From 32992606533fde0f481d707b2a95d036366bd09d Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 4 Apr 2023 20:59:25 +0200
Subject: [PATCH] fix GPS HK enabling

---
 CHANGELOG.md                             | 5 +++++
 bsp_q7s/core/ObjectFactory.cpp           | 7 ++++---
 bsp_q7s/core/ObjectFactory.h             | 2 +-
 linux/acs/GpsHyperionLinuxController.cpp | 4 +++-
 4 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 370c9aff..2e678fff 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Changed
+
+- Adapted HK data rates to new table for LEOP SAFE mode.
+- GPS controller HK is now generated periodically as well.
+
 # [v1.43.1] 2023-04-04
 
 ## Fixed
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 3b71c6cd..72c042c1 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -360,7 +360,8 @@ void ObjectFactory::createAcsBoardGpios(GpioCookie& cookie) {
 }
 
 void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF,
-                                             SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher) {
+                                             SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher,
+                                             bool enableHkSets) {
   using namespace gpio;
   GpioCookie* gpioCookieAcsBoard = new GpioCookie();
   createAcsBoardGpios(*gpioCookieAcsBoard);
@@ -514,8 +515,8 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF*
 #endif
   RESET_ARGS_GNSS.gpioComIF = gpioComIF;
   RESET_ARGS_GNSS.waitPeriodMs = 100;
-  auto gpsCtrl =
-      new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
+  auto gpsCtrl = new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT,
+                                                enableHkSets, debugGps);
   gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
   ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF);
diff --git a/bsp_q7s/core/ObjectFactory.h b/bsp_q7s/core/ObjectFactory.h
index b7380f2a..9daa4d01 100644
--- a/bsp_q7s/core/ObjectFactory.h
+++ b/bsp_q7s/core/ObjectFactory.h
@@ -62,7 +62,7 @@ void createTmpComponents();
 ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
 void createAcsBoardGpios(GpioCookie& cookie);
 void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
-                              PowerSwitchIF& pwrSwitcher);
+                              PowerSwitchIF& pwrSwitcher, bool enableHkSets);
 void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
                             HeaterHandler*& heaterHandler);
 void createImtqComponents(PowerSwitchIF* pwrSwitcher, bool enableHkSets);
diff --git a/linux/acs/GpsHyperionLinuxController.cpp b/linux/acs/GpsHyperionLinuxController.cpp
index 0bd4e3df..900de0aa 100644
--- a/linux/acs/GpsHyperionLinuxController.cpp
+++ b/linux/acs/GpsHyperionLinuxController.cpp
@@ -19,7 +19,9 @@
 
 GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                                                        bool enableHkSets, bool debugHyperionGps)
-    : ExtendedControllerBase(objectId), gpsSet(this), enableHkSets(enableHkSets),
+    : ExtendedControllerBase(objectId),
+      gpsSet(this),
+      enableHkSets(enableHkSets),
       debugHyperionGps(debugHyperionGps) {}
 
 GpsHyperionLinuxController::~GpsHyperionLinuxController() {