CS,
+            "CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-
-    gpio = new GpiodRegular(std::string("gpiochip5"), 16, std::string("CS_MGM_1_RM3100_A"),
-            gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_1_RM3100_CS,
+            "CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
-
-    gpio = new GpiodRegular(std::string("gpiochip6"), 0, std::string("CS_MGM_2_LIS3_B"),
-            gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular(q7s::GPIO_MGM2_LIS3_CHIP, q7s::GPIO_MGM_2_LIS3_CS,
+            "CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
-
-    gpio = new GpiodRegular(std::string("gpiochip5"), 10, std::string("CS_MGM_3_RM3100_B"),
-            gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_3_RM3100_CS,
+            "CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
     gpioComIF->addGpios(gpioCookieAcsBoard);
@@ -472,38 +470,38 @@ void ObjectFactory::createHeaterComponents() {
     GpioCookie* heaterGpiosCookie = new GpioCookie;
 
     /* Pin H2-11 on stack connector */
-    GpiodRegular* gpioConfigHeater0 = new GpiodRegular(std::string("gpiochip7"), 6,
-            std::string("Heater0"), gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater0 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+            q7s::GPIO_HEATER_0_PIN, "Heater0", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
 
     /* Pin H2-12 on stack connector */
-    GpiodRegular* gpioConfigHeater1 = new GpiodRegular(std::string("gpiochip7"), 12,
-            std::string("Heater1"), gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater1 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+            q7s::GPIO_HEATER_1_PIN, "Heater1", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
 
     /* Pin H2-13 on stack connector */
-    GpiodRegular* gpioConfigHeater2 = new GpiodRegular(std::string("gpiochip7"), 7,
-            std::string("Heater2"), gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater2 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+            q7s::GPIO_HEATER_2_PIN, "Heater2", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
 
-    GpiodRegular* gpioConfigHeater3 = new GpiodRegular(std::string("gpiochip7"), 5,
-            std::string("Heater3"), gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater3 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+            q7s::GPIO_HEATER_3_PIN, "Heater3", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
 
-    GpiodRegular* gpioConfigHeater4 = new GpiodRegular(std::string("gpiochip7"), 3,
-            std::string("Heater4"), gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater4 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+            q7s::GPIO_HEATER_4_PIN, "Heater4", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
 
-    GpiodRegular* gpioConfigHeater5 = new GpiodRegular(std::string("gpiochip7"), 0,
-            std::string("Heater5"), gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater5 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+            q7s::GPIO_HEATER_5_PIN, "Heater5", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
 
-    GpiodRegular* gpioConfigHeater6 = new GpiodRegular(std::string("gpiochip7"), 1,
-            std::string("Heater6"), gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater6 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+            q7s::GPIO_HEATER_6_PIN, "Heater6", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
 
-    GpiodRegular* gpioConfigHeater7 = new GpiodRegular(std::string("gpiochip7"), 11,
-            std::string("Heater7"), gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater7 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+            q7s::GPIO_HEATER_7_PIN, "Heater7", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
 
     new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@@ -513,11 +511,11 @@ void ObjectFactory::createHeaterComponents() {
 void ObjectFactory::createSolarArrayDeploymentComponents() {
     GpioCookie* solarArrayDeplCookie = new GpioCookie;
 
-    GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(std::string("gpiochip7"), 4,
-                std::string("DeplSA1"), gpio::OUT, 0);
+    GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
+            q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, 0);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
-    GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(std::string("gpiochip7"), 2,
-                std::string("DeplSA2"), gpio::OUT, 0);
+    GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
+            q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, 0);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);
 
     //TODO: Find out burn time. For now set to 1000 ms.
@@ -537,105 +535,105 @@ void ObjectFactory::createSyrlinksComponents() {
 void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
     GpioCookie* rtdGpioCookie = new GpioCookie;
 
-    GpioCallback* gpioRtdIc3 = new GpioCallback(std::string("Chip select RTD IC3"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC3, gpioRtdIc3);
-    GpioCallback* gpioRtdIc4 = new GpioCallback(std::string("Chip select RTD IC4"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC4, gpioRtdIc4);
-    GpioCallback* gpioRtdIc5 = new GpioCallback(std::string("Chip select RTD IC5"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC5, gpioRtdIc5);
-    GpioCallback* gpioRtdIc6 = new GpioCallback(std::string("Chip select RTD IC6"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC6, gpioRtdIc6);
-    GpioCallback* gpioRtdIc7 = new GpioCallback(std::string("Chip select RTD IC7"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC7, gpioRtdIc7);
-    GpioCallback* gpioRtdIc8 = new GpioCallback(std::string("Chip select RTD IC8"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC8, gpioRtdIc8);
-    GpioCallback* gpioRtdIc9 = new GpioCallback(std::string("Chip select RTD IC9"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC9, gpioRtdIc9);
-    GpioCallback* gpioRtdIc10 = new GpioCallback(std::string("Chip select RTD IC10"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC10, gpioRtdIc10);
-    GpioCallback* gpioRtdIc11 = new GpioCallback(std::string("Chip select RTD IC11"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC11, gpioRtdIc11);
-    GpioCallback* gpioRtdIc12 = new GpioCallback(std::string("Chip select RTD IC12"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC12, gpioRtdIc12);
-    GpioCallback* gpioRtdIc13 = new GpioCallback(std::string("Chip select RTD IC13"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC13, gpioRtdIc13);
-    GpioCallback* gpioRtdIc14 = new GpioCallback(std::string("Chip select RTD IC14"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC14, gpioRtdIc14);
-    GpioCallback* gpioRtdIc15 = new GpioCallback(std::string("Chip select RTD IC15"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC15, gpioRtdIc15);
-    GpioCallback* gpioRtdIc16 = new GpioCallback(std::string("Chip select RTD IC16"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc16 = new GpioCallback("Chip select RTD IC16", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC16, gpioRtdIc16);
-    GpioCallback* gpioRtdIc17 = new GpioCallback(std::string("Chip select RTD IC17"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc17 = new GpioCallback("Chip select RTD IC17", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC17, gpioRtdIc17);
-    GpioCallback* gpioRtdIc18 = new GpioCallback(std::string("Chip select RTD IC18"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc18 = new GpioCallback("Chip select RTD IC18", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC18, gpioRtdIc18);
 
     gpioComIF->addGpios(rtdGpioCookie);
 
     SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_3, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 3900000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16,
             std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18,
-            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
 
     Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3,
             objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
@@ -691,28 +689,28 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
 void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
     GpioCookie* gpioCookieRw = new GpioCookie;
     GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT,
-            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
     GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT,
-            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
     GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT,
-            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
     GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT,
-            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
 
-    GpiodRegular* enRw1 = new GpiodRegular("gpiochip5", 7,
+    GpiodRegular* enRw1 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_0_CS,
             "Enable reaction wheel 1", gpio::OUT, 0);
     gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
-    GpiodRegular* enRw2 = new GpiodRegular("gpiochip5", 3,
+    GpiodRegular* enRw2 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_1_CS,
             "Enable reaction wheel 2", gpio::OUT, 0);
     gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
-    GpiodRegular* enRw3 = new GpiodRegular("gpiochip5", 11,
+    GpiodRegular* enRw3 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_2_CS,
             "Enable reaction wheel 3", gpio::OUT, 0);
     gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
-    GpiodRegular* enRw4 = new GpiodRegular("gpiochip5", 6,
+    GpiodRegular* enRw4 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_3_CS,
             "Enable reaction wheel 4", gpio::OUT, 0);
     gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
 
@@ -721,7 +719,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
      * the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
      * Per default the PS SPI is selected (EMIO = 0).
      */
-    GpiodRegular* spiMux = new GpiodRegular("gpiochip11", 54, "EMIO 0 SPI Mux", gpio::OUT, 0);
+    GpiodRegular* spiMux = new GpiodRegular(q7s::GPIO_RW_SPI_MUX_CHIP, q7s::GPIO_RW_SPI_MUX_CS,
+            "EMIO 0 SPI Mux", gpio::OUT, 0);
     gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
 
     gpioComIF->addGpios(gpioCookieRw);

bsp_q7s/core/ObjectFactory.h

@@ -3,17 +3,19 @@
 
 class LinuxLibgpioIF;
 class UartComIF;
+class SpiComIF;
 
 namespace ObjectFactory {
 
 void setStatics();
 void produce(void* args);
 
-void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF);
+void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
+        SpiComIF** spiComIF);
 void createTmpComponents();
 void createPcduComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
-void createSunSensorComponents(LinuxLibgpioIF* gpioComIF);
+void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF);
 void createHeaterComponents();
 void createSolarArrayDeploymentComponents();

common/config/commonObjects.h

@@ -75,10 +75,10 @@ enum commonObjects: uint32_t {
     GPS0_HANDLER = 0x44130045,
     GPS1_HANDLER = 0x44130146,
 
-    RW1 = 0x44120001,
-    RW2 = 0x44120002,
-    RW3 = 0x44120003,
-    RW4 = 0x44120004,
+    RW1 = 0x44120047,
+    RW2 = 0x44120148,
+    RW3 = 0x44120249,
+    RW4 = 0x44120350,
 
     START_TRACKER = 0x44130001,
 

common/config/devConf.h

@@ -29,11 +29,15 @@ static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
 static constexpr uint32_t RW_SPEED = 300000;
 static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
 
+static constexpr uint32_t RTD_SPEED = 2000000;
+
 }
 
 namespace uart {
 
 static constexpr uint32_t PLOC_MPSOC_BAUD = 115200;
+static constexpr uint32_t PLOC_SUPERVISOR_BAUD = 115200;
+static constexpr uint32_t STAR_TRACKER_BAUD = 115200;
 
 }
 

fsfw

@@ -1 +1 @@
-Subproject commit 406b77ea81816c2113aec9239b3e5d2ed71e7cb5
+Subproject commit e3697d6d8c38b278ebc34704fa772f671e36eb57

linux/boardtest/SpiTestClass.cpp

@@ -223,7 +223,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
         currentGpioId = gpioIds::GYRO_1_L3G_CS;
     }
     else {
-        currentGpioId = gpioIds::GYRO_2_L3G_CS;
+        currentGpioId = gpioIds::GYRO_3_L3G_CS;
     }
     uint32_t spiSpeed = 3'900'000;
     spi::SpiModes spiMode = spi::SpiModes::MODE_3;
@@ -352,7 +352,7 @@ void SpiTestClass::acsInit() {
 
     gpio = new GpiodRegular(q7sGpioName5, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
             gpio::Direction::OUT, gpio::HIGH);
-    gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
+    gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     gpio = new GpiodRegular(q7sGpioName6, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
             gpio::Direction::OUT, gpio::HIGH);

linux/fsfwconfig/devices/gpioIds.h

@@ -4,7 +4,7 @@
 #include <fsfw_hal/common/gpio/GpioIF.h>
 
 namespace gpioIds {
-	enum gpioId_t {
+enum gpioId_t {
     HEATER_0,
     HEATER_1,
     HEATER_2,
@@ -20,7 +20,8 @@ namespace gpioIds {
     MGM_1_RM3100_CS,
     GYRO_0_ADIS_CS,
     GYRO_1_L3G_CS,
-		GYRO_2_L3G_CS,
+    GYRO_2_ADIS_CS,
+    GYRO_3_L3G_CS,
     MGM_2_LIS3_CS,
     MGM_3_RM3100_CS,
 
@@ -83,7 +84,7 @@ namespace gpioIds {
     EN_RW_CS,
 
     SPI_MUX
-	};
+};
 }
 
 

tmtc

@@ -1 +1 @@
-Subproject commit 28e527b8f9002a8baa03d90f1e5693796cd1e237
+Subproject commit 261eef449e309549644d8566c8d1034c5696335d