update to updated fsfw

bsp_q7s/core/ObjectFactory.cpp

@@ -20,11 +20,14 @@
 #include "bsp_q7s/callbacks/gnssCallback.h"
 
 #include "linux/devices/HeaterHandler.h"
+#include "linux/devices/StarTrackerHandler.h"
 #include "linux/devices/SolarArrayDeploymentHandler.h"
 #include "linux/devices/devicedefinitions/SusDefinitions.h"
 #include "linux/devices/SusHandler.h"
 #include "linux/csp/CspCookie.h"
 #include "linux/csp/CspComIF.h"
+#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
+
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/PDU1Handler.h"
 #include "mission/devices/PDU2Handler.h"
@@ -39,14 +42,13 @@
 #include "mission/devices/PlocMPSoCHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
-#include "mission/devices/StarTrackerHandler.h"
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h"
 #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/tmtc/CCSDSHandler.h"
 #include "mission/tmtc/VirtualChannel.h"
@@ -264,7 +266,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
     std::stringstream consumer;
     consumer << "0x" << std::hex << objects::RAD_SENSOR;
     GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
-            q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), gpio::OUT, gpio::HIGH);
+            q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), gpio::DIR_OUT, gpio::HIGH);
     gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
     gpioComIF->addGpios(gpioCookieRadSensor);
 
@@ -278,43 +280,43 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComI
     GpioCookie* gpioCookieSus = new GpioCookie();
     GpioCallback* susgpio = nullptr;
 
-    susgpio = new GpioCallback("Chip select SUS 1", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 1", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 2", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 2", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 3", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 3", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 4", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 4", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 5", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 5", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 6", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 6", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 7", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 7", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 8", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 8", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 9", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 9", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 10", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 10", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 11", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 11", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 12", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 12", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 13", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 13", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio);
 
@@ -395,61 +397,61 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     GpiodRegularByLineName* gpio = nullptr;
     consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(),
-            gpio::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(),
-            gpio::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GPS0_HANDLER;
     // GNSS reset pins are active low
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GPS1_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
 
@@ -457,12 +459,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
     // Enable pins must be pulled low for regular operations
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(),
-            gpio::OUT, gpio::LOW);
+            gpio::DIR_OUT, gpio::LOW);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
 
@@ -576,37 +578,37 @@ void ObjectFactory::createHeaterComponents() {
     std::stringstream consumer;
     consumer << "0x" << std::hex << objects::HEATER_HANDLER;
     /* Pin H2-11 on stack connector */
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpio);
     /* Pin H2-12 on stack connector */
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpio);
 
     /* Pin H2-13 on stack connector */
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(),
-            gpio::OUT, gpio::LOW);
+            gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(),
-                gpio::OUT, gpio::LOW);
+                gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(),
-                gpio::OUT, gpio::LOW);
+                gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(),
-                gpio::OUT, gpio::LOW);
+                gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(),
-                gpio::OUT, gpio::LOW);
+                gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
 
     new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@@ -620,9 +622,9 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
     std::stringstream consumer;
     consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0,
-            consumer.str(), gpio::OUT, gpio::LOW);
+            consumer.str(), gpio::DIR_OUT, gpio::LOW);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
 
@@ -644,52 +646,52 @@ void ObjectFactory::createSyrlinksComponents() {
 void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
     GpioCookie* rtdGpioCookie = new GpioCookie;
 
-    GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
-    GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
-    GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
-    GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
-    GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
-    GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
-    GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
-    GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
-    GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
-    GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
-    GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
-    GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
-    GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
-    GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
-    GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
-    GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
 
@@ -794,38 +796,38 @@ 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, gpio::HIGH,
+    GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
-    GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT, gpio::HIGH,
+    GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
-    GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT, gpio::HIGH,
+    GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
-    GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT, gpio::HIGH,
+    GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
 
     std::stringstream consumer;
     GpiodRegularByLineName* gpio = nullptr;
     consumer << "0x" << std::hex << objects::RW1;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
     consumer.str("");
     consumer << "0x" << std::hex << objects::RW2;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
     consumer.str("");
     consumer << "0x" << std::hex << objects::RW3;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
     consumer.str("");
     consumer << "0x" << std::hex << objects::RW4;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
 
@@ -835,7 +837,7 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
      * Per default the PS SPI is selected (EMIO = 0).
      */
     gpio = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_SELECT,
-            "SPI Reaction Wheel Callback ", gpio::OUT, gpio::LOW);
+            "SPI Reaction Wheel Callback ", gpio::DIR_OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::SPI_MUX, gpio);
 
     gpioComIF->addGpios(gpioCookieRw);
@@ -943,7 +945,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
     consumer.str("");
     consumer << "ptme rate setter";
     // Init to low -> default bit rate is low bit rate (200 kbps in downlink with syrlinks)
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::BIT_RATE_SEL, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::BIT_RATE_SEL, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRateSetter->addGpio(gpioIds::BIT_RATE_SEL, gpio);
     gpioComIF->addGpios(gpioCookieRateSetter);
@@ -968,7 +970,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
     consumer.str("");
     consumer << "0x" << std::hex << objects::PDEC_HANDLER;
     // GPIO also low after linux boot (specified by device-tree)
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
 
@@ -981,18 +983,18 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
 #if BOARD_TE0720 == 0
     GpioCookie* gpioRS485Chip = new GpioCookie;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
-            gpio::Direction::OUT, gpio::LOW);
+            gpio::Direction::DIR_OUT, gpio::LOW);
     gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
-            gpio::Direction::OUT, gpio::LOW);
+            gpio::Direction::DIR_OUT, gpio::LOW);
     gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
 
     // Default configuration enables RX channels (RXEN = LOW)
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
-            gpio::Direction::OUT, gpio::LOW);
+            gpio::Direction::DIR_OUT, gpio::LOW);
     gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
-            gpio::Direction::OUT, gpio::LOW);
+            gpio::Direction::DIR_OUT, gpio::LOW);
     gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
 
     gpioComIF->addGpios(gpioRS485Chip);
@@ -1008,10 +1010,10 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
 #if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
     /* Configure MIO0 as input */
-    GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::OUT, 0, "/amba_pl/gpio@41200000", 0);
+    GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::DIR_OUT, 0, "/amba_pl/gpio@41200000", 0);
 #elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME
     GpiodRegularByLineName* testGpio = new GpiodRegularByLineName("test-name", "gpio-test",
-            gpio::OUT, 0);
+            gpio::DIR_OUT, 0);
 #else
     /* Configure MIO0 as input */
     GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
@@ -1024,7 +1026,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #if BOARD_TE0720 == 1 && OBSW_TEST_SUS_HANDLER == 1
     GpioCookie* gpioCookieSus = new GpioCookie;
     GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9,
-            std::string("Chip Select Sus Sensor"), gpio::OUT, 1);
+            std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus);
     gpioComIF->addGpios(gpioCookieSus);
 
@@ -1052,7 +1054,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #if BOARD_TE0720 == 1 && OBSW_TEST_RADIATION_SENSOR_HANDLER == 1
     GpioCookie* gpioCookieRadSensor = new GpioCookie;
     GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0,
-            std::string("Chip select radiation sensor"), gpio::OUT, 1);
+            std::string("Chip select radiation sensor"), gpio::DIR_OUT, 1);
     gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
     gpioComIF->addGpios(gpioCookieRadSensor);
 

bsp_q7s/gpio/gpioCallbacks.cpp

@@ -27,13 +27,15 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
     GpiodRegularByLineName* spiMuxBit = nullptr;
     /** Setting mux bit 1 to low will disable IC21 on the interface board */
     spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1",
-            gpio::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
     /** Setting mux bit 2 to low disables IC1 on the TCS board */
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2", gpio::OUT, gpio::HIGH);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2",
+            gpio::DIR_OUT, gpio::HIGH);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
     /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 3", gpio::OUT, gpio::LOW);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 3",
+            gpio::DIR_OUT, gpio::LOW);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
 
 //    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1",
@@ -47,14 +49,17 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
 //    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
 
     /** The following gpios can take arbitrary initial values */
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4", gpio::OUT, gpio::LOW);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4",
+            gpio::DIR_OUT, gpio::LOW);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 5", gpio::OUT, gpio::LOW);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 5",
+            gpio::DIR_OUT, gpio::LOW);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6", gpio::OUT, gpio::LOW);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6",
+            gpio::DIR_OUT, gpio::LOW);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
     GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_CS,
-            "EN_RW_CS", gpio::OUT, gpio::HIGH);
+            "EN_RW_CS", gpio::DIR_OUT, gpio::HIGH);
     spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
 
     result = gpioComInterface->addGpios(spiMuxGpios);

fsfw

@@ -1 +1 @@
-Subproject commit e4999fe01c0446f9820ceede55be3970aa22bbad
+Subproject commit bda02b464a2ad00b1a8e373d4c6b80b0a7c8de95

linux/boardtest/SpiTestClass.cpp

@@ -297,65 +297,65 @@ void SpiTestClass::acsInit() {
     GpiodRegularByChip* gpio = nullptr;
     std::string rpiGpioName = "gpiochip0";
     gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 #elif defined(XIPHOS_Q7S)
     GpiodRegularByLineName* gpio = nullptr;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, "GYRO_0_ADIS",
-            gpio::Direction::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, "GYRO_2_ADIS",
-            gpio::Direction::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     // Enable pins must be pulled low for regular operations
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_0_ENABLE", gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_0_ENABLE", gpio::DIR_OUT,
             gpio::LOW);
     gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_2_ENABLE", gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_2_ENABLE", gpio::DIR_OUT,
             gpio::LOW);
     gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
 #endif

linux/devices/StarTrackerHandler.h

@@ -2,7 +2,7 @@
 #define MISSION_DEVICES_STARTRACKERHANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <mission/devices/devicedefinitions/StarTrackerDefinitions.h>
+#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
 #include <thirdparty/arcsec_star_tracker/common/SLIP.h>
 
 /**

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -440,7 +440,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 
 #if OBSW_ADD_ACS_BOARD == 1
     bool enableAside = true;
-    bool enableBside = false;
+    bool enableBside = true;
     if(enableAside) {
         // A side
         thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
@@ -465,16 +465,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
         thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85,
                 DeviceHandlerIF::GET_READ);
 
-//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
+        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
-//                DeviceHandlerIF::PERFORM_OPERATION);
+                DeviceHandlerIF::PERFORM_OPERATION);
-//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3,
+        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3,
-//                DeviceHandlerIF::SEND_WRITE);
+                DeviceHandlerIF::SEND_WRITE);
-//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
+        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
-//                DeviceHandlerIF::GET_WRITE);
+                DeviceHandlerIF::GET_WRITE);
-//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75,
+        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75,
-//                DeviceHandlerIF::SEND_READ);
+                DeviceHandlerIF::SEND_READ);
-//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85,
+        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85,
-//                DeviceHandlerIF::GET_READ);
+                DeviceHandlerIF::GET_READ);
 
         thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
@@ -512,16 +512,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
         thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85,
                 DeviceHandlerIF::GET_READ);
 
-//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
+        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
-//                DeviceHandlerIF::PERFORM_OPERATION);
+                DeviceHandlerIF::PERFORM_OPERATION);
-//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.3,
+        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.3,
-//                DeviceHandlerIF::SEND_WRITE);
+                DeviceHandlerIF::SEND_WRITE);
-//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
+        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
-//                DeviceHandlerIF::GET_WRITE);
+                DeviceHandlerIF::GET_WRITE);
-//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.75,
+        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.75,
-//                DeviceHandlerIF::SEND_READ);
+                DeviceHandlerIF::SEND_READ);
-//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85,
+        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85,
-//                DeviceHandlerIF::GET_READ);
+                DeviceHandlerIF::GET_READ);
 
         thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);