Merge branch 'mueller/acs-ss-init' into mueller/pl-ss

.gitmodules

@@ -19,3 +19,6 @@
 [submodule "thirdparty/json"]
 	path = thirdparty/json
 	url = https://github.com/nlohmann/json.git
+[submodule "thirdparty/rapidcsv"]
+	path = thirdparty/rapidcsv
+	url = https://github.com/d99kris/rapidcsv.git

CHANGELOG.md

@@ -10,6 +10,48 @@ list yields a list of all related PRs for each release.
 
 # [unreleased]
 
+# [v1.12.0]
+
+## Added
+
+- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
+- Regular reboot command
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/242
+- Commands for individual RTD devices
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/84
+- `RwAssembly` added to system components. Assembly works in principle,
+  issues making 4 consecutives RWs communicate at once..
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/224
+- Adds a yocto helper script which is able to install the release build binaries
+  (OBSW and Watchdog) into the `q7s-yocto` repository as long as the `q7s-package`
+  or `q7s-yocto` repo was cloned in the same directory the EIVE OBSW repo.
+  This makes updating the root filesystem a lot easier. It also creates and installs a
+  version file.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
+- Create the generic image by default for the Q7S build. The unique binary with the
+  username appended at the end is created as a side-product now
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
+
+### Heater
+
+- Adds `HealthIF` to heaters. Heaters are own system object with queues now which allows to set them faulty.
+- SW will attempt to shut down heaters which are on but marked faulty
+- Some simplifications for `HeaterHandler`, use `std::vector` instead of `std::unordered_map` for primary container. Using the heater indexes 0 to 7 allows to use natural array indexing
+- Some additional input sanity checks in `executeAction`
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/236
+
+## Changed
+
+- Build unittest as default side product of hosted builds
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/244
+- Let CI/CD build host build and run unittest side product in same step
+- Catch2 pre-installed in CI/CD docker container, Xiphos SDK installed in CI/CD docker
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/247
+- Sun Sensors have names denoting their location and poiting in the satellite now
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/245
+- Better RTD names denoting their purpose (and location consequently)
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/246
+
 # [v1.11.0]
 
 ## Fixed
@@ -18,7 +60,6 @@ list yields a list of all related PRs for each release.
 
 ## Added
 
-- ACS Subsystem. PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/231
 - Custom Syrlinks FDIR which disabled most of the default FDIR functionality
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/232
 - Custom Gomspace FDIR which disabled most of the default FDIR functionality

CMakeLists.txt

@@ -1,12 +1,12 @@
-################################################################################
+# ##############################################################################
 # CMake support for the EIVE OBSW
 #
 # Author: R. Mueller
-################################################################################
+# ##############################################################################
 
-################################################################################
+# ##############################################################################
 # Pre-Project preparation
-################################################################################
+# ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 0)
@@ -15,17 +15,23 @@ set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
 
 # set(CMAKE_VERBOSE TRUE)
 
-option(EIVE_HARDCODED_TOOLCHAIN_FILE "\
+option(
+  EIVE_HARDCODED_TOOLCHAIN_FILE
+  "\
 For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
-if a different toolchain file is set externally" ON
+if a different toolchain file is set externally"
-)
+  ON)
 
 if(NOT FSFW_OSAL)
-    set(FSFW_OSAL linux CACHE STRING "OS for the FSFW.")
+  set(FSFW_OSAL
+      linux
+      CACHE STRING "OS for the FSFW.")
 endif()
 
 if(TGT_BSP)
-    if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
+  if(TGT_BSP MATCHES "arm/q7s"
+     OR TGT_BSP MATCHES "arm/raspberrypi"
+     OR TGT_BSP MATCHES "arm/beagleboneblack")
     option(LINUX_CROSS_COMPILE ON)
   endif()
   if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
@@ -34,9 +40,11 @@ if(TGT_BSP)
     option(EIVE_Q7S_EM "Build configuration for the EM" OFF)
     option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
   endif()
-    option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
+  option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
+         ON)
 else()
-    option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" OFF)
+  option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
+         OFF)
 endif()
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
@@ -57,38 +65,74 @@ option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
 option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
 
 if(EIVE_Q7S_EM)
-    set(OBSW_Q7S_EM 1 CACHE STRING "Q7S EM configuration")
+  set(OBSW_Q7S_EM
+      1
+      CACHE STRING "Q7S EM configuration")
   set(INIT_VAL 0)
 else()
-    set(OBSW_Q7S_EM 0 CACHE STRING "Q7S EM configuration")
+  set(OBSW_Q7S_EM
+      0
+      CACHE STRING "Q7S EM configuration")
   set(INIT_VAL 1)
 endif()
-set(OBSW_ADD_MGT ${INIT_VAL} CACHE STRING "Add MGT module" )
+set(OBSW_ADD_MGT
-set(OBSW_ADD_BPX_BATTERY_HANDLER ${INIT_VAL} CACHE STRING "Add MGT module")
+    ${INIT_VAL}
-set(OBSW_ADD_STAR_TRACKER ${INIT_VAL} CACHE STRING "Add Startracker module")
+    CACHE STRING "Add MGT module")
-set(OBSW_ADD_SUN_SENSORS ${INIT_VAL} CACHE STRING "Add sun sensor module")
+set(OBSW_ADD_BPX_BATTERY_HANDLER
-set(OBSW_ADD_SUS_BOARD_ASS ${INIT_VAL} CACHE STRING "Add sun sensor board assembly")
+    ${INIT_VAL}
-set(OBSW_ADD_ACS_BOARD ${INIT_VAL} CACHE STRING "Add ACS board module")
+    CACHE STRING "Add MGT module")
-set(OBSW_ADD_ACS_HANDLERS ${INIT_VAL} CACHE STRING "Add ACS handlers")
+set(OBSW_ADD_STAR_TRACKER
-set(OBSW_ADD_RTD_DEVICES ${INIT_VAL} CACHE STRING "Add RTD devices")
+    ${INIT_VAL}
-set(OBSW_ADD_RAD_SENSORS ${INIT_VAL} CACHE STRING "Add Rad Sensor module")
+    CACHE STRING "Add Startracker module")
-set(OBSW_ADD_PL_PCDU ${INIT_VAL} CACHE STRING "Add Payload PCDU modukle")
+set(OBSW_ADD_SUN_SENSORS
-set(OBSW_ADD_SYRLINKS ${INIT_VAL} CACHE STRING "Add Syrlinks module")
+    ${INIT_VAL}
-set(OBSW_ADD_TMP_DEVICES ${INIT_VAL} CACHE STRING "Add TMP devices")
+    CACHE STRING "Add sun sensor module")
-set(OBSW_ADD_GOMSPACE_PCDU ${INIT_VAL} CACHE STRING "Add GomSpace PCDU modules")
+set(OBSW_ADD_SUS_BOARD_ASS
-set(OBSW_ADD_RW ${INIT_VAL} CACHE STRING "Add RW modules")
+    ${INIT_VAL}
+    CACHE STRING "Add sun sensor board assembly")
+set(OBSW_ADD_ACS_BOARD
+    ${INIT_VAL}
+    CACHE STRING "Add ACS board module")
+set(OBSW_ADD_ACS_HANDLERS
+    ${INIT_VAL}
+    CACHE STRING "Add ACS handlers")
+set(OBSW_ADD_RTD_DEVICES
+    ${INIT_VAL}
+    CACHE STRING "Add RTD devices")
+set(OBSW_ADD_RAD_SENSORS
+    ${INIT_VAL}
+    CACHE STRING "Add Rad Sensor module")
+set(OBSW_ADD_PL_PCDU
+    ${INIT_VAL}
+    CACHE STRING "Add Payload PCDU modukle")
+set(OBSW_ADD_SYRLINKS
+    ${INIT_VAL}
+    CACHE STRING "Add Syrlinks module")
+set(OBSW_ADD_TMP_DEVICES
+    ${INIT_VAL}
+    CACHE STRING "Add TMP devices")
+set(OBSW_ADD_GOMSPACE_PCDU
+    ${INIT_VAL}
+    CACHE STRING "Add GomSpace PCDU modules")
+set(OBSW_ADD_RW
+    ${INIT_VAL}
+    CACHE STRING "Add RW modules")
 
-################################################################################
+# ##############################################################################
 # Pre-Sources preparation
-################################################################################
+# ##############################################################################
 
 # Version handling
 set(GIT_VER_HANDLING_OK FALSE)
 if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
   determine_version_with_git("--exclude" "docker_*")
-    set(GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
+  set(GIT_INFO
+      ${GIT_INFO}
+      CACHE STRING "Version information retrieved with git describe")
   if(GIT_INFO)
-        set(GIT_INFO ${GIT_INFO} CACHE STRING "Version information retrieved with git describe")
+    set(GIT_INFO
+        ${GIT_INFO}
+        CACHE STRING "Version information retrieved with git describe")
     list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
     list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
     list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
@@ -157,12 +201,14 @@ pre_source_hw_os_config()
 
 if(TGT_BSP)
   set(LIBGPS_VERSION_MAJOR 3)
-    # I assume a newer version than 3.17 will be installed on other Linux board than the Q7S
+  # I assume a newer version than 3.17 will be installed on other Linux board
+  # than the Q7S
   set(LIBGPS_VERSION_MINOR 20)
-    if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
+  if(TGT_BSP MATCHES "arm/q7s"
-        OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse" 
+     OR TGT_BSP MATCHES "arm/raspberrypi"
-        OR TGT_BSP MATCHES "arm/te0720-1cfa"
+     OR TGT_BSP MATCHES "arm/beagleboneblack"
-    )
+     OR TGT_BSP MATCHES "arm/egse"
+     OR TGT_BSP MATCHES "arm/te0720-1cfa")
     find_library(${LIB_GPS} gps)
     set(FSFW_CONFIG_PATH "linux/fsfwconfig")
     if(NOT BUILD_Q7S_SIMPLE_MODE)
@@ -206,7 +252,6 @@ else()
   set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
 endif()
 
-
 # Configuration files
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
@@ -220,14 +265,12 @@ endif()
 configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
 
 # Set common config path for FSFW
-set(FSFW_ADDITIONAL_INC_PATHS 
+set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}/config"
-    "${COMMON_PATH}/config"
+                              ${CMAKE_CURRENT_BINARY_DIR})
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
 
-################################################################################
+# ##############################################################################
 # Executable and Sources
-################################################################################
+# ##############################################################################
 
 # global compiler options need to be set before adding executables
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
@@ -252,20 +295,15 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     "-Wcast-qual" # Warn if the constness is cast away
     "-Wstringop-overflow=4"
     # -Wstack-protector # Emits a few false positives for low level access
-        # -Wconversion # Creates many false positives
+    # -Wconversion # Creates many false positives -Warith-conversion # Use with
-        # -Warith-conversion # Use with Wconversion to find more implicit conversions
+    # Wconversion to find more implicit conversions -fanalyzer # Should be used
-        # -fanalyzer # Should be used to look through problems
+    # to look through problems
   )
   # Remove unused sections.
-    add_compile_options(
+  add_compile_options("-ffunction-sections" "-fdata-sections")
-        "-ffunction-sections"
-        "-fdata-sections"
-    )
 
   # Removed unused sections.
-    add_link_options(
+  add_link_options("-Wl,--gc-sections")
-        "-Wl,--gc-sections"
-    )
 
 elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
   set(COMPILER_FLAGS "/permissive-")
@@ -275,11 +313,8 @@ add_library(${LIB_EIVE_MISSION})
 
 # Add main executable
 add_executable(${OBSW_NAME})
-if(EIVE_CREATE_UNIQUE_OBSW_BIN)
-    set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME}-$ENV{USERNAME})
-else()
 set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
-endif()
+
 set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})
 
 # Watchdog
@@ -290,23 +325,26 @@ else()
 endif()
 
 add_subdirectory(${WATCHDOG_PATH})
-target_link_libraries(${WATCHDOG_NAME} PUBLIC
+target_link_libraries(${WATCHDOG_NAME} PUBLIC ${LIB_CXX_FS})
-    ${LIB_CXX_FS}
+target_include_directories(${WATCHDOG_NAME} PUBLIC ${CMAKE_BINARY_DIR})
-)
-target_include_directories(${WATCHDOG_NAME} PUBLIC
-    ${CMAKE_BINARY_DIR}
-)
 
 # unittests
+if(NOT TGT_BSP)
+  add_executable(${UNITTEST_NAME})
+else()
   add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
+endif()
 
 if(EIVE_ADD_ETL_LIB)
+
 endif()
 
 if(EIVE_ADD_JSON_LIB)
   add_subdirectory(${LIB_JSON_PATH})
 endif()
 
+add_subdirectory(thirdparty/rapidcsv)
+
 if(EIVE_ADD_LINUX_FILES)
   add_subdirectory(${LIB_ARCSEC_PATH})
   add_subdirectory(${LINUX_PATH})
@@ -325,39 +363,41 @@ add_subdirectory(${TEST_PATH})
 
 add_subdirectory(${UNITTEST_PATH})
 
-# This should have already been downloaded by the FSFW
+# This should have already been downloaded by the FSFW Still include it to be
-# Still include it to be safe
+# safe
 find_package(etl ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
 # Not installed, so use FetchContent to download and provide etl
 if(NOT etl_FOUND)
-    message(STATUS
+  message(
+    STATUS
       "No ETL installation was found with find_package. Installing and providing "
-        "etl with FindPackage"
+      "etl with FindPackage")
-    )
   include(FetchContent)
   FetchContent_Declare(
     etl
     GIT_REPOSITORY https://github.com/ETLCPP/etl
-        GIT_TAG        ${FSFW_ETL_LIB_VERSION}
+    GIT_TAG ${FSFW_ETL_LIB_VERSION})
-    )
   list(APPEND FSFW_FETCH_CONTENT_TARGETS etl)
 endif()
 
 # Use same Catch2 version as framework
-if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s")
+if(NOT (TGT_BSP MATCHES "arm/te0720-1cfa")
+   AND NOT (TGT_BSP MATCHES "arm/q7s")
    AND NOT (TGT_BSP MATCHES "arm/raspberrypi"))
   # Check whether the user has already installed Catch2 first
   find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
   # Not installed, so use FetchContent to download and provide Catch2
   if(NOT Catch2_FOUND)
-        message(STATUS "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent")
+    message(
+      STATUS
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
+    )
     include(FetchContent)
 
     FetchContent_Declare(
       Catch2
       GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-            GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
+      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
-        )
 
     list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
   endif()
@@ -372,90 +412,62 @@ if(FSFW_FETCH_CONTENT_TARGETS)
     add_library(${LIB_ETL_TARGET} ALIAS etl)
   endif()
   if(TARGET Catch2)
-        # Fixes regression -preview4, to be confirmed in later releases
+    # Fixes regression -preview4, to be confirmed in later releases Related
-        # Related GitHub issue: https://github.com/catchorg/Catch2/issues/2417
+    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
     set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
     set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
     set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
   endif()
 endif()
 
-################################################################################
+# ##############################################################################
 # Post-Sources preparation
-################################################################################
+# ##############################################################################
 
 # Add libraries
-target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
+target_link_libraries(${LIB_EIVE_MISSION}
-    ${LIB_FSFW_NAME}
+                      PUBLIC ${LIB_FSFW_NAME} ${LIB_LWGPS_NAME} ${LIB_OS_NAME})
-    ${LIB_LWGPS_NAME}
-    ${LIB_OS_NAME}
-)
 
-target_link_libraries(${OBSW_NAME} PRIVATE
+target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_EIVE_MISSION})
-    ${LIB_EIVE_MISSION}
-)
 
 if(TGT_BSP MATCHES "arm/q7s")
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_GPS} ${LIB_ARCSEC})
-        ${LIB_GPS}
-        ${LIB_ARCSEC}
-    )
 endif()
 
-target_link_libraries(${UNITTEST_NAME} PRIVATE
+target_link_libraries(${UNITTEST_NAME} PRIVATE Catch2 ${LIB_EIVE_MISSION}
-    Catch2
+                                               rapidcsv)
-    ${LIB_EIVE_MISSION}
-)
 
 if(TGT_BSP MATCHES "arm/egse")
-    target_link_libraries(${OBSW_NAME} PRIVATE
+  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_ARCSEC})
-	    ${LIB_ARCSEC}
-	)
 endif()
 
 if(ADD_CSP_LIB)
-    target_link_libraries(${OBSW_NAME} PRIVATE
+  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_CSP_NAME})
-        ${LIB_CSP_NAME}
-    )
 endif()
 
-
 if(EIVE_ADD_ETL_LIB)
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_ETL_TARGET})
-        ${LIB_ETL_TARGET}
-    )
 endif()
 
 if(EIVE_ADD_JSON_LIB)
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_JSON_NAME})
-        ${LIB_JSON_NAME}
-    )
 endif()
 
-target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
+target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_CXX_FS})
-    ${LIB_CXX_FS}
-)
 
 # Add include paths for all sources.
-target_include_directories(${LIB_EIVE_MISSION} PUBLIC
+target_include_directories(
-	${CMAKE_CURRENT_SOURCE_DIR}
+  ${LIB_EIVE_MISSION} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH}
-	${FSFW_CONFIG_PATH}
+                             ${CMAKE_CURRENT_BINARY_DIR} ${LIB_ARCSEC_PATH})
-	${CMAKE_CURRENT_BINARY_DIR}
-	${LIB_ARCSEC_PATH}
-)
 
 if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/egse")
-    target_include_directories(${LIB_EIVE_MISSION} PUBLIC
+  target_include_directories(${LIB_EIVE_MISSION} PUBLIC ${ARCSEC_LIB_PATH})
-        ${ARCSEC_LIB_PATH}
-    )
 endif()
 
 if(CMAKE_VERBOSE)
   message(STATUS "Warning flags: ${WARNING_FLAGS}")
 endif()
 
-
-
 if(CMAKE_CROSSCOMPILING)
   include(HardwareOsPostConfig)
   post_source_hw_os_config()
@@ -480,19 +492,15 @@ endif()
 
 install(TARGETS ${OBSW_NAME} RUNTIME DESTINATION bin)
 
-string(CONCAT POST_BUILD_COMMENT
+string(CONCAT POST_BUILD_COMMENT "Build directory: ${CMAKE_BINARY_DIR}\n"
-    "Build directory: ${CMAKE_BINARY_DIR}\n"
               "Target OSAL: ${FSFW_OSAL}\n"
-    "Target Build Type: ${CMAKE_BUILD_TYPE}\n"
+              "Target Build Type: ${CMAKE_BUILD_TYPE}\n" "${TARGET_STRING}")
-    "${TARGET_STRING}"
-)
 
 add_custom_command(
   TARGET ${OBSW_NAME}
   POST_BUILD
   COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
-   COMMENT ${POST_BUILD_COMMENT}
+  COMMENT ${POST_BUILD_COMMENT})
-)
 
 include(BuildType)
 set_build_type()

README.md

@@ -70,8 +70,9 @@ prerequisites.
 ## Building the OBSW and flashing it on the Q7S
 
 1. ARM cross-compiler installed, either as part of [Vivado 2018.2 installation](#vivado) or
-   as a [separate download](#arm-toolchain)
+   as a [separate download](#arm-toolchain). The Xiphos SDK also installs a cross-compiler,
-2. [Q7S sysroot](#sysroot) on local development machine
+   but its version is currently too old to compile the OBSW (7.3.0).
+2. [Q7S sysroot](#sysroot) on local development machine. It is installed by the Xiphos SDK
 3. Recommended: Eclipse or [Vivado 2018.2 SDK](#vivado) for OBSW development
 3. [TCF agent](https://wiki.eclipse.org/TCF) running on Q7S
 
@@ -88,7 +89,7 @@ When using Windows, run theses steps in MSYS2.
 1. Clone the repository with
 
    ```sh
-   git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
+   git clone https://egit.irs.uni-stuttgart.de/eive/eive-obsw.git
    ```
 
 2. Update all the submodules
@@ -151,6 +152,53 @@ When using Windows, run theses steps in MSYS2.
    cmake --build . -j
    ```
 
+## Build for the Q7S target root filesystem with `yocto`
+
+The EIVE root filesystem will contain the EIVE OBSW and the Watchdog component.
+It is currently generated with `yocto`, but the tool can not compile the primary
+OBSW due to toolchain version incompatibility. Therefore, the OBSW components
+are currently compiled using the toolchain specified in this README (e.g. installed by Vivado).
+
+However, it is still possible to install the two components using yocto. A few helper files were
+provided to make this process easier. The following steps can be used to install the OBSW
+components and a version file to the yocto sources for the generation of the complete EIVE root
+file system image. The steps here are shown for Ubuntu, you can use the according Windows
+helper scripts as well.
+
+1. Copy the `q7s-env.sh` script to the same layer as the `eive-obsw`.
+   
+   ```sh
+   cp scripts/q7s-env.sh ..
+   cd ..
+   ./q7s-env.sh
+   q7s-make-release.sh
+   ```
+
+2. Compile the OBSW components in release mode
+
+   ```sh
+   cd cmake-build-release-q7s
+   cmake --build . -j
+   ```
+
+3. Make sure the [`q7s-yocto`](https://egit.irs.uni-stuttgart.de/eive/q7s-yocto)
+   repository or the [`q7s-package`](https://egit.irs.uni-stuttgart.de/eive/q7s-package.git)
+   repository and its `q7s-yocto` submodule were cloned in the same directory layer as
+   the `eive-obsw`.
+
+4. Run the install script to install the files into `q7s-yocto`.
+
+   ```sh
+   install-obsw-yocto.sh
+   ```
+
+5. Navigate into the `q7s-yocto` repo and review the changes. You can then add and push those
+   changes.
+
+6. You can now rebuild the root filesystem with the updated OBSW using `yocto`. This probably needs
+   to be done on another machine or in a VM. The [`q7s-yocto`](https://egit.irs.uni-stuttgart.de/eive/q7s-yocto)
+   repository contains details on how to best do this.
+
 ## Building in Xilinx SDK 2018.2
 
 1. Open Xilinx SDK 2018.2
@@ -326,7 +374,7 @@ If you are comiling for the Raspberry Pi, you have to set the `LINUX_ROOTFS` env
 variable instead. You can find a base root filesystem for the Raspberry Pi
 [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs).
 
-## <a id="vivado"></a> Installing Vivado the the Xilinx development tools
+## <a id="vivado"></a> Installing Vivado and the Xilinx development tools
 
 It's also possible to perform debugging with a normal Eclipse installation by installing 
 the TCF plugin and downloading the cross-compiler as specified in the section below. However,
@@ -342,9 +390,9 @@ installed Vivado with the SDK core tools.
 
 <img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/vivado-edition.png" width="50%"> <br>
 
-<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/mueller/master/doc/img/vivado-hl-design.png" width="50%"> <br>
+<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/vivado-hl-design.png" width="50%"> <br>
 
-<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/mueller/master/doc/img/xilinx-install.PNG" width="50%"> <br>
+<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/xilinx-install.PNG" width="50%"> <br>
 
 * For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf . 
   Installation was tested on Windows and Ubuntu 21.04.
@@ -661,35 +709,7 @@ Thus the replies are received with a larger delay compared to a direct TCP conne
 3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
    * When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation
      is 192.168.133.2
-     
+4. Make sure th `tcf-agent` is running by checking `systemctl status tcf-agent`
-4. Run tcf-agent on Q7S
-
-   * Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
-   
-    ```sh
-    git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
-    cd org.eclipse.tcf.agent/agent
-    make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
-    ```
-
-   * Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
-   
-    ```sh
-    cd obj/GNU/Linux/arm/Debug
-    scp agent root@192.168.133.10:/tmp
-    ```
-
-   * On Q7S 
-    ```sh
-    cd /tmp
-    chmod +x agent
-    ```
-
-   * Run agent
-    ```sh
-    ./agent
-    ```
-
 5. In Xilinx SDK 2018.2 right click on project &rarr; Debug As &rarr; Debug Configurations
 6. Right click Xilinx C/C++ applicaton (System Debugger) &rarr; New &rarr; 
 7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
@@ -699,8 +719,8 @@ Thus the replies are received with a larger delay compared to a direct TCP conne
 11. Test connection (This ensures the TCF Agent is running on the Q7S)
 12. Select Application tab
    * Project Name: eive_obsw
-   * Local File Path: Path to eiveobsw-linux.elf (in `_bin\linux\devel`)
+   * Local File Path: Path to OBSW application image with debug symbols (non-stripped)
-   * Remote File Path: `/tmp/eive_obsw.elf`
+   * Remote File Path: `/tmp/<OBSW NAME>`
 
 # <a id="file-transfer"></a> Transfering Files to the Q7S
 
@@ -726,7 +746,8 @@ From a windows machine files can be copied with putty tools (note: use IPv4 addr
 pscp -scp -P 22 eive@192.168.199.227:</directory-to-example-file/>/example-file </windows-machine-path/>
 ````
 
-More detailed information about the used q7s commands can be found in the Q7S user manual.
+A helper script named `q7s-cp.py` can be used together with the `q7s-port.sh`
+script to make this process easier.
 
 # <a id="q7s"></a> Q7S OBC
 
@@ -1106,16 +1127,28 @@ Eclipse indexer.
 
 The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debugging on the Q7S.
 
-1. Install the TCF agent plugin in Eclipse from
+1. Copy the `.cproject` file and the `.project` file inside the `misc/eclipse` folder into the
+   repo root
+
+   ```sh
+   cd eive-obsw
+   cp misc/eclipse/.cproject .
+   cp misc/eclipse/.project .
+   ```
+
+2. Open the repo in Eclipse as a folder.
+
+3. Install the TCF agent plugin in Eclipse from
    the [releases](https://www.eclipse.org/tcf/downloads.php). Go to
    Help &rarr; Install New Software and use the download page, for
-   example https://download.eclipse.org/tools/tcf/releases/1.7/1.7.0/ to search for the plugin and install it. You can find the newest version [here](https://www.eclipse.org/tcf/downloads.php)
+   example https://download.eclipse.org/tools/tcf/releases/1.7/1.7.0/ to search for the plugin and
+   install it. You can find the newest version [here](https://www.eclipse.org/tcf/downloads.php)
 
-2. Go to Window &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**. 
+4. Go to Window &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**. 
    Here, the Q7S should show up if the local port forwarding was set up as explained previously.
    Please note that you have to connect to `localhost` and port `1534` with port forwaring set up.
    
-3. A launch configuration was provided, but it might be necessary to adapt it for your own needs.
+5. A launch configuration was provided, but it might be necessary to adapt it for your own needs.
    Alternatively:
 
  - Create a new **TCF Remote Application** by pressing the cogs button at the top or going to
@@ -1204,7 +1237,7 @@ in the same way.
 
 * the formatting is based on the clang-format tools
 
-## Setting up eclipse auto-fromatter with clang-format
+## Setting up auto-formatter with clang-format in Xilinx SDK
 
 1. Help &rarr; Install New Software &rarr; Add
 2. In location insert the link http://www.cppstyle.com/luna
@@ -1214,3 +1247,11 @@ in the same way.
 6. Insert the path to the clang-format executable
 7. Under C/C++ &rarr; Code Style &rarr; Formatter, change the formatter to CppStyle (clang-format)
 8. Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f
+
+## Setting up auto-fromatter with clang-format in eclipse
+1. Help &rarr; Eclipse market place &rarr; Search for "Cppstyle" and install
+2. On windows download the clang-formatting tools from https://llvm.org/builds/. On linux clang-format can be installed with the package manager.
+3. Navigate to Preferences &rarr; C/C++ &rarr; CppStyle 
+4. Insert the path to the clang-format executable
+5. Under C/C++ &rarr; Code Style &rarr; Formatter, change the formatter to CppStyle (clang-format)
+6. Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f

automation/Dockerfile

@@ -4,17 +4,24 @@ RUN apt-get update
 RUN apt-get --yes upgrade
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind libgps-dev
+RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind libgps-dev python3
 
-# Q7S root filesystem, required for cross-compilation.
+ARG XIPHOS_SDK_NAME=sdk-xiphos-eive-v0.2.0
-RUN mkdir -p /usr/rootfs; \
+# Install Xiphos ARK SDK, which also installs Q7S root filesystem, required for cross-compilation.
-curl https://buggy.irs.uni-stuttgart.de/eive/tools/eive-compile-rootfs-v0.1.0-7-gae69838.tar.xz \
+RUN curl https://buggy.irs.uni-stuttgart.de/eive/tools/${XIPHOS_SDK_NAME}.tar | tar -x && \
-    | tar -xJ -C /usr/rootfs
+    cd ${XIPHOS_SDK_NAME} && \
+    ./ark-glibc-x86_64-eive-image-cortexa9hf-neon-toolchain-nodistro.0.sh -y
 
 # Cross compiler
 RUN mkdir -p /usr/tools; \
 curl https://buggy.irs.uni-stuttgart.de/eive/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.gz \
     | tar -xz -C /usr/tools
 
-ENV ZYNQ_7020_SYSROOT="/usr/rootfs/eive-compile-rootfs"
+RUN git clone https://github.com/catchorg/Catch2.git && \
+    cd Catch2 && \
+    git checkout v3.0.0-preview5 && \
+    cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
+    cmake --build build/ --target install
+
+ENV ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
 ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"

automation/Jenkinsfile

@@ -5,7 +5,7 @@ pipeline {
     }
     agent {
         docker {
-            image 'eive-obsw-ci:d4'
+            image 'eive-obsw-ci:d5'
             args '--sysctl fs.mqueue.msg_max=100'
         }
     }
@@ -24,11 +24,11 @@ pipeline {
                 }
             }
         }
-        stage('Unittests') {
+        stage('Build Host and Tests') {
             steps {
                 dir(BUILDDIR_LINUX) {
                     sh 'cmake ..'
-                    sh 'cmake --build . -t eive-unittest -j4'
+                    sh 'cmake --build . -j4'
                     sh './eive-unittest'
                 }
             }

bsp_egse/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PUBLIC
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp ObjectFactory.cpp)
-	InitMission.cpp
-	main.cpp
-	ObjectFactory.cpp
-)
 
 add_subdirectory(boardconfig)

bsp_egse/boardconfig/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE print.c)
-	print.c
-)
 
-target_include_directories(${OBSW_NAME} PUBLIC
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-	${CMAKE_CURRENT_SOURCE_DIR}
-)

bsp_hosted/CMakeLists.txt

@@ -1,8 +1,4 @@
-target_sources(${OBSW_NAME} PUBLIC
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp ObjectFactory.cpp)
-	InitMission.cpp
-	main.cpp
-	ObjectFactory.cpp
-)
 
 add_subdirectory(fsfwconfig)
 add_subdirectory(boardconfig)

bsp_hosted/InitMission.cpp

@@ -131,6 +131,7 @@ void initmission::initTasks() {
 
   PeriodicTaskIF* testTask = factory->createPeriodicTask(
       "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  static_cast<void>(testTask);
 #if OBSW_ADD_TEST_CODE == 1
   result = testTask->addComponent(objects::TEST_TASK);
   if (result != HasReturnvaluesIF::RETURN_OK) {

bsp_hosted/ObjectFactory.cpp

@@ -7,9 +7,9 @@
 #include <objects/systemObjectList.h>
 #include <tmtc/apid.h>
 #include <tmtc/pusIds.h>
-#include "fsfw_tests/integration/task/TestTask.h"
 
 #include "OBSWConfig.h"
+#include "fsfw_tests/integration/task/TestTask.h"
 
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTcPollingTask.h"

bsp_hosted/boardconfig/CMakeLists.txt

@@ -1,10 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE print.c)
-	print.c
-)
-
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-
 
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

bsp_hosted/comIF/CMakeLists.txt

@@ -1,8 +1 @@
-target_sources(${TARGET_NAME} PUBLIC
+target_sources(${TARGET_NAME} PUBLIC ArduinoComIF.cpp ArduinoCookie.cpp)
-	ArduinoComIF.cpp
-	ArduinoCookie.cpp
-)
-
-
-
-

bsp_hosted/fsfwconfig/CMakeLists.txt

@@ -1,27 +1,15 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp)
-	ipc/MissionMessageTypes.cpp
-)
 
-target_include_directories(${OBSW_NAME} PUBLIC
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
 
 # If a special translation file for object IDs exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
+  target_sources(${OBSW_NAME} PRIVATE objects/translateObjects.cpp)
-        objects/translateObjects.cpp
+  target_sources(${UNITTEST_NAME} PRIVATE objects/translateObjects.cpp)
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
 endif()
 
 # If a special translation file for events exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
+  target_sources(${OBSW_NAME} PRIVATE events/translateEvents.cpp)
-        events/translateEvents.cpp
+  target_sources(${UNITTEST_NAME} PRIVATE events/translateEvents.cpp)
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
 endif()

bsp_linux_board/CMakeLists.txt

@@ -1,9 +1,5 @@
-target_sources(${OBSW_NAME} PUBLIC
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp gpioInit.cpp
-	InitMission.cpp
+                                   ObjectFactory.cpp)
-	main.cpp
-	gpioInit.cpp
-	ObjectFactory.cpp
-)
 
 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)

bsp_linux_board/boardconfig/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE print.c)
-	print.c
-)
 
-target_include_directories(${OBSW_NAME} PUBLIC
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-	${CMAKE_CURRENT_SOURCE_DIR}
-)

bsp_linux_board/boardtest/CMakeLists.txt

@@ -1,6 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE)
-)
-
-
-
-

bsp_q7s/CMakeLists.txt

@@ -1,20 +1,13 @@
 # simple mode
 add_executable(${SIMPLE_OBSW_NAME} EXCLUDE_FROM_ALL)
 target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
-target_sources(${SIMPLE_OBSW_NAME} PUBLIC
+target_sources(${SIMPLE_OBSW_NAME} PUBLIC main.cpp)
-	main.cpp
-)
 # I think this is unintentional? (produces linker errors for stuff in /linux)
-target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC
+target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC ${LIB_FSFW_NAME})
-    ${LIB_FSFW_NAME}
-)
 target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
 add_subdirectory(simple)
 
-target_sources(${OBSW_NAME} PUBLIC
+target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
-	main.cpp
-    obsw.cpp
-)
 
 add_subdirectory(boardtest)
 
@@ -25,7 +18,7 @@ add_subdirectory(core)
 if(EIVE_Q7S_EM)
   add_subdirectory(em)
 else()
-    add_subdirectory(fm)
+  target_sources(${OBSW_NAME} PUBLIC fmObjectFactory.cpp)
 endif()
 
 add_subdirectory(memory)

bsp_q7s/OBSWConfig.h.in

@@ -25,8 +25,8 @@
 #define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
 #define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
 #define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
-#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_SUPERVISOR                    1
-#define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_PLOC_MPSOC                         1
 #define OBSW_ADD_SUN_SENSORS                        @OBSW_ADD_SUN_SENSORS@
 #define OBSW_ADD_SUS_BOARD_ASS                      @OBSW_ADD_SUS_BOARD_ASS@
 #define OBSW_ADD_ACS_BOARD                          @OBSW_ADD_ACS_BOARD@
@@ -38,6 +38,7 @@
 #define OBSW_ADD_PL_PCDU                            @OBSW_ADD_PL_PCDU@
 #define OBSW_ADD_SYRLINKS                           @OBSW_ADD_SYRLINKS@
 #define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
+#define OBSW_MPSOC_JTAG_BOOT                        0
 
 // This is a really tricky switch.. It initializes the PCDU switches to their default states
 // at powerup. I think it would be better

bsp_q7s/boardconfig/CMakeLists.txt

@@ -1,12 +1,5 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE print.c)
-	print.c
-)
 
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE print.c)
-	print.c
-)
 
-
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)

bsp_q7s/boardconfig/busConf.h

@@ -4,6 +4,8 @@
 namespace q7s {
 
 static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
+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";

bsp_q7s/boardconfig/etl_profile.h

@@ -34,5 +34,6 @@ SOFTWARE.
 
 #define ETL_CPP11_SUPPORTED 1
 #define ETL_NO_NULLPTR_SUPPORT 0
+#define ETL_HAS_ERROR_ON_STRING_TRUNCATION 1
 
 #endif

bsp_q7s/boardtest/CMakeLists.txt

@@ -1,10 +1,5 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE FileSystemTest.cpp Q7STestTask.cpp)
-    FileSystemTest.cpp
-    Q7STestTask.cpp
-)
 
 if(EIVE_BUILD_Q7S_SIMPLE_MODE)
-    target_sources(${SIMPLE_OBSW_NAME} PRIVATE
+  target_sources(${SIMPLE_OBSW_NAME} PRIVATE FileSystemTest.cpp)
-        FileSystemTest.cpp
-    )
 endif()

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -300,8 +300,7 @@ void Q7STestTask::testGpsDaemonSocket() {
   if (gps == nullptr) {
     if (gpsReadFailedSwitch) {
       gpsReadFailedSwitch = false;
-      sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed"
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed" << std::endl;
-          << std::endl;
     }
     return;
   }

bsp_q7s/boardtest/Q7STestTask.h

@@ -2,6 +2,7 @@
 #define BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
 
 #include <libgpsmm.h>
+
 #include "test/testtasks/TestTask.h"
 
 class CoreController;

bsp_q7s/callbacks/CMakeLists.txt

@@ -1,6 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE rwSpiCallback.cpp gnssCallback.cpp
-	rwSpiCallback.cpp
+                                    pcduSwitchCb.cpp q7sGpioCallbacks.cpp)
-	gnssCallback.cpp
-	pcduSwitchCb.cpp
-	q7sGpioCallbacks.cpp
-)

bsp_q7s/callbacks/q7sGpioCallbacks.cpp

@@ -48,7 +48,7 @@ void q7s::gpioCallbacks::initSpiCsDecoder(GpioIF* gpioComIF) {
 
   result = gpioComIF->addGpios(spiMuxGpios);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
+    sif::error << "initSpiCsDecoder: Failed to add SPI MUX bit GPIOs" << std::endl;
     return;
   }
 }

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -1,5 +1,7 @@
 #include "rwSpiCallback.h"
 
+#include <fsfw/timemanager/Stopwatch.h>
+
 #include "devices/gpioIds.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
@@ -8,8 +10,25 @@
 
 namespace rwSpiCallback {
 
+namespace {
+static bool MODE_SET = false;
+
+ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
+                      MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
+                      int& fd);
+/**
+ * @brief   This function closes a spi session. Pulls the chip select to high an releases the
+ *          mutex.
+ * @param gpioId    Gpio ID of chip select
+ * @param gpioIF    Pointer to gpio interface to drive the chip select
+ * @param mutex     The spi mutex
+ */
+void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
+}  // namespace
+
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                           size_t sendLen, void* args) {
+  // Stopwatch watch;
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
   RwHandler* handler = reinterpret_cast<RwHandler*>(args);
@@ -18,51 +37,45 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
-  uint8_t writeBuffer[2];
+  uint8_t writeBuffer[2] = {};
   uint8_t writeSize = 0;
 
   gpioId_t gpioId = cookie->getChipSelectPin();
   GpioIF* gpioIF = comIf->getGpioInterface();
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 0;
-  MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+  MutexIF* mutex = comIf->getCsMutex();
+  cookie->getMutexParams(timeoutType, timeoutMs);
   if (mutex == nullptr or gpioIF == nullptr) {
     sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   int fileDescriptor = 0;
-  std::string device = cookie->getSpiDevice();
+  const std::string& dev = comIf->getSpiDev();
-  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
+  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
-  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
-    return SpiComIF::OPENING_FILE_FAILED;
-  }
-  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
-  uint32_t spiSpeed = 0;
-  cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
-  comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
-
-  result = mutex->lockMutex(timeoutType, timeoutMs);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
     return result;
   }
 
-  /** Sending frame start sign */
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
-  writeBuffer[0] = 0x7E;
+  uint32_t spiSpeed = 0;
-  writeSize = 1;
+  cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+  // We are in protected section, so we can use the static variable here without issues.
+  // We don't need to set the speed because a SPI core is used, but the mode has to be set once
+  // correctly for all RWs
+  if (not MODE_SET) {
+    comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+    MODE_SET = true;
+  }
 
-  // Pull SPI CS low. For now, no support for active high given
+  /** Sending frame start sign */
-  if (gpioId != gpio::NO_GPIO) {
+  writeBuffer[0] = FLAG_BYTE;
-    if (gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
+  writeSize = 1;
-      sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
-    }
-  }
 
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
@@ -87,33 +100,39 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     }
     if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
       sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::SPI_WRITE_FAILURE;
     }
     idx++;
   }
 
   /** Sending frame end sign */
-  writeBuffer[0] = 0x7E;
+  writeBuffer[0] = FLAG_BYTE;
   writeSize = 1;
 
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
   uint8_t* rxBuf = nullptr;
   result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return result;
   }
 
   size_t replyBufferSize = cookie->getMaxBufferSize();
 
-  /** There must be a delay of at least 20 ms after sending the command */
+  // There must be a delay of at least 20 ms after sending the command.
+  // Delay for 70 ms here and release the SPI bus for that duration.
+  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
   usleep(RwDefinitions::SPI_REPLY_DELAY);
+  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
 
   /**
    * The reaction wheel responds with empty frames while preparing the reply data.
@@ -123,13 +142,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   for (int idx = 0; idx < 10; idx++) {
     if (read(fileDescriptor, &byteRead, 1) != 1) {
       sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::SPI_READ_FAILURE;
     }
     if (idx == 0) {
       if (byteRead != FLAG_BYTE) {
         sif::error << "Invalid data, expected start marker" << std::endl;
-        closeSpi(gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
         return RwHandler::NO_START_MARKER;
       }
     }
@@ -140,7 +159,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
     if (idx == 9) {
       sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::NO_REPLY;
     }
   }
@@ -180,7 +199,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
         continue;
       } else {
         sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
-        closeSpi(gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
         result = RwHandler::INVALID_SUBSTITUTE;
         break;
       }
@@ -201,8 +220,9 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
         result = RwHandler::SPI_READ_FAILURE;
         break;
       }
-      if (byteRead != 0x7E) {
+      if (byteRead != FLAG_BYTE) {
-        sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
+        sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
+                   << std::endl;
         decodedFrameLen--;
         result = RwHandler::MISSING_END_SIGN;
         break;
@@ -213,12 +233,40 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
   cookie->setTransferSize(decodedFrameLen);
 
-  closeSpi(gpioId, gpioIF, mutex);
+  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
 
   return result;
 }
 
-void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+namespace {
+
+ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
+                      MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
+                      int& fd) {
+  ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
+    return result;
+  }
+
+  fd = open(devname.c_str(), flags);
+  if (fd < 0) {
+    sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
+    return SpiComIF::OPENING_FILE_FAILED;
+  }
+
+  // Pull SPI CS low. For now, no support for active high given
+  if (gpioId != gpio::NO_GPIO) {
+    result = gpioIF->pullLow(gpioId);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
+      return result;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+  close(fd);
   if (gpioId != gpio::NO_GPIO) {
     if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
       sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
@@ -229,4 +277,7 @@ void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
     ;
   }
 }
+
+}  // namespace
+
 }  // namespace rwSpiCallback

bsp_q7s/callbacks/rwSpiCallback.h

@@ -33,14 +33,5 @@ static constexpr uint8_t FLAG_BYTE = 0x7E;
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                           size_t sendLen, void* args);
 
-/**
- * @brief   This function closes a spi session. Pulls the chip select to high an releases the
- *          mutex.
- * @param gpioId    Gpio ID of chip select
- * @param gpioIF    Pointer to gpio interface to drive the chip select
- * @param mutex     The spi mutex
- */
-void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
-
 }  // namespace rwSpiCallback
 #endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */

bsp_q7s/comIF/CMakeLists.txt

@@ -1,6 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE)
-)
-
-
-
-

bsp_q7s/core/CMakeLists.txt

@@ -1,8 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE CoreController.cpp InitMission.cpp
-    CoreController.cpp
+                                    ObjectFactory.cpp)
-    InitMission.cpp
-)
 
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE InitMission.cpp)
-    InitMission.cpp
-)

bsp_q7s/core/CoreController.cpp

@@ -87,6 +87,7 @@ ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &local
   localDataPoolMap.emplace(core::TEMPERATURE, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(core::PS_VOLTAGE, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(core::PL_VOLTAGE, new PoolEntry<float>({0}));
+  poolManager.subscribeForPeriodicPacket(hkSet.getSid(), false, 10.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -211,8 +212,13 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       rewriteRebootFile(rebootFile);
       return HasActionsIF::EXECUTION_FINISHED;
     }
+    case (XSC_REBOOT_OBC): {
+      // Warning: This function will never return, because it reboots the system
+      return actionXscReboot(data, size);
+    }
     case (REBOOT_OBC): {
-      return actionPerformReboot(data, size);
+      // Warning: This function will never return, because it reboots the system
+      return actionReboot(data, size);
     }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
@@ -844,25 +850,18 @@ void CoreController::initPrint() {
 #endif
 }
 
-ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t size) {
+ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size) {
   if (size < 1) {
     return HasActionsIF::INVALID_PARAMETERS;
   }
   bool rebootSameBootCopy = data[0];
-  bool protOpPerformed;
+  bool protOpPerformed = false;
+  SdCardManager::instance()->setBlocking(true);
   if (rebootSameBootCopy) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::actionPerformReboot: Rebooting on current image" << std::endl;
 #endif
-    // Attempt graceful shutdown by unmounting and switching off SD cards
+    gracefulShutdownTasks(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, protOpPerformed);
-    SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_0);
-    SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_1);
-    // If any boot copies are unprotected
-    ReturnValue_t retval = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
-                                                 protOpPerformed, false);
-    if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
-      sif::info << "Running slot was writeprotected before reboot" << std::endl;
-    }
     int result = std::system("xsc_boot_copy -r");
     if (result != 0) {
       utility::handleSystemError(result, "CoreController::executeAction");
@@ -884,12 +883,8 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
   auto tgtChip = static_cast<xsc::Chip>(data[1]);
   auto tgtCopy = static_cast<xsc::Copy>(data[2]);
 
-  ReturnValue_t retval =
+  // This function can not really fail
-      setBootCopyProtection(static_cast<xsc::Chip>(data[1]), static_cast<xsc::Copy>(data[2]), true,
+  gracefulShutdownTasks(tgtChip, tgtCopy, protOpPerformed);
-                            protOpPerformed, false);
-  if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
-    sif::info << "Target slot was writeprotected before reboot" << std::endl;
-  }
 
   switch (tgtChip) {
     case (xsc::Chip::CHIP_0): {
@@ -930,6 +925,30 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
+ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) {
+  bool protOpPerformed = false;
+  gracefulShutdownTasks(xsc::Chip::CHIP_0, xsc::Copy::COPY_0, protOpPerformed);
+  std::system("reboot");
+  return RETURN_OK;
+}
+
+ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy,
+                                                    bool &protOpPerformed) {
+  sdcMan->setBlocking(true);
+  // Attempt graceful shutdown by unmounting and switching off SD cards
+  sdcMan->switchOffSdCard(sd::SdCard::SLOT_0);
+  sdcMan->switchOffSdCard(sd::SdCard::SLOT_1);
+  // If any boot copies are unprotected
+  ReturnValue_t result = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
+                                               protOpPerformed, false);
+  if (result == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
+    // TODO: Would be nice to notify operator. But we can't use the filesystem anymore
+    // and a reboot is imminent. Use scratch buffer?
+    sif::info << "Running slot was writeprotected before reboot" << std::endl;
+  }
+  return result;
+}
+
 CoreController::~CoreController() {}
 
 void CoreController::determinePreferredSdCard() {

bsp_q7s/core/CoreController.h

@@ -67,13 +67,16 @@ class CoreController : public ExtendedControllerBase {
   static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
   static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
 
-  static constexpr ActionId_t REBOOT_OBC = 32;
+  //! Reboot using the xsc_boot_copy command
+  static constexpr ActionId_t XSC_REBOOT_OBC = 32;
   static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
+  //! Reboot using the reboot command
+  static constexpr ActionId_t REBOOT_OBC = 34;
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
   static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT]  Software reboot occured. Can also be a systemd reboot.
+  //! [EXPORT] : [COMMENT]  Software reboot occurred. Can also be a systemd reboot.
   //! P1: Current Chip, P2: Current Copy
   static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
   //! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
@@ -221,7 +224,10 @@ class CoreController : public ExtendedControllerBase {
 
   ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
                                             const uint8_t* data, size_t size);
-  ReturnValue_t actionPerformReboot(const uint8_t* data, size_t size);
+  ReturnValue_t actionXscReboot(const uint8_t* data, size_t size);
+  ReturnValue_t actionReboot(const uint8_t* data, size_t size);
+
+  ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
 
   void performWatchdogControlOperation();
 

bsp_q7s/core/InitMission.cpp

@@ -1,5 +1,7 @@
 #include "bsp_q7s/core/InitMission.h"
 
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+
 #include <iostream>
 #include <vector>
 
@@ -13,6 +15,7 @@
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/utility/InitMission.h"
 #include "pollingsequence/pollingSequenceFactory.h"
 
@@ -33,8 +36,16 @@ ObjectManagerIF* objectManager = nullptr;
 
 void initmission::initMission() {
   sif::info << "Building global objects.." << std::endl;
+  try {
     /* Instantiate global object manager and also create all objects */
     ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  } catch (const std::invalid_argument& e) {
+    sif::error << "initmission::initMission: Object Construction failed with an "
+                  "invalid argument: "
+               << e.what();
+    std::exit(1);
+  }
+
   sif::info << "Initializing all objects.." << std::endl;
   ObjectManager::instance()->initialize();
 
@@ -114,35 +125,80 @@ void initmission::initTasks() {
 #endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
 
 #if OBSW_ADD_ACS_HANDLERS == 1
-  PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
+  PeriodicTaskIF* acsTask = factory->createPeriodicTask(
-      "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+      "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  result = gpsTask->addComponent(objects::GPS_CONTROLLER);
+  result = acsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
-
 #endif /* OBSW_ADD_ACS_HANDLERS */
 
   PeriodicTaskIF* sysTask = factory->createPeriodicTask(
-      "SYS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  static_cast<void>(sysTask);
+#if OBSW_ADD_ACS_HANDLERS == 1
   result = sysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
   }
+#endif /* OBSW_ADD_ACS_HANDLERS */
+#if OBSW_ADD_RW == 1
+  result = sysTask->addComponent(objects::RW_ASS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
+  }
+#endif
 #if OBSW_ADD_SUS_BOARD_ASS == 1
   result = sysTask->addComponent(objects::SUS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
 #endif
-  result = sysTask->addComponent(objects::TCS_BOARD_ASS);
+
+  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
+      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
+  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
+    initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
   }
+<<<<<<< HEAD
   result = sysTask->addComponent(objects::ACS_SUBSYSTEM);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
   }
+#endif /* OBSW_ADD_RTD_DEVICES == 1 */
+=======
+  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
+      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
+      objects::RTD_0_IC3_PLOC_HEATSPREADER,
+      objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+      objects::RTD_2_IC5_4K_CAMERA,
+      objects::RTD_3_IC6_DAC_HEATSPREADER,
+      objects::RTD_4_IC7_STARTRACKER,
+      objects::RTD_5_IC8_RW1_MX_MY,
+      objects::RTD_6_IC9_DRO,
+      objects::RTD_7_IC10_SCEX,
+      objects::RTD_8_IC11_X8,
+      objects::RTD_9_IC12_HPA,
+      objects::RTD_10_IC13_PL_TX,
+      objects::RTD_11_IC14_MPA,
+      objects::RTD_12_IC15_ACU,
+      objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+      objects::RTD_14_IC17_TCS_BOARD,
+      objects::RTD_15_IC18_IMTQ,
+  };
+#if OBSW_ADD_RTD_DEVICES == 1
+  tcsTask->addComponent(objects::TCS_BOARD_ASS);
+  for (const auto& rtd : rtdIds) {
+    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
+  }
+#endif /* OBSW_ADD_RTD_DEVICES */
+>>>>>>> origin/develop
 
   // FS task, task interval does not matter because it runs in permanent loop, priority low
   // because it is a non-essential background task
@@ -171,6 +227,15 @@ void initmission::initTasks() {
   }
 #endif /* OBSW_ADD_PLOC_MPSOC */
 
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
+      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR */
+
 #if OBSW_TEST_CCSDS_BRIDGE == 1
   PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
       "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
@@ -230,11 +295,20 @@ void initmission::initTasks() {
   strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
+<<<<<<< HEAD
 #if OBSW_ADD_ACS_HANDLERS == 1
   gpsTask->startTask();
 #endif
+#if OBSW_ADD_RTD_DEVICES == 1
+=======
+  acsTask->startTask();
+>>>>>>> origin/develop
   sysTask->startTask();
-
+  tcsPollingTask->startTask();
+  tcsTask->startTask();
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  supvHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   sif::info << "Tasks started.." << std::endl;
 }
 
@@ -245,7 +319,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+      "MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
   result = pst::pstSpi(spiPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -258,8 +332,23 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 #endif
 
+#if OBSW_ADD_RW == 1
+  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
+      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
+  result = pst::pstSpiRw(rwPstTask);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
+    } else {
+      sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(rwPstTask);
+  }
+#endif
+
   FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstUart(uartPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -272,7 +361,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 
   FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
-      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
   result = pst::pstGpio(gpioPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -285,7 +374,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 #if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstI2c(i2cPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -362,6 +451,10 @@ void initmission::createPusTasks(TaskFactory& factory,
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
+  }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);

bsp_q7s/core/InitMission.h

@@ -3,7 +3,7 @@
 
 #include <vector>
 
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class PeriodicTaskIF;
 class TaskFactory;

bsp_q7s/core/ObjectFactory.cpp

@@ -1,5 +1,4 @@
-#include <mission/system/fdir/GomspacePowerFdir.h>
+#include "ObjectFactory.h"
-#include <mission/system/fdir/SyrlinksFdir.h>
 
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
@@ -8,7 +7,6 @@
 #include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
 #include "bsp_q7s/callbacks/rwSpiCallback.h"
 #include "bsp_q7s/core/CoreController.h"
-#include "bsp_q7s/core/ObjectFactory.h"
 #include "bsp_q7s/memory/FileSystemHandler.h"
 #include "busConf.h"
 #include "ccsdsConfig.h"
@@ -31,7 +29,6 @@
 #include "linux/devices/ploc/PlocMPSoCHelper.h"
 #include "linux/devices/ploc/PlocMemoryDumper.h"
 #include "linux/devices/ploc/PlocSupervisorHandler.h"
-#include "linux/devices/ploc/PlocUpdater.h"
 #include "linux/devices/startracker/StarTrackerHandler.h"
 #include "linux/devices/startracker/StrHelper.h"
 #include "linux/obc/AxiPtmeConfig.h"
@@ -40,8 +37,11 @@
 #include "linux/obc/Ptme.h"
 #include "linux/obc/PtmeConfig.h"
 #include "mission/system/fdir/AcsBoardFdir.h"
+#include "mission/system/fdir/GomspacePowerFdir.h"
 #include "mission/system/fdir/RtdFdir.h"
 #include "mission/system/fdir/SusFdir.h"
+#include "mission/system/fdir/SyrlinksFdir.h"
+#include "mission/system/objects/RwAssembly.h"
 #include "mission/system/objects/SusAssembly.h"
 #include "mission/system/objects/TcsBoardAssembly.h"
 #include "mission/system/tree/system.h"
@@ -83,14 +83,12 @@
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
 #include "mission/devices/SolarArrayDeploymentHandler.h"
-#include "mission/devices/SusHandler.h"
 #include "mission/devices/SyrlinksHkHandler.h"
 #include "mission/devices/Tmp1075Handler.h"
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
-#include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
 #include "mission/system/objects/AcsBoardAssembly.h"
@@ -227,8 +225,10 @@ void ObjectFactory::createTmpComponents() {
 }
 
 void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                                  SpiComIF** spiComIF, I2cComIF** i2cComIF) {
+                                                  SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
-  if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
+                                                  SpiComIF** spiRWComIF) {
+  if (gpioComIF == nullptr or uartComIF == nullptr or spiMainComIF == nullptr or
+      spiRWComIF == nullptr) {
     sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                << std::endl;
   }
@@ -238,8 +238,8 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
   new CspComIF(objects::CSP_COM_IF);
   *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
   *uartComIF = new UartComIF(objects::UART_COM_IF);
-  *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
+  *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, *gpioComIF);
-
+  *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, *gpioComIF);
   /* Adding gpios for chip select decoding to the gpioComIf */
   q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
 }
@@ -297,12 +297,13 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
   gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
                                     Levels::LOW);
   gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
-  gpioComIF->addGpios(gpioCookieRadSensor);
+  gpioChecker(gpioComIF->addGpios(gpioCookieRadSensor), "RAD sensor");
 
-  SpiCookie* spiCookieRadSensor = new SpiCookie(
+  SpiCookie* spiCookieRadSensor =
-      addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
+      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE,
-      RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
+                    spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
-  auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF,
+  spiCookieRadSensor->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RAD_SENSOR_CS_TIMEOUT);
+  auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF,
                                               spiCookieRadSensor, gpioComIF);
   static_cast<void>(radSensor);
   // The radiation sensor ADC is powered by the 5V stack connector which should always be on
@@ -413,16 +414,16 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
                                     Levels::LOW);
   gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
-  gpioComIF->addGpios(gpioCookieAcsBoard);
+  gpioChecker(gpioComIF->addGpios(gpioCookieAcsBoard), "ACS Board");
   AcsBoardFdir* fdir = nullptr;
   static_cast<void>(fdir);
 
 #if OBSW_ADD_ACS_HANDLERS == 1
   std::string spiDev = q7s::SPI_DEFAULT_DEV;
   SpiCookie* spiCookie =
-      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
+      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
-                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
+  auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
                                               spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
   mgmLis3Handler->setCustomFdir(fdir);
@@ -435,10 +436,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   mgmLis3Handler->enablePeriodicPrintouts(true, 10);
 #endif
   spiCookie =
-      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
+      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
-                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
+  auto mgmRm3100Handler =
-                                               spiCookie, spi::RM3100_TRANSITION_DELAY);
+      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                           spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
   mgmRm3100Handler->setCustomFdir(fdir);
   mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
@@ -451,9 +453,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
 #endif
   spiCookie =
-      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
+      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
-                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
+  mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF,
                                          spiCookie, spi::LIS3_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
   mgmLis3Handler->setCustomFdir(fdir);
@@ -467,9 +469,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   mgmLis3Handler->enablePeriodicPrintouts(true, 10);
 #endif
   spiCookie =
-      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
+      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
-                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
+  mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF,
                                           spiCookie, spi::RM3100_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
   mgmRm3100Handler->setCustomFdir(fdir);
@@ -483,11 +485,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #endif
   // Commented until ACS board V2 in in clean room again
   // Gyro 0 Side A
-  spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
+  spiCookie =
-                            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
-                            spi::DEFAULT_ADIS16507_SPEED);
+                    spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
-  auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
+  auto adisHandler =
-                                              spiCookie, ADIS1650X::Type::ADIS16505);
+      new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                               ADIS1650X::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
   adisHandler->setParent(objects::ACS_BOARD_ASS);
@@ -500,11 +503,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   adisHandler->enablePeriodicPrintouts(true, 10);
 #endif
   // Gyro 1 Side A
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
-      new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
                             spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
+  auto gyroL3gHandler = new GyroHandlerL3GD20H(
-                                               spiCookie, spi::L3G_TRANSITION_DELAY);
+      objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
   gyroL3gHandler->setCustomFdir(fdir);
   gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
@@ -517,10 +519,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   gyroL3gHandler->enablePeriodicPrintouts(true, 10);
 #endif
   // Gyro 2 Side B
-  spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
+  spiCookie =
-                            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
-                            spi::DEFAULT_ADIS16507_SPEED);
+                    spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
-  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
                                          spiCookie, ADIS1650X::Type::ADIS16505);
   fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
   adisHandler->setCustomFdir(fdir);
@@ -530,10 +532,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   adisHandler->setToGoToNormalModeImmediately();
 #endif
   // Gyro 3 Side B
-  spiCookie =
+  spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
-      new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
                             spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
+  gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF,
                                           spiCookie, spi::L3G_TRANSITION_DELAY);
   fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
   gyroL3gHandler->setCustomFdir(fdir);
@@ -569,7 +570,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 
-void ObjectFactory::createHeaterComponents() {
+void ObjectFactory::createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher,
+                                           HealthTableIF* healthTable) {
   using namespace gpio;
   GpioCookie* heaterGpiosCookie = new GpioCookie;
   GpiodRegularByLineName* gpio = nullptr;
@@ -610,8 +612,21 @@ void ObjectFactory::createHeaterComponents() {
                                     Levels::LOW);
   heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
 
-  new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
+  gpioIF->addGpios(heaterGpiosCookie);
-                    objects::PCDU_HANDLER, pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
+
+  HeaterHelper helper({{
+      {new HealthDevice(objects::HEATER_0_PLOC_PROC_BRD, MessageQueueIF::NO_QUEUE),
+       gpioIds::HEATER_0},
+      {new HealthDevice(objects::HEATER_1_PCDU_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_1},
+      {new HealthDevice(objects::HEATER_2_ACS_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_2},
+      {new HealthDevice(objects::HEATER_3_OBC_BRD, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_3},
+      {new HealthDevice(objects::HEATER_4_CAMERA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_4},
+      {new HealthDevice(objects::HEATER_5_STR, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_5},
+      {new HealthDevice(objects::HEATER_6_DRO, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_6},
+      {new HealthDevice(objects::HEATER_7_HPA, MessageQueueIF::NO_QUEUE), gpioIds::HEATER_7},
+  }});
+  new HeaterHandler(objects::HEATER_HANDLER, gpioIF, helper, pwrSwitcher,
+                    pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
 }
 
 void ObjectFactory::createSolarArrayDeploymentComponents() {
@@ -660,7 +675,7 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
                                                     consumer.str(), Direction::OUT, Levels::HIGH);
   auto mpsocGpioCookie = new GpioCookie;
   mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
-  gpioComIF->addGpios(mpsocGpioCookie);
+  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);
@@ -673,22 +688,24 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
   consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
   auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(),
-                                                   Direction::OUT, Levels::HIGH);
+                                                   Direction::OUT, Levels::LOW);
   auto supvGpioCookie = new GpioCookie;
   supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
   gpioComIF->addGpios(supvGpioCookie);
-  auto supervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
+  auto supervisorCookie =
-                                         q7s::UART_PLOC_SUPERVSIOR_DEV, uart::PLOC_SUPERVISOR_BAUD,
+      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV,
-                                         supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
+                     uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
   supervisorCookie->setNoFixedSizeReply();
+  auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
   new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
                             supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-                            pcdu::PDU1_CH6_PLOC_12V);
+                            pcdu::PDU1_CH6_PLOC_12V, supvHelper);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   static_cast<void>(consumer);
 }
 
-void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
+void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
+                                                  PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
   GpioCookie* gpioCookieRw = new GpioCookie;
   GpioCallback* csRw1 =
@@ -730,50 +747,38 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
                                     Levels::LOW);
   gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
 
-  gpioComIF->addGpios(gpioCookieRw);
+  gpioChecker(gpioComIF->addGpios(gpioCookieRw), "RWs");
 
 #if OBSW_ADD_RW == 1
-  auto rw1SpiCookie =
+  std::array<std::pair<address_t, gpioId_t>, 4> rwCookieParams = {
-      new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
+      {{addresses::RW1, gpioIds::CS_RW1},
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
+       {addresses::RW2, gpioIds::CS_RW2},
-  auto rw2SpiCookie =
+       {addresses::RW3, gpioIds::CS_RW3},
-      new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
+       {addresses::RW4, gpioIds::CS_RW4}}};
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
+  std::array<SpiCookie*, 4> rwCookies = {};
-  auto rw3SpiCookie =
+  std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
-      new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
+  std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
+                                       gpioIds::EN_RW4};
-  auto rw4SpiCookie =
+  std::array<RwHandler*, 4> rws = {};
-      new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
+  for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
+    rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
+                                   RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
+                                   &rwSpiCallback::spiCallback, nullptr);
+    rws[idx] = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
+                             rwGpioIds[idx]);
+    rwCookies[idx]->setCallbackArgs(rws[idx]);
+#if OBSW_TEST_RW == 1
+    rws[idx]->setStartUpImmediately();
+#endif
+#if OBSW_DEBUG_RW == 1
+    rws[idx]->setDebugMode(true);
+#endif
+  }
 
-  auto rwHandler1 =
+  RwHelper rwHelper(rwIds);
-      new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
+  auto* rwAss = new RwAssembly(objects::RW_ASS, objects::NO_OBJECT, pwrSwitcher,
-  rw1SpiCookie->setCallbackArgs(rwHandler1);
+                               pcdu::Switches::PDU2_CH2_RW_5V, rwHelper);
-#if OBSW_DEBUG_RW == 1
+  static_cast<void>(rwAss);
-  rwHandler1->setStartUpImmediately();
-  rwHandler1->setDebugMode(true);
-#endif
-  auto rwHandler2 =
-      new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
-  rw2SpiCookie->setCallbackArgs(rwHandler2);
-#if OBSW_DEBUG_RW == 1
-  rwHandler2->setStartUpImmediately();
-  rwHandler2->setDebugMode(true);
-#endif
-  auto rwHandler3 =
-      new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
-  rw3SpiCookie->setCallbackArgs(rwHandler3);
-#if OBSW_DEBUG_RW == 1
-  rwHandler3->setStartUpImmediately();
-  rwHandler3->setDebugMode(true);
-#endif
-  auto rwHandler4 =
-      new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
-  rw4SpiCookie->setCallbackArgs(rwHandler4);
-#if OBSW_DEBUG_RW == 1
-  rwHandler4->setStartUpImmediately();
-  rwHandler4->setDebugMode(true);
-#endif
 #endif /* OBSW_ADD_RW == 1 */
 }
 
@@ -812,7 +817,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
   gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
 
-  gpioComIF->addGpios(gpioCookiePtmeIp);
+  gpioChecker(gpioComIF->addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");
 
   // Creating virtual channel interfaces
   VcInterfaceIF* vc0 =
@@ -866,7 +871,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
                                     Levels::LOW);
   gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
 
-  gpioComIF->addGpios(gpioCookiePdec);
+  gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");
 
   new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
                   q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
@@ -887,7 +892,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
                                     Direction::OUT, Levels::LOW);
   gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
 
-  gpioComIF->addGpios(gpioRS485Chip);
+  gpioChecker(gpioComIF->addGpios(gpioRS485Chip), "RS485 Transceiver");
 }
 
 void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
@@ -932,14 +937,14 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
   gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, Direction::OUT,
                                     gpio::Levels::HIGH);
   plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
-  gpioComIF->addGpios(plPcduGpios);
+  gpioChecker(gpioComIF->addGpios(plPcduGpios), "PL PCDU");
-  SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS,
+  SpiCookie* spiCookie =
-                                       q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
+      new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, plpcdu::MAX_ADC_REPLY_SIZE,
                     spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
   // Create device handler components
   auto plPcduHandler = new PayloadPcduHandler(
-      objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF, SdCardManager::instance(),
+      objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, gpioComIF,
-      pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
+      SdCardManager::instance(), pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
       pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
   spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
 //  plPcduHandler->enablePeriodicPrintout(true, 5);
@@ -966,6 +971,50 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #endif
 }
 
+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);
+  starTrackerCookie->setNoFixedSizeReply();
+  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
+  auto starTracker =
+      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
+                             strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
+  starTracker->setPowerSwitcher(pwrSwitcher);
+}
+
+void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
+  I2cCookie* imtqI2cCookie =
+      new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
+  auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
+                                     pcdu::Switches::PDU1_CH3_MGT_5V);
+  imtqHandler->setPowerSwitcher(pwrSwitcher);
+  static_cast<void>(imtqHandler);
+#if OBSW_TEST_IMTQ == 1
+  imtqHandler->setStartUpImmediately();
+  imtqHandler->setToGoToNormal(true);
+#endif
+#if OBSW_DEBUG_IMTQ == 1
+  imtqHandler->setDebugMode(true);
+#endif
+}
+
+void ObjectFactory::createBpxBatteryComponent() {
+  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
+  BpxBatteryHandler* bpxHandler =
+      new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
+  bpxHandler->setStartUpImmediately();
+  bpxHandler->setToGoToNormalMode(true);
+#if OBSW_DEBUG_BPX_BATT == 1
+  bpxHandler->setDebugMode(true);
+#endif
+}
+
+void ObjectFactory::createMiscComponents() {
+  new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
+  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
+}
+
 void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
   CommandMessage msg;
   ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,

bsp_q7s/core/ObjectFactory.h

@@ -1,12 +1,18 @@
 #ifndef BSP_Q7S_OBJECTFACTORY_H_
 #define BSP_Q7S_OBJECTFACTORY_H_
 
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include <string>
+
 class LinuxLibgpioIF;
 class UartComIF;
 class SpiComIF;
 class I2cComIF;
 class PowerSwitchIF;
+class HealthTableIF;
 class AcsBoardAssembly;
+class GpioIF;
 
 namespace ObjectFactory {
 
@@ -14,7 +20,8 @@ void setStatics();
 void produce(void* args);
 
 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                   SpiComIF** spiComIF, I2cComIF** i2cComIF);
+                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
+                                   SpiComIF** spiRwComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
                             PowerSwitchIF* pwrSwitcher);
@@ -22,12 +29,17 @@ void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
-void createHeaterComponents();
+void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
+void createImtqComponents(PowerSwitchIF* pwrSwitcher);
+void createBpxBatteryComponent();
+void createStrComponents(PowerSwitchIF* pwrSwitcher);
 void createSolarArrayDeploymentComponents();
 void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
-void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
+void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
 void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
+void createMiscComponents();
+
 void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
 void testAcsBrdAss(AcsBoardAssembly* assAss);

bsp_q7s/em/CMakeLists.txt

@@ -1,3 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE emObjectFactory.cpp)
-    emObjectFactory.cpp
-)

bsp_q7s/em/emObjectFactory.cpp

@@ -1,153 +1,42 @@
-#include <mission/system/fdir/GomspacePowerFdir.h>
+#include <fsfw/health/HealthTableIF.h>
-#include <mission/system/fdir/SyrlinksFdir.h>
 
 #include "OBSWConfig.h"
-#include "bsp_q7s/boardtest/Q7STestTask.h"
-#include "bsp_q7s/callbacks/gnssCallback.h"
-#include "bsp_q7s/callbacks/pcduSwitchCb.h"
-#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
-#include "bsp_q7s/callbacks/rwSpiCallback.h"
 #include "bsp_q7s/core/CoreController.h"
 #include "bsp_q7s/core/ObjectFactory.h"
-#include "bsp_q7s/memory/FileSystemHandler.h"
 #include "busConf.h"
-#include "ccsdsConfig.h"
+#include "commonObjects.h"
 #include "devConf.h"
-#include "devices/addresses.h"
-#include "devices/gpioIds.h"
-#include "devices/powerSwitcherList.h"
-#include "fsfw/ipc/QueueFactory.h"
-#include "linux/ObjectFactory.h"
-#include "linux/boardtest/I2cTestClass.h"
-#include "linux/boardtest/SpiTestClass.h"
-#include "linux/boardtest/UartTestClass.h"
-#include "linux/callbacks/gpioCallbacks.h"
-#include "linux/csp/CspComIF.h"
-#include "linux/csp/CspCookie.h"
-#include "linux/devices/GPSHyperionLinuxController.h"
-#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
-#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
-#include "linux/devices/ploc/PlocMPSoCHandler.h"
-#include "linux/devices/ploc/PlocMPSoCHelper.h"
-#include "linux/devices/ploc/PlocMemoryDumper.h"
-#include "linux/devices/ploc/PlocSupervisorHandler.h"
-#include "linux/devices/ploc/PlocUpdater.h"
-#include "linux/devices/startracker/StarTrackerHandler.h"
-#include "linux/devices/startracker/StrHelper.h"
-#include "linux/obc/AxiPtmeConfig.h"
-#include "linux/obc/PapbVcInterface.h"
-#include "linux/obc/PdecHandler.h"
-#include "linux/obc/Ptme.h"
-#include "linux/obc/PtmeConfig.h"
-#include "mission/system/SusAssembly.h"
-#include "mission/system/TcsBoardAssembly.h"
-#include "mission/system/fdir/AcsBoardFdir.h"
-#include "mission/system/fdir/RtdFdir.h"
-#include "mission/system/fdir/SusFdir.h"
-#include "tmtc/apid.h"
-#include "tmtc/pusIds.h"
-#if OBSW_TEST_LIBGPIOD == 1
-#include "linux/boardtest/LibgpiodTest.h"
-#endif
-#include <sstream>
-
-#include "fsfw/datapoollocal/LocalDataPoolManager.h"
-#include "fsfw/tmtcpacket/pus/tm.h"
-#include "fsfw/tmtcservices/CommandingServiceBase.h"
-#include "fsfw/tmtcservices/PusServiceBase.h"
-#include "fsfw_hal/common/gpio/GpioCookie.h"
-#include "fsfw_hal/common/gpio/gpioDefinitions.h"
-#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
-#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
-#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
-#include "fsfw_hal/linux/i2c/I2cComIF.h"
+#include "linux/ObjectFactory.h"
-#include "fsfw_hal/linux/i2c/I2cCookie.h"
+#include "linux/callbacks/gpioCallbacks.h"
-#include "fsfw_hal/linux/spi/SpiComIF.h"
-#include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "fsfw_hal/linux/uart/UartComIF.h"
-#include "fsfw_hal/linux/uart/UartCookie.h"
 #include "mission/core/GenericFactory.h"
-#include "mission/devices/ACUHandler.h"
-#include "mission/devices/BpxBatteryHandler.h"
-#include "mission/devices/GyroADIS1650XHandler.h"
-#include "mission/devices/HeaterHandler.h"
-#include "mission/devices/IMTQHandler.h"
-#include "mission/devices/Max31865PT1000Handler.h"
-#include "mission/devices/P60DockHandler.h"
-#include "mission/devices/PCDUHandler.h"
-#include "mission/devices/PDU1Handler.h"
-#include "mission/devices/PDU2Handler.h"
-#include "mission/devices/PayloadPcduHandler.h"
-#include "mission/devices/RadiationSensorHandler.h"
-#include "mission/devices/RwHandler.h"
-#include "mission/devices/SolarArrayDeploymentHandler.h"
-#include "mission/devices/SusHandler.h"
-#include "mission/devices/SyrlinksHkHandler.h"
-#include "mission/devices/Tmp1075Handler.h"
-#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
-#include "mission/devices/devicedefinitions/Max31865Definitions.h"
-#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
-#include "mission/devices/devicedefinitions/RwDefinitions.h"
-#include "mission/devices/devicedefinitions/SusDefinitions.h"
-#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
-#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
-#include "mission/system/AcsBoardAssembly.h"
-#include "mission/tmtc/CCSDSHandler.h"
-#include "mission/tmtc/VirtualChannel.h"
-#include "mission/utility/TmFunnel.h"
-ResetArgs resetArgsGnss0;
-ResetArgs resetArgsGnss1;
-
-void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); }
-
-void Factory::setStaticFrameworkObjectIds() {
-  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::packetDestination = objects::TM_FUNNEL;
-
-  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
-
-  DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
-  //  DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
-#if OBSW_TM_TO_PTME == 1
-  TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
-#else
-  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
-#endif /* OBSW_TM_TO_PTME == 1 */
-  // No storage object for now.
-  TmFunnel::storageDestination = objects::NO_OBJECT;
-
-  LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
-
-  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
-}
 
 void ObjectFactory::produce(void* args) {
   ObjectFactory::setStatics();
-  ObjectFactory::produceGenericObjects();
+  HealthTableIF* healthTable = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable);
 
   LinuxLibgpioIF* gpioComIF = nullptr;
   UartComIF* uartComIF = nullptr;
-  SpiComIF* spiComIF = nullptr;
+  SpiComIF* spiMainComIF = nullptr;
   I2cComIF* i2cComIF = nullptr;
   PowerSwitchIF* pwrSwitcher = nullptr;
-  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
+  SpiComIF* spiRwComIF = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
   createTmpComponents();
   new CoreController(objects::CORE_CONTROLLER);
 
   gpioCallbacks::disableAllDecoder(gpioComIF);
   createPcduComponents(gpioComIF, &pwrSwitcher);
   createRadSensorComponent(gpioComIF);
-  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
 
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
-  createHeaterComponents();
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
   createSolarArrayDeploymentComponents();
-  createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents(pwrSwitcher);
 #endif /* OBSW_ADD_SYRLINKS == 1 */
@@ -155,45 +44,16 @@ void ObjectFactory::produce(void* args) {
   createPayloadComponents(gpioComIF);
 
 #if OBSW_ADD_MGT == 1
-  I2cCookie* imtqI2cCookie =
+  createImtqComponents(pwrSwitcher);
-      new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
-  auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
-                                     pcdu::Switches::PDU1_CH3_MGT_5V);
-  imtqHandler->setPowerSwitcher(pwrSwitcher);
-  static_cast<void>(imtqHandler);
-#if OBSW_TEST_IMTQ == 1
-  imtqHandler->setStartUpImmediately();
-  imtqHandler->setToGoToNormal(true);
 #endif
-#if OBSW_DEBUG_IMTQ == 1
+  createReactionWheelComponents(gpioComIF, pwrSwitcher);
-  imtqHandler->setDebugMode(true);
-#endif
-#endif
-  createReactionWheelComponents(gpioComIF);
 
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
-  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
+  createBpxBatteryComponent();
-  BpxBatteryHandler* bpxHandler =
-      new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
-  bpxHandler->setStartUpImmediately();
-  bpxHandler->setToGoToNormalMode(true);
-#if OBSW_DEBUG_BPX_BATT == 1
-  bpxHandler->setDebugMode(true);
 #endif
-#endif
-  new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
 
 #if OBSW_ADD_STAR_TRACKER == 1
-  UartCookie* starTrackerCookie =
+  createStrComponents(pwrSwitcher);
-      new UartCookie(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 =
-      new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
-                             strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
-  starTracker->setPowerSwitcher(pwrSwitcher);
-
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 #if OBSW_USE_CCSDS_IP_CORE == 1
   createCcsdsComponents(gpioComIF);
@@ -202,771 +62,6 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_TEST_CODE == 1
   createTestComponents(gpioComIF);
 #endif /* OBSW_ADD_TEST_CODE == 1 */
-  new PlocUpdater(objects::PLOC_UPDATER);
+
-  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
+  createMiscComponents();
-}
-
-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);
-
-  /* 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;
-}
-
-void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                                  SpiComIF** spiComIF, I2cComIF** i2cComIF) {
-  if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
-    sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
-               << std::endl;
-  }
-  *gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
-
-  /* Communication interfaces */
-  new CspComIF(objects::CSP_COM_IF);
-  *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
-  *uartComIF = new UartComIF(objects::UART_COM_IF);
-  *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
-
-  /* Adding gpios for chip select decoding to the gpioComIf */
-  q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
-}
-
-void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
-  CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
-  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
-  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
-  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
-
-  auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
-  P60DockHandler* p60dockhandler =
-      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie, p60Fdir);
-
-  auto pdu1Fdir = new GomspacePowerFdir(objects::PDU1_HANDLER);
-  PDU1Handler* pdu1handler =
-      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie, pdu1Fdir);
-
-  auto pdu2Fdir = new GomspacePowerFdir(objects::PDU2_HANDLER);
-  PDU2Handler* pdu2handler =
-      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir);
-
-  auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
-  ACUHandler* acuhandler =
-      new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
-  auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
-
-  /**
-   * Setting PCDU devices to mode normal immediately after start up because PCDU is always
-   * running.
-   */
-  p60dockhandler->setModeNormal();
-  pdu1handler->setModeNormal();
-  pdu2handler->setModeNormal();
-  acuhandler->setModeNormal();
-  if (pwrSwitcher != nullptr) {
-    *pwrSwitcher = pcduHandler;
-  }
-#if OBSW_DEBUG_P60DOCK == 1
-  p60dockhandler->setDebugMode(true);
-#endif
-#if OBSW_DEBUG_ACU == 1
-  acuhandler->setDebugMode(true);
-#endif
-}
-
-void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
-  using namespace gpio;
-  GpioCookie* gpioCookieRadSensor = new GpioCookie;
-  std::stringstream consumer;
-  consumer << "0x" << std::hex << objects::RAD_SENSOR;
-  GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
-      q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), Direction::OUT, Levels::HIGH);
-  gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_RADFET, consumer.str(), Direction::OUT,
-                                    Levels::LOW);
-  gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio);
-  gpioComIF->addGpios(gpioCookieRadSensor);
-
-  SpiCookie* spiCookieRadSensor = new SpiCookie(
-      addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
-      RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
-  auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF,
-                                              spiCookieRadSensor, gpioComIF);
-  static_cast<void>(radSensor);
-  // The radiation sensor ADC is powered by the 5V stack connector which should always be on
-  radSensor->setStartUpImmediately();
-  // It's a simple sensor, so just to to normal mode immediately
-  radSensor->setToGoToNormalModeImmediately();
-#if OBSW_DEBUG_RAD_SENSOR == 1
-  radSensor->enablePeriodicDataPrint(true);
-#endif
-}
-
-void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
-                                             PowerSwitchIF* pwrSwitcher) {
-  using namespace gpio;
-  GpioCookie* gpioCookieAcsBoard = new GpioCookie();
-
-  std::stringstream consumer;
-  GpiodRegularByLineName* gpio = nullptr;
-  consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), Direction::OUT,
-                                    Levels::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(), Direction::OUT,
-                                    Levels::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(), Direction::OUT,
-                                    Levels::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(), Direction::OUT,
-                                    Levels::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(), Direction::OUT,
-                                    Levels::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(), Direction::OUT,
-                                    Levels::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(), Direction::OUT,
-                                    Levels::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(), Direction::OUT,
-                                    Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
-
-  consumer.str("");
-  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
-  // GNSS reset pins are active low
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), Direction::OUT,
-                                    Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
-
-  consumer.str("");
-  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), Direction::OUT,
-                                    Levels::HIGH);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
-
-  consumer.str("");
-  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(), Direction::OUT,
-                                    Levels::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(), Direction::OUT,
-                                    Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
-
-  // Enable pins for GNSS
-  consumer.str("");
-  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(), Direction::OUT,
-                                    Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
-
-  consumer.str("");
-  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), Direction::OUT,
-                                    Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
-
-  // Select pin. 0 for GPS side A, 1 for GPS side B
-  consumer.str("");
-  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
-                                    Levels::LOW);
-  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
-  gpioComIF->addGpios(gpioCookieAcsBoard);
-  AcsBoardFdir* fdir = nullptr;
-  static_cast<void>(fdir);
-
-#if OBSW_ADD_ACS_HANDLERS == 1
-  std::string spiDev = q7s::SPI_DEFAULT_DEV;
-  SpiCookie* spiCookie =
-      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
-                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
-                                              spiCookie, spi::LIS3_TRANSITION_DELAY);
-  fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
-  mgmLis3Handler->setCustomFdir(fdir);
-  static_cast<void>(mgmLis3Handler);
-#if OBSW_TEST_ACS == 1
-  mgmLis3Handler->setStartUpImmediately();
-  mgmLis3Handler->setToGoToNormalMode(true);
-#endif
-#if OBSW_DEBUG_ACS == 1
-  mgmLis3Handler->enablePeriodicPrintouts(true, 10);
-#endif
-  spiCookie =
-      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
-                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
-                                               spiCookie, spi::RM3100_TRANSITION_DELAY);
-  fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
-  mgmRm3100Handler->setCustomFdir(fdir);
-  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(mgmRm3100Handler);
-#if OBSW_TEST_ACS == 1
-  mgmRm3100Handler->setStartUpImmediately();
-  mgmRm3100Handler->setToGoToNormalMode(true);
-#endif
-#if OBSW_DEBUG_ACS == 1
-  mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
-#endif
-  spiCookie =
-      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
-                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
-                                         spiCookie, spi::LIS3_TRANSITION_DELAY);
-  fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
-  mgmLis3Handler->setCustomFdir(fdir);
-  mgmLis3Handler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(mgmLis3Handler);
-#if OBSW_TEST_ACS == 1
-  mgmLis3Handler->setStartUpImmediately();
-  mgmLis3Handler->setToGoToNormalMode(true);
-#endif
-#if OBSW_DEBUG_ACS == 1
-  mgmLis3Handler->enablePeriodicPrintouts(true, 10);
-#endif
-  spiCookie =
-      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
-                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
-                                          spiCookie, spi::RM3100_TRANSITION_DELAY);
-  fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
-  mgmRm3100Handler->setCustomFdir(fdir);
-  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
-#if OBSW_TEST_ACS == 1
-  mgmRm3100Handler->setStartUpImmediately();
-  mgmRm3100Handler->setToGoToNormalMode(true);
-#endif
-#if OBSW_DEBUG_ACS == 1
-  mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
-#endif
-  // Commented until ACS board V2 in in clean room again
-  // Gyro 0 Side A
-  spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-                            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
-                            spi::DEFAULT_ADIS16507_SPEED);
-  auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
-                                              spiCookie, ADIS1650X::Type::ADIS16505);
-  fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
-  adisHandler->setCustomFdir(fdir);
-  adisHandler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(adisHandler);
-#if OBSW_TEST_ACS == 1
-  adisHandler->setStartUpImmediately();
-  adisHandler->setToGoToNormalModeImmediately();
-#endif
-#if OBSW_DEBUG_ACS == 1
-  adisHandler->enablePeriodicPrintouts(true, 10);
-#endif
-  // Gyro 1 Side A
-  spiCookie =
-      new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
-                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
-                                               spiCookie, spi::L3G_TRANSITION_DELAY);
-  fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
-  gyroL3gHandler->setCustomFdir(fdir);
-  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
-  static_cast<void>(gyroL3gHandler);
-#if OBSW_TEST_ACS == 1
-  gyroL3gHandler->setStartUpImmediately();
-  gyroL3gHandler->setToGoToNormalMode(true);
-#endif
-#if OBSW_DEBUG_ACS == 1
-  gyroL3gHandler->enablePeriodicPrintouts(true, 10);
-#endif
-  // Gyro 2 Side B
-  spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
-                            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
-                            spi::DEFAULT_ADIS16507_SPEED);
-  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
-                                         spiCookie, ADIS1650X::Type::ADIS16505);
-  fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
-  adisHandler->setCustomFdir(fdir);
-  adisHandler->setParent(objects::ACS_BOARD_ASS);
-#if OBSW_TEST_ACS == 1
-  adisHandler->setStartUpImmediately();
-  adisHandler->setToGoToNormalModeImmediately();
-#endif
-  // Gyro 3 Side B
-  spiCookie =
-      new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
-                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
-                                          spiCookie, spi::L3G_TRANSITION_DELAY);
-  fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
-  gyroL3gHandler->setCustomFdir(fdir);
-  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
-#if OBSW_TEST_ACS == 1
-  gyroL3gHandler->setStartUpImmediately();
-  gyroL3gHandler->setToGoToNormalMode(true);
-#endif
-#if OBSW_DEBUG_ACS == 1
-  gyroL3gHandler->enablePeriodicPrintouts(true, 10);
-#endif
-  bool debugGps = false;
-#if OBSW_DEBUG_GPS == 1
-  debugGps = true;
-#endif
-  resetArgsGnss1.gnss1 = true;
-  resetArgsGnss1.gpioComIF = gpioComIF;
-  resetArgsGnss1.waitPeriodMs = 100;
-  resetArgsGnss0.gnss1 = false;
-  resetArgsGnss0.gpioComIF = gpioComIF;
-  resetArgsGnss0.waitPeriodMs = 100;
-  auto gpsHandler0 =
-      new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
-  gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
-
-  AcsBoardHelper acsBoardHelper = AcsBoardHelper(
-      objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
-      objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
-      objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
-  auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
-                                     acsBoardHelper, gpioComIF);
-  static_cast<void>(acsAss);
-#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
-}
-
-void ObjectFactory::createHeaterComponents() {
-  using namespace gpio;
-  GpioCookie* heaterGpiosCookie = new GpioCookie;
-  GpiodRegularByLineName* gpio = nullptr;
-
-  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(), Direction::OUT,
-                                    Levels::LOW);
-  heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpio);
-  /* Pin H2-12 on stack connector */
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), Direction::OUT,
-                                    Levels::LOW);
-  heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpio);
-
-  /* Pin H2-13 on stack connector */
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), Direction::OUT,
-                                    Levels::LOW);
-  heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
-
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(), Direction::OUT,
-                                    Levels::LOW);
-  heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
-
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(), Direction::OUT,
-                                    Levels::LOW);
-  heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
-
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(), Direction::OUT,
-                                    Levels::LOW);
-  heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
-
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(), Direction::OUT,
-                                    Levels::LOW);
-  heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
-
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(), Direction::OUT,
-                                    Levels::LOW);
-  heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
-
-  new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
-                    objects::PCDU_HANDLER, pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
-}
-
-void ObjectFactory::createSolarArrayDeploymentComponents() {
-  using namespace gpio;
-  GpioCookie* solarArrayDeplCookie = new GpioCookie;
-  GpiodRegularByLineName* gpio = nullptr;
-
-  std::stringstream consumer;
-  consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0, consumer.str(), Direction::OUT,
-                                    Levels::LOW);
-  solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), Direction::OUT,
-                                    Levels::LOW);
-  solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
-
-  // TODO: Find out burn time. For now set to 1000 ms.
-  new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
-                                  solarArrayDeplCookie, objects::PCDU_HANDLER,
-                                  pcdu::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
-                                  gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
-}
-
-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);
-  syrlinksUartCookie->setParityEven();
-
-  auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HK_HANDLER);
-  auto syrlinksHandler =
-      new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
-                            pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir);
-  syrlinksHandler->setPowerSwitcher(pwrSwitcher);
-#if OBSW_DEBUG_SYRLINKS == 1
-  syrlinksHandler->setDebugMode(true);
-#endif
-}
-
-void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
-  using namespace gpio;
-  std::stringstream consumer;
-#if OBSW_ADD_PLOC_MPSOC == 1
-  consumer << "0x" << std::hex << objects::PLOC_MPSOC_HANDLER;
-  auto gpioConfigMPSoC = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_MPSOC_UART,
-                                                    consumer.str(), Direction::OUT, Levels::HIGH);
-  auto mpsocGpioCookie = new GpioCookie;
-  mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC);
-  gpioComIF->addGpios(mpsocGpioCookie);
-  auto mpsocCookie =
-      new UartCookie(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);
-  new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
-                       plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
-                       objects::PLOC_SUPERVISOR_HANDLER);
-#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  consumer << "0x" << std::hex << objects::PLOC_SUPERVISOR_HANDLER;
-  auto gpioConfigSupv = new GpiodRegularByLineName(q7s::gpioNames::ENABLE_SUPV_UART, consumer.str(),
-                                                   Direction::OUT, Levels::HIGH);
-  auto supvGpioCookie = new GpioCookie;
-  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_SUPERVISOR_BAUD,
-                                         supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL);
-  supervisorCookie->setNoFixedSizeReply();
-  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
-                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
-                            pcdu::PDU1_CH6_PLOC_12V);
-#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
-  static_cast<void>(consumer);
-}
-
-void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
-  using namespace gpio;
-  GpioCookie* gpioCookieRw = new GpioCookie;
-  GpioCallback* csRw1 =
-      new GpioCallback("Chip select reaction wheel 1", Direction::OUT, Levels::HIGH,
-                       &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
-  GpioCallback* csRw2 =
-      new GpioCallback("Chip select reaction wheel 2", Direction::OUT, Levels::HIGH,
-                       &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
-  GpioCallback* csRw3 =
-      new GpioCallback("Chip select reaction wheel 3", Direction::OUT, Levels::HIGH,
-                       &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
-  GpioCallback* csRw4 =
-      new GpioCallback("Chip select reaction wheel 4", Direction::OUT, Levels::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(), Direction::OUT,
-                                    Levels::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(), Direction::OUT,
-                                    Levels::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(), Direction::OUT,
-                                    Levels::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(), Direction::OUT,
-                                    Levels::LOW);
-  gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
-
-  gpioComIF->addGpios(gpioCookieRw);
-
-#if OBSW_ADD_RW == 1
-  auto rw1SpiCookie =
-      new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
-  auto rw2SpiCookie =
-      new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
-  auto rw3SpiCookie =
-      new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
-  auto rw4SpiCookie =
-      new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
-                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
-
-  auto rwHandler1 =
-      new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1);
-  rw1SpiCookie->setCallbackArgs(rwHandler1);
-#if OBSW_DEBUG_RW == 1
-  rwHandler1->setStartUpImmediately();
-  rwHandler1->setDebugMode(true);
-#endif
-  auto rwHandler2 =
-      new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
-  rw2SpiCookie->setCallbackArgs(rwHandler2);
-#if OBSW_DEBUG_RW == 1
-  rwHandler2->setStartUpImmediately();
-  rwHandler2->setDebugMode(true);
-#endif
-  auto rwHandler3 =
-      new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
-  rw3SpiCookie->setCallbackArgs(rwHandler3);
-#if OBSW_DEBUG_RW == 1
-  rwHandler3->setStartUpImmediately();
-  rwHandler3->setDebugMode(true);
-#endif
-  auto rwHandler4 =
-      new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
-  rw4SpiCookie->setCallbackArgs(rwHandler4);
-#if OBSW_DEBUG_RW == 1
-  rwHandler4->setStartUpImmediately();
-  rwHandler4->setDebugMode(true);
-#endif
-#endif /* OBSW_ADD_RW == 1 */
-}
-
-void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
-  using namespace gpio;
-  // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
-  GpioCookie* gpioCookiePtmeIp = new GpioCookie;
-  GpiodRegularByLineName* gpio = nullptr;
-  std::stringstream consumer;
-  consumer.str("PAPB VC0");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
-  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
-  consumer.str("PAPB VC0");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
-  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
-  consumer.str("PAPB VC 1");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
-  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
-  consumer.str("");
-  consumer.str("PAPB VC 1");
-  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
-  consumer.str("");
-  consumer.str("PAPB VC 2");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
-  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
-  consumer.str("");
-  consumer.str("PAPB VC 2");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
-  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
-  consumer.str("");
-  consumer.str("PAPB VC 3");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
-  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
-  consumer.str("");
-  consumer.str("PAPB VC 3");
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
-  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);
-
-  gpioComIF->addGpios(gpioCookiePtmeIp);
-
-  // Creating virtual channel interfaces
-  VcInterfaceIF* vc0 =
-      new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
-                          q7s::uiomapids::PTME_VC0);
-  VcInterfaceIF* vc1 =
-      new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
-                          q7s::uiomapids::PTME_VC1);
-  VcInterfaceIF* vc2 =
-      new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
-                          q7s::uiomapids::PTME_VC2);
-  VcInterfaceIF* vc3 =
-      new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
-                          q7s::uiomapids::PTME_VC3);
-
-  // Creating ptme object and adding virtual channel interfaces
-  Ptme* ptme = new Ptme(objects::PTME);
-  ptme->addVcInterface(ccsds::VC0, vc0);
-  ptme->addVcInterface(ccsds::VC1, vc1);
-  ptme->addVcInterface(ccsds::VC2, vc2);
-  ptme->addVcInterface(ccsds::VC3, vc3);
-
-  AxiPtmeConfig* axiPtmeConfig =
-      new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
-  PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
-#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
-  // Set to high value when not sending via syrlinks
-  static const uint32_t TRANSMITTER_TIMEOUT = 86400000;  // 1 day
-#else
-  static const uint32_t TRANSMITTER_TIMEOUT = 900000;  // 15 minutes
-#endif
-  CCSDSHandler* ccsdsHandler = new CCSDSHandler(
-      objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
-      gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);
-
-  VirtualChannel* vc = nullptr;
-  vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
-  vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
-  vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
-  vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
-  ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);
-
-  GpioCookie* gpioCookiePdec = new GpioCookie;
-  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(), Direction::OUT,
-                                    Levels::LOW);
-  gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
-
-  gpioComIF->addGpios(gpioCookiePdec);
-
-  new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
-                  q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);
-
-  GpioCookie* gpioRS485Chip = new GpioCookie;
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
-                                    Direction::OUT, Levels::LOW);
-  gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
-                                    Direction::OUT, Levels::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",
-                                    Direction::OUT, Levels::LOW);
-  gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
-                                    Direction::OUT, Levels::LOW);
-  gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
-
-  gpioComIF->addGpios(gpioRS485Chip);
-}
-
-void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                                           PowerSwitchIF* pwrSwitcher) {
-  using namespace gpio;
-  // Create all GPIO components first
-  GpioCookie* plPcduGpios = new GpioCookie;
-  GpiodRegularByLineName* gpio = nullptr;
-  std::string consumer;
-  // Switch pins are active high
-  consumer = "PLPCDU_ENB_VBAT_0";
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT0, consumer, Direction::OUT,
-                                    gpio::Levels::LOW);
-  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT0, gpio);
-  consumer = "PLPCDU_ENB_VBAT_1";
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT1, consumer, Direction::OUT,
-                                    gpio::Levels::LOW);
-  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT1, gpio);
-  consumer = "PLPCDU_ENB_DRO";
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_DRO, consumer, Direction::OUT,
-                                    gpio::Levels::LOW);
-  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_DRO, gpio);
-  consumer = "PLPCDU_ENB_X8";
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_X8, consumer, Direction::OUT,
-                                    gpio::Levels::LOW);
-  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_X8, gpio);
-  consumer = "PLPCDU_ENB_TX";
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_TX, consumer, Direction::OUT,
-                                    gpio::Levels::LOW);
-  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_TX, gpio);
-  consumer = "PLPCDU_ENB_MPA";
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_MPA, consumer, Direction::OUT,
-                                    gpio::Levels::LOW);
-  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_MPA, gpio);
-  consumer = "PLPCDU_ENB_HPA";
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_HPA, consumer, Direction::OUT,
-                                    gpio::Levels::LOW);
-  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_HPA, gpio);
-
-  // Chip select pin is active low
-  consumer = "PLPCDU_ADC_CS";
-  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, Direction::OUT,
-                                    gpio::Levels::HIGH);
-  plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
-  gpioComIF->addGpios(plPcduGpios);
-  SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS,
-                                       q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
-                                       spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
-  // Create device handler components
-  auto plPcduHandler = new PayloadPcduHandler(
-      objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF, SdCardManager::instance(),
-      pwrSwitcher, pcdu::Switches::PDU2_CH1_PL_PCDU_BATT_0_14V8,
-      pcdu::Switches::PDU2_CH6_PL_PCDU_BATT_1_14V8, false);
-  spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
-//  plPcduHandler->enablePeriodicPrintout(true, 5);
-//  static_cast<void>(plPcduHandler);
-#if OBSW_TEST_PL_PCDU == 1
-  plPcduHandler->setStartUpImmediately();
-#endif
-#if OBSW_DEBUG_PL_PCDU == 1
-  plPcduHandler->setToGoToNormalModeImmediately(true);
-  plPcduHandler->enablePeriodicPrintout(true, 10);
-#endif
-}
-
-void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
-  new Q7STestTask(objects::TEST_TASK);
-#if OBSW_ADD_SPI_TEST_CODE == 1
-  new SpiTestClass(objects::SPI_TEST, gpioComIF);
-#endif
-#if OBSW_ADD_I2C_TEST_CODE == 1
-  new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
-#endif
-#if OBSW_ADD_UART_TEST_CODE == 1
-  new UartTestClass(objects::UART_TEST);
-#endif
-}
-
-void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
-  CommandMessage msg;
-  ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
-                              duallane::A_SIDE);
-  ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::warning << "Sending mode command failed" << std::endl;
-  }
 }

bsp_q7s/fm/CMakeLists.txt

@@ -1,3 +0,0 @@
-target_sources(${OBSW_NAME} PRIVATE
-    fmObjectFactory.cpp
-)

bsp_q7s/fmObjectFactory.cpp

@@ -0,0 +1,67 @@
+#include "OBSWConfig.h"
+#include "bsp_q7s/core/CoreController.h"
+#include "bsp_q7s/core/ObjectFactory.h"
+#include "busConf.h"
+#include "commonObjects.h"
+#include "devConf.h"
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "linux/ObjectFactory.h"
+#include "linux/callbacks/gpioCallbacks.h"
+#include "mission/core/GenericFactory.h"
+#include "mission/system/tree/acsModeTree.h"
+
+void ObjectFactory::produce(void* args) {
+  ObjectFactory::setStatics();
+  HealthTableIF* healthTable = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable);
+
+  LinuxLibgpioIF* gpioComIF = nullptr;
+  UartComIF* uartComIF = nullptr;
+  SpiComIF* spiMainComIF = nullptr;
+  I2cComIF* i2cComIF = nullptr;
+  PowerSwitchIF* pwrSwitcher = nullptr;
+  SpiComIF* spiRwComIF = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  createTmpComponents();
+  new CoreController(objects::CORE_CONTROLLER);
+
+  gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPcduComponents(gpioComIF, &pwrSwitcher);
+  createRadSensorComponent(gpioComIF);
+  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+
+#if OBSW_ADD_ACS_BOARD == 1
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+#endif
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
+  createSolarArrayDeploymentComponents();
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
+#if OBSW_ADD_SYRLINKS == 1
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
+  createPayloadComponents(gpioComIF);
+
+#if OBSW_ADD_MGT == 1
+  createImtqComponents(pwrSwitcher);
+#endif
+  createReactionWheelComponents(gpioComIF, pwrSwitcher);
+
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  createBpxBatteryComponent();
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  createStrComponents(pwrSwitcher);
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+#if OBSW_USE_CCSDS_IP_CORE == 1
+  createCcsdsComponents(gpioComIF);
+#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+  /* Test Task */
+#if OBSW_ADD_TEST_CODE == 1
+  createTestComponents(gpioComIF);
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+  createMiscComponents();
+  satsystem::initAcsSubsystem();
+}

bsp_q7s/memory/CMakeLists.txt

@@ -1,6 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE FileSystemHandler.cpp SdCardManager.cpp
-    FileSystemHandler.cpp
+                                    scratchApi.cpp FilesystemHelper.cpp)
-    SdCardManager.cpp
-    scratchApi.cpp
-    FilesystemHelper.cpp
-)

bsp_q7s/memory/FilesystemHelper.cpp

@@ -8,8 +8,6 @@
 
 FilesystemHelper::FilesystemHelper() {}
 
-FilesystemHelper::~FilesystemHelper() {}
-
 ReturnValue_t FilesystemHelper::checkPath(std::string path) {
   SdCardManager* sdcMan = SdCardManager::instance();
   if (sdcMan == nullptr) {

bsp_q7s/memory/FilesystemHelper.h

@@ -7,7 +7,7 @@
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
- * @brief   This class implements often used functions concerning the file system management.
+ * @brief   This class implements often used functions related to the file system management.
  *
  * @author  J. Meier
  */
@@ -20,11 +20,8 @@ class FilesystemHelper : public HasReturnvaluesIF {
   //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
   static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
 
-  FilesystemHelper();
-  virtual ~FilesystemHelper();
-
   /**
-   * @brief   In case the path points to a directory on the sd card the function checks if the
+   * @brief   In case the path points to a directory on the sd card, the function checks if the
    *          appropriate SD card is mounted.
    *
    * @param path  Path to check
@@ -39,11 +36,14 @@ class FilesystemHelper : public HasReturnvaluesIF {
   /**
    * @brief   Checks if the file exists on the filesystem.
    *
-   * param file   File to check
+   * @param file   File to check
    *
-   * @return  RETURN_OK if fiel exists, otherwise return error code.
+   * @return  RETURN_OK if file exists, otherwise return error code.
    */
   static ReturnValue_t fileExists(std::string file);
+
+ private:
+  FilesystemHelper();
 };
 
 #endif /* BSP_Q7S_MEMORY_FILESYSTEMHELPER_H_ */

bsp_q7s/obsw.cpp

@@ -8,14 +8,19 @@
 #include "core/InitMission.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
+#include "q7sConfig.h"
 #include "watchdog/definitions.h"
 
 static int OBSW_ALREADY_RUNNING = -2;
-
+#if OBSW_Q7S_EM == 0
+static const char* DEV_STRING = "Xiphos Q7S FM";
+#else
+static const char* DEV_STRING = "Xiphos Q7S EM";
+#endif
 int obsw::obsw() {
   using namespace fsfw;
   std::cout << "-- EIVE OBSW --" << std::endl;
-  std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
+  std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
   std::cout << "-- OBSW v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
             << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;

bsp_q7s/simple/CMakeLists.txt

@@ -1,3 +1 @@
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE simple.cpp)
-    simple.cpp
-)

bsp_q7s/xadc/CMakeLists.txt

@@ -1,3 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE Xadc.cpp)
-    Xadc.cpp
-)

bsp_te0720_1cfa/InitMission.cpp

@@ -89,13 +89,23 @@ void initmission::initTasks() {
   }
   pstTasks.push_back(pst);
 
+#if OBSW_ADD_PLOC_MPSOC == 1
   PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
       "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
   }
-  pstTasks.push_back(mpsocHelperTask);
+#endif /* OBSW_ADD_PLOC_MPSOC == 1*/
+
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
+      "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
 
   auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
     for (const auto& task : taskVector) {
@@ -111,6 +121,12 @@ void initmission::initTasks() {
   tmtcDistributor->startTask();
   tmtcBridgeTask->startTask();
   tmtcPollingTask->startTask();
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  supvHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+#if OBSW_ADD_PLOC_MPSOC == 1
+  mpsocHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 
   taskStarter(pstTasks, "PST Tasks");
   taskStarter(pusTasks, "PUS Tasks");

bsp_te0720_1cfa/ObjectFactory.cpp

@@ -1,27 +1,30 @@
 #include "ObjectFactory.h"
 
 #include <devConf.h>
-#include "fsfw_hal/linux/uart/UartComIF.h"
-#include "fsfw_hal/linux/i2c/I2cComIF.h"
-#include "fsfw_hal/linux/uart/UartCookie.h"
 
 #include "OBSWConfig.h"
 #include "busConf.h"
 #include "devConf.h"
+#include "devices/addresses.h"
+#include "devices/gpioIds.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 #include "fsfw/tmtcservices/PusServiceBase.h"
+#include "fsfw_hal/linux/i2c/I2cComIF.h"
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "fsfw_hal/linux/uart/UartCookie.h"
 #include "linux/devices/ploc/PlocMPSoCHandler.h"
 #include "linux/devices/ploc/PlocMPSoCHelper.h"
-#include "mission/devices/Tmp1075Handler.h"
+#include "linux/devices/ploc/PlocMemoryDumper.h"
+#include "linux/devices/ploc/PlocSupervisorHandler.h"
+#include "linux/devices/ploc/PlocSupvHelper.h"
 #include "mission/core/GenericFactory.h"
+#include "mission/devices/Tmp1075Handler.h"
 #include "mission/utility/TmFunnel.h"
-#include "test/gpio/DummyGpioIF.h"
 #include "objects/systemObjectList.h"
-#include "devices/addresses.h"
+#include "test/gpio/DummyGpioIF.h"
-#include "devices/gpioIds.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 
@@ -43,12 +46,13 @@ void ObjectFactory::produce(void* args) {
   Factory::setStaticFrameworkObjectIds();
   ObjectFactory::produceGenericObjects();
 
+  new UartComIF(objects::UART_COM_IF);
+
 #if OBSW_ADD_PLOC_MPSOC == 1
   UartCookie* mpsocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART,
                                                uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
   mpsocUartCookie->setNoFixedSizeReply();
   PlocMPSoCHelper* plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
-  new UartComIF(objects::UART_COM_IF);
   auto dummyGpioIF = new DummyGpioIF();
   PlocMPSoCHandler* plocMPSoCHandler = new PlocMPSoCHandler(
       objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie, plocMpsocHelper,
@@ -56,6 +60,20 @@ void ObjectFactory::produce(void* args) {
   plocMPSoCHandler->setStartUpImmediately();
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  UartCookie* supervisorCookie =
+      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
+                     uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20);
+  supervisorCookie->setNoFixedSizeReply();
+  auto supvGpioIF = new DummyGpioIF();
+  auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
+  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
+                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, supvGpioIF),
+                            pcdu::PDU1_CH6_PLOC_12V, supvHelper);
+
+  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
+#endif
+
 #if OBSW_TEST_LIBGPIOD == 1
 #if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
   /* Configure MIO0 as input */
@@ -124,18 +142,7 @@ void ObjectFactory::produce(void* args) {
   GpioCookie* gpioCookie = new GpioCookie;
   gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
   new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
-                    pcduSwitches::TCS_BOARD_8V_HEATER_IN);
+                    pcdu::TCS_BOARD_8V_HEATER_IN);
-#endif
-
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  /* Configuration for MIO0 on TE0720-03-1CFA */
-  UartCookie* plocSupervisorCookie =
-      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
-                     UartModes::NON_CANONICAL, 115200, PLOC_SPV::MAX_PACKET_SIZE * 20);
-  plocSupervisorCookie->setNoFixedSizeReply();
-  PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
-      objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
-  plocSupervisor->setStartUpImmediately();
 #endif
 
   new I2cComIF(objects::I2C_COM_IF);

cmake/HardwareOsPostConfig.cmake

@@ -33,6 +33,10 @@ add_compile_options(
 set(STRIPPED_OBSW_NAME ${OBSW_BIN_NAME}-stripped)
 set(STRIPPED_WATCHDOG_NAME eive-watchdog-stripped)
 
+if(EIVE_CREATE_UNIQUE_OBSW_BIN)
+    set(UNIQUE_OBSW_BIN_NAME ${OBSW_BIN_NAME}-$ENV{USERNAME})
+endif()
+
 add_custom_command(
 	TARGET ${OBSW_NAME}
 	POST_BUILD
@@ -41,6 +45,16 @@ add_custom_command(
 	COMMENT "Generating stripped executable ${STRIPPED_OBSW_NAME}.."
 )
 
+if(UNIQUE_OBSW_BIN_NAME)
+	add_custom_command(
+		TARGET ${OBSW_NAME}
+		POST_BUILD
+		COMMAND ${CMAKE_COMMAND} -E copy
+			${CMAKE_CURRENT_BINARY_DIR}/${OBSW_BIN_NAME}
+			${CMAKE_CURRENT_BINARY_DIR}/${UNIQUE_OBSW_BIN_NAME}
+		COMMENT "Generating unique EIVE OBSW binary ${UNIQUE_OBSW_BIN_NAME}")
+endif()
+
 add_custom_command(
     TARGET ${WATCHDOG_NAME}
     POST_BUILD

cmake/scripts/q7s/q7s-make-release.sh

@@ -20,7 +20,7 @@ else
     cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
 fi
 
-if [[ -z "${EIVE_Q7S_EM}" ]]; then
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
     build_defs="EIVE_Q7S_EM=ON"
 fi
 

cmake/scripts/q7s/q7s-ninja-debug.sh

@@ -20,7 +20,7 @@ else
     cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
 fi
 
-if [[ -z "${EIVE_Q7S_EM}" ]]; then
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
     build_defs="EIVE_Q7S_EM=ON"
 fi
 

cmake/scripts/q7s/q7s-ninja-release.sh

@@ -20,7 +20,7 @@ else
     cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
 fi
 
-if [[ -z "${EIVE_Q7S_EM}" ]]; then
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
     build_defs="EIVE_Q7S_EM=ON"
 fi
 

common/config/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_include_directories(${OBSW_NAME} PRIVATE
+target_include_directories(${OBSW_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
 
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE commonConfig.cpp)
-    commonConfig.cpp
-)

common/config/ccsdsConfig.h

@@ -2,14 +2,7 @@
 #define COMMON_CONFIG_CCSDSCONFIG_H_
 
 namespace ccsds {
-enum {
+enum { VC0, VC1, VC2, VC3 };
-    VC0,
-    VC1,
-    VC2,
-    VC3
-};
 }
 
-
-
 #endif /* COMMON_CONFIG_CCSDSCONFIG_H_ */

common/config/commonClassIds.h

@@ -2,6 +2,7 @@
 #define COMMON_CONFIG_COMMONCLASSIDS_H_
 
 #include <fsfw/returnvalues/FwClassIds.h>
+
 #include <cstdint>
 
 namespace CLASS_ID {
@@ -16,6 +17,7 @@ enum commonClassIds: uint8_t {
   DWLPWRON_CMD,             // DWLPWRON
   MPSOC_TM,                 // MPTM
   PLOC_SUPERVISOR_HANDLER,  // PLSV
+  PLOC_SUPV_HELPER,         // PLSPVhLP
   SUS_HANDLER,              // SUSS
   CCSDS_IP_CORE_BRIDGE,     // IPCI
   PTME,                     // PTME
@@ -32,6 +34,7 @@ enum commonClassIds: uint8_t {
   PLOC_MPSOC_HELPER,        // PLMPHLP
   SA_DEPL_HANDLER,          // SADPL
   MPSOC_RETURN_VALUES_IF,   // MPSOCRTVIF
+  SUPV_RETURN_VALUES_IF,    // SPVRTVIF
   COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
 

common/config/commonConfig.cpp

@@ -1,6 +1,8 @@
 #include "commonConfig.h"
-#include "tmtc/apid.h"
-#include "fsfw/tmtcpacket/SpacePacket.h"
 
-const Version common::OBSW_VERSION { OBSW_VERSION_MAJOR, OBSW_VERSION_MINOR, OBSW_VERSION_REVISION, OBSW_VERSION_CST_GIT_SHA1 };
+#include "fsfw/tmtcpacket/SpacePacket.h"
+#include "tmtc/apid.h"
+
+const fsfw::Version common::OBSW_VERSION{OBSW_VERSION_MAJOR, OBSW_VERSION_MINOR,
+                                         OBSW_VERSION_REVISION, OBSW_VERSION_CST_GIT_SHA1};
 const uint16_t common::PUS_PACKET_ID = spacepacket::getTcSpacePacketIdFromApid(apid::EIVE_OBSW);

common/config/commonConfig.h.in

@@ -33,7 +33,7 @@ static constexpr uint8_t OBSW_VERSION_REVISION = @OBSW_VERSION_REVISION@;
 // CST: Commits since tag
 static const char OBSW_VERSION_CST_GIT_SHA1[] = "@OBSW_VERSION_CST_GIT_SHA1@";
 
-extern const Version OBSW_VERSION;
+extern const fsfw::Version OBSW_VERSION;
 
 extern const uint16_t PUS_PACKET_ID;
 

common/config/commonObjects.h

@@ -22,13 +22,6 @@ enum commonObjects: uint32_t {
   CORE_CONTROLLER = 0x43000003,
 
   /* 0x44 ('D') for device handlers */
-    P60DOCK_HANDLER = 0x44250000,
-    PDU1_HANDLER = 0x44250001,
-    PDU2_HANDLER = 0x44250002,
-    ACU_HANDLER = 0x44250003,
-    BPX_BATT_HANDLER = 0x44260000,
-    TMP1075_HANDLER_1 = 0x44420004,
-    TMP1075_HANDLER_2 = 0x44420005,
   MGM_0_LIS3_HANDLER = 0x44120006,
   MGM_1_RM3100_HANDLER = 0x44120107,
   MGM_2_LIS3_HANDLER = 0x44120208,
@@ -37,62 +30,92 @@ enum commonObjects: uint32_t {
   GYRO_1_L3G_HANDLER = 0x44120111,
   GYRO_2_ADIS_HANDLER = 0x44120212,
   GYRO_3_L3G_HANDLER = 0x44120313,
-    PLPCDU_HANDLER = 0x44300000,
+  RW1 = 0x44120047,
-    SCEX_HANDLER = 0x44400000,
+  RW2 = 0x44120148,
+  RW3 = 0x44120249,
+  RW4 = 0x44120350,
+  STAR_TRACKER = 0x44130001,
+  GPS_CONTROLLER = 0x44130045,
+
   IMTQ_HANDLER = 0x44140014,
+  TMP1075_HANDLER_1 = 0x44420004,
+  TMP1075_HANDLER_2 = 0x44420005,
+  PCDU_HANDLER = 0x442000A1,
+  P60DOCK_HANDLER = 0x44250000,
+  PDU1_HANDLER = 0x44250001,
+  PDU2_HANDLER = 0x44250002,
+  ACU_HANDLER = 0x44250003,
+  BPX_BATT_HANDLER = 0x44260000,
+  PLPCDU_HANDLER = 0x44300000,
+  RAD_SENSOR = 0x443200A5,
+  PLOC_UPDATER = 0x44330000,
+  PLOC_MEMORY_DUMPER = 0x44330001,
+  STR_HELPER = 0x44330002,
+  PLOC_MPSOC_HELPER = 0x44330003,
+  AXI_PTME_CONFIG = 0x44330004,
+  PTME_CONFIG = 0x44330005,
   PLOC_MPSOC_HANDLER = 0x44330015,
   PLOC_SUPERVISOR_HANDLER = 0x44330016,
   PLOC_SUPERVISOR_HELPER = 0x44330017,
+  SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2,
+  HEATER_HANDLER = 0x444100A4,
 
   /**
    * Not yet specified which pt1000 will measure which device/location in the satellite.
    * Therefore object ids are named according to the IC naming of the RTDs in the schematic.
    */
-    RTD_IC_3 = 0x44420016,
+  RTD_0_IC3_PLOC_HEATSPREADER = 0x44420016,
-    RTD_IC_4 = 0x44420017,
+  RTD_1_IC4_PLOC_MISSIONBOARD = 0x44420017,
-    RTD_IC_5 = 0x44420018,
+  RTD_2_IC5_4K_CAMERA = 0x44420018,
-    RTD_IC_6 = 0x44420019,
+  RTD_3_IC6_DAC_HEATSPREADER = 0x44420019,
-    RTD_IC_7 = 0x44420020,
+  RTD_4_IC7_STARTRACKER = 0x44420020,
-    RTD_IC_8 = 0x44420021,
+  RTD_5_IC8_RW1_MX_MY = 0x44420021,
-    RTD_IC_9 = 0x44420022,
+  RTD_6_IC9_DRO = 0x44420022,
-    RTD_IC_10 = 0x44420023,
+  RTD_7_IC10_SCEX = 0x44420023,
-    RTD_IC_11 = 0x44420024,
+  RTD_8_IC11_X8 = 0x44420024,
-    RTD_IC_12 = 0x44420025,
+  RTD_9_IC12_HPA = 0x44420025,
-    RTD_IC_13 = 0x44420026,
+  RTD_10_IC13_PL_TX = 0x44420026,
-    RTD_IC_14 = 0x44420027,
+  RTD_11_IC14_MPA = 0x44420027,
-    RTD_IC_15 = 0x44420028,
+  RTD_12_IC15_ACU = 0x44420028,
-    RTD_IC_16 = 0x44420029,
+  RTD_13_IC16_PLPCDU_HEATSPREADER = 0x44420029,
-    RTD_IC_17 = 0x44420030,
+  RTD_14_IC17_TCS_BOARD = 0x44420030,
-    RTD_IC_18 = 0x44420031,
+  RTD_15_IC18_IMTQ = 0x44420031,
 
-    SUS_0 = 0x44120032,
+  // Name convention for SUS devices
-    SUS_1 = 0x44120033,
+  // SUS_<IDX>_<N/R>_LOC_X<F/M/B>Y<F/M/B>Z<F/M/B>_PT_<DIR><F/B>
-    SUS_2 = 0x44120034,
+  // LOC: Location
-    SUS_3 = 0x44120035,
+  // PT: Pointing
-    SUS_4 = 0x44120036,
+  // N/R: Nominal/Redundant
-    SUS_5 = 0x44120037,
+  // F/M/B: Forward/Middle/Backwards
-    SUS_6 = 0x44120038,
+  SUS_0_N_LOC_XFYFZM_PT_XF = 0x44120032,
-    SUS_7 = 0x44120039,
+  SUS_6_R_LOC_XFYBZM_PT_XF = 0x44120038,
-    SUS_8 = 0x44120040,
-    SUS_9 = 0x44120041,
-    SUS_10 = 0x44120042,
-    SUS_11 = 0x44120043,
 
-    GPS_CONTROLLER = 0x44130045,
+  SUS_1_N_LOC_XBYFZM_PT_XB = 0x44120033,
+  SUS_7_R_LOC_XBYBZM_PT_XB = 0x44120039,
 
-    RW1 = 0x44120047,
+  SUS_2_N_LOC_XFYBZB_PT_YB = 0x44120034,
-    RW2 = 0x44120148,
+  SUS_8_R_LOC_XBYBZB_PT_YB = 0x44120040,
-    RW3 = 0x44120249,
-    RW4 = 0x44120350,
 
-    STAR_TRACKER = 0x44130001,
+  SUS_3_N_LOC_XFYBZF_PT_YF = 0x44120035,
+  SUS_9_R_LOC_XBYBZB_PT_YF = 0x44120041,
 
-    PLOC_UPDATER = 0x44330000,
+  SUS_4_N_LOC_XMYFZF_PT_ZF = 0x44120036,
-    PLOC_MEMORY_DUMPER = 0x44330001,
+  SUS_10_N_LOC_XMYBZF_PT_ZF = 0x44120042,
-    STR_HELPER = 0x44330002,
+
-    PLOC_MPSOC_HELPER = 0x44330003,
+  SUS_5_N_LOC_XFYMZB_PT_ZB = 0x44120037,
-    AXI_PTME_CONFIG = 44330004,
+  SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,
-    PTME_CONFIG = 44330005,
+
+  SYRLINKS_HK_HANDLER = 0x445300A3,
+
+  // 0x60 for other stuff
+  HEATER_0_PLOC_PROC_BRD = 0x60000000,
+  HEATER_1_PCDU_BRD = 0x60000001,
+  HEATER_2_ACS_BRD = 0x60000002,
+  HEATER_3_OBC_BRD = 0x60000003,
+  HEATER_4_CAMERA = 0x60000004,
+  HEATER_5_STR = 0x60000005,
+  HEATER_6_DRO = 0x60000006,
+  HEATER_7_HPA = 0x60000007,
 
   // 0x73 ('s') for assemblies and system/subsystem components
   ACS_BOARD_ASS = 0x73000001,
@@ -101,12 +124,11 @@ enum commonObjects: uint32_t {
   RW_ASS = 0x73000004,
   PLOC_SWITCHER = 0x73000005,
   CAM_SWITCHER = 0x73000006,
-    EIVE_SYSTEM = 0x73010000,
   ACS_SUBSYSTEM = 0x73010001,
   PL_SUBSYSTEM = 0x73010002,
   PLOC_SUBSYSTEM = 0x73010003,
+  EIVE_SYSTEM = 0x73010000,
 };
 }
 
-
 #endif /* COMMON_CONFIG_COMMONOBJECTS_H_ */

common/config/commonSubsystemIds.h

@@ -30,10 +30,10 @@ enum: uint8_t {
   PDU1_HANDLER = 133,
   PDU2_HANDLER = 134,
   ACU_HANDLER = 135,
-	SYRLINKS = 136,
+  PLOC_SUPV_HELPER = 136,
+  SYRLINKS = 137,
   COMMON_SUBSYSTEM_ID_END
 };
 }
 
-
 #endif /* COMMON_CONFIG_COMMONSUBSYSTEMIDS_H_ */

common/config/devConf.h

@@ -1,10 +1,11 @@
 #ifndef COMMON_CONFIG_DEVCONF_H_
 #define COMMON_CONFIG_DEVCONF_H_
 
-#include <cstdint>
 #include <fsfw_hal/linux/spi/spiDefinitions.h>
 #include <fsfw_hal/linux/uart/UartCookie.h>
 
+#include <cstdint>
+
 /**
  * SPI configuration will be contained here to let the device handlers remain independent
  * of SPI specific properties.
@@ -31,6 +32,7 @@ static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
 static const uint32_t SUS_MAX1227_SPI_FREQ = 976'000;
 static constexpr spi::SpiModes SUS_MAX_1227_MODE = spi::SpiModes::MODE_3;
 
+static constexpr dur_millis_t RAD_SENSOR_CS_TIMEOUT = 120;
 static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 976'000;
 static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
 
@@ -42,10 +44,11 @@ static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
 static constexpr uint32_t RW_SPEED = 300'000;
 static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
 
+static constexpr dur_millis_t RTD_CS_TIMEOUT = 50;
 static constexpr uint32_t RTD_SPEED = 2'000'000;
 static constexpr spi::SpiModes RTD_MODE = spi::SpiModes::MODE_3;
 
-}
+}  // namespace spi
 
 namespace uart {
 
@@ -53,9 +56,9 @@ static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
 static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400;
 static constexpr UartBaudRate GNSS_BAUD = UartBaudRate::RATE_9600;
 static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200;
-static constexpr UartBaudRate PLOC_SUPERVISOR_BAUD = UartBaudRate::RATE_115200;
+static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_115200;
 static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600;
 
-}
+}  // namespace uart
 
 #endif /* COMMON_CONFIG_DEVCONF_H_ */

common/config/devices/heaterSwitcherList.h

@@ -3,16 +3,16 @@
 
 #include <cstdint>
 
-namespace heaterSwitches {
+namespace heater {
-	enum switcherList: uint8_t {
+enum Switchers : uint8_t {
-		HEATER_0,
+  HEATER_0_OBC_BRD,
-		HEATER_1,
+  HEATER_1_PLOC_PROC_BRD,
-		HEATER_2,
+  HEATER_2_ACS_BRD,
-		HEATER_3,
+  HEATER_3_PCDU_PDU,
-		HEATER_4,
+  HEATER_4_CAMERA,
-		HEATER_5,
+  HEATER_5_STR,
-		HEATER_6,
+  HEATER_6_DRO,
-		HEATER_7,
+  HEATER_7_HPA,
   NUMBER_OF_SWITCHES
 };
 }

common/config/eive/definitions.h

@@ -19,7 +19,6 @@ static constexpr uint8_t LIVE_TM = 0;
 static constexpr uint32_t MAX_PATH_SIZE = 100;
 static constexpr uint32_t MAX_FILENAME_SIZE = 50;
 
-}
+}  // namespace config
-
 
 #endif /* COMMON_CONFIG_DEFINITIONS_H_ */

common/config/tmtc/apid.h

@@ -15,5 +15,4 @@ namespace apid {
 static const uint16_t EIVE_OBSW = 0x65;
 }
 
-
 #endif /* FSFWCONFIG_TMTC_APID_H_ */

fsfw

@@ -1 +1 @@
-Subproject commit 80cb0e682fb423b4e7b8f45b66b3b5b7249e0d48
+Subproject commit c8355251967009559ea790b63c3ebfc67a27efef

generators/bsp_q7s_events.csv

@@ -1,187 +1,206 @@
-2200;0x0898;STORE_SEND_WRITE_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2200;0x0898;STORE_SEND_WRITE_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2201;0x0899;STORE_WRITE_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2201;0x0899;STORE_WRITE_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2202;0x089a;STORE_SEND_READ_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2202;0x089a;STORE_SEND_READ_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2203;0x089b;STORE_READ_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2203;0x089b;STORE_READ_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2204;0x089c;UNEXPECTED_MSG;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2204;0x089c;UNEXPECTED_MSG;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2205;0x089d;STORING_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2205;0x089d;STORING_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2206;0x089e;TM_DUMP_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2206;0x089e;TM_DUMP_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2207;0x089f;STORE_INIT_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2207;0x089f;STORE_INIT_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2208;0x08a0;STORE_INIT_EMPTY;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2208;0x08a0;STORE_INIT_EMPTY;INFO;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2209;0x08a1;STORE_CONTENT_CORRUPTED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2209;0x08a1;STORE_CONTENT_CORRUPTED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2210;0x08a2;STORE_INITIALIZE;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2210;0x08a2;STORE_INITIALIZE;INFO;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2211;0x08a3;INIT_DONE;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2211;0x08a3;INIT_DONE;INFO;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2212;0x08a4;DUMP_FINISHED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2212;0x08a4;DUMP_FINISHED;INFO;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2213;0x08a5;DELETION_FINISHED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2213;0x08a5;DELETION_FINISHED;INFO;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2214;0x08a6;DELETION_FAILED;LOW;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2214;0x08a6;DELETION_FAILED;LOW;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2215;0x08a7;AUTO_CATALOGS_SENDING_FAILED;INFO;;fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2215;0x08a7;AUTO_CATALOGS_SENDING_FAILED;INFO;;fsfw\src\fsfw\tmstorage\TmStoreBackendIF.h
-2600;0x0a28;GET_DATA_FAILED;LOW;;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+2600;0x0a28;GET_DATA_FAILED;LOW;;fsfw\src\fsfw\storagemanager\StorageManagerIF.h
-2601;0x0a29;STORE_DATA_FAILED;LOW;;fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+2601;0x0a29;STORE_DATA_FAILED;LOW;;fsfw\src\fsfw\storagemanager\StorageManagerIF.h
-2800;0x0af0;DEVICE_BUILDING_COMMAND_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2800;0x0af0;DEVICE_BUILDING_COMMAND_FAILED;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2801;0x0af1;DEVICE_SENDING_COMMAND_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2801;0x0af1;DEVICE_SENDING_COMMAND_FAILED;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2802;0x0af2;DEVICE_REQUESTING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2802;0x0af2;DEVICE_REQUESTING_REPLY_FAILED;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2803;0x0af3;DEVICE_READING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2803;0x0af3;DEVICE_READING_REPLY_FAILED;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2804;0x0af4;DEVICE_INTERPRETING_REPLY_FAILED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2804;0x0af4;DEVICE_INTERPRETING_REPLY_FAILED;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2805;0x0af5;DEVICE_MISSED_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2805;0x0af5;DEVICE_MISSED_REPLY;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2806;0x0af6;DEVICE_UNKNOWN_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2806;0x0af6;DEVICE_UNKNOWN_REPLY;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2807;0x0af7;DEVICE_UNREQUESTED_REPLY;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2807;0x0af7;DEVICE_UNREQUESTED_REPLY;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2808;0x0af8;INVALID_DEVICE_COMMAND;LOW;Indicates a SW bug in child class.;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2808;0x0af8;INVALID_DEVICE_COMMAND;LOW;Indicates a SW bug in child class.;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2809;0x0af9;MONITORING_LIMIT_EXCEEDED;LOW;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2809;0x0af9;MONITORING_LIMIT_EXCEEDED;LOW;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2810;0x0afa;MONITORING_AMBIGUOUS;HIGH;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2810;0x0afa;MONITORING_AMBIGUOUS;HIGH;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-2811;0x0afb;DEVICE_WANTS_HARD_REBOOT;HIGH;;fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2811;0x0afb;DEVICE_WANTS_HARD_REBOOT;HIGH;;fsfw\src\fsfw\devicehandlers\DeviceHandlerIF.h
-4201;0x1069;FUSE_CURRENT_HIGH;LOW;;fsfw/src/fsfw/power/Fuse.h
+4201;0x1069;FUSE_CURRENT_HIGH;LOW;;fsfw\src\fsfw\power\Fuse.h
-4202;0x106a;FUSE_WENT_OFF;LOW;;fsfw/src/fsfw/power/Fuse.h
+4202;0x106a;FUSE_WENT_OFF;LOW;;fsfw\src\fsfw\power\Fuse.h
-4204;0x106c;POWER_ABOVE_HIGH_LIMIT;LOW;;fsfw/src/fsfw/power/Fuse.h
+4204;0x106c;POWER_ABOVE_HIGH_LIMIT;LOW;;fsfw\src\fsfw\power\Fuse.h
-4205;0x106d;POWER_BELOW_LOW_LIMIT;LOW;;fsfw/src/fsfw/power/Fuse.h
+4205;0x106d;POWER_BELOW_LOW_LIMIT;LOW;;fsfw\src\fsfw\power\Fuse.h
-4300;0x10cc;SWITCH_WENT_OFF;LOW;;fsfw/src/fsfw/power/PowerSwitchIF.h
+4300;0x10cc;SWITCH_WENT_OFF;LOW;;fsfw\src\fsfw\power\PowerSwitchIF.h
-5000;0x1388;HEATER_ON;INFO;;fsfw/src/fsfw/thermal/Heater.h
+5000;0x1388;HEATER_ON;INFO;;fsfw\src\fsfw\thermal\Heater.h
-5001;0x1389;HEATER_OFF;INFO;;fsfw/src/fsfw/thermal/Heater.h
+5001;0x1389;HEATER_OFF;INFO;;fsfw\src\fsfw\thermal\Heater.h
-5002;0x138a;HEATER_TIMEOUT;LOW;;fsfw/src/fsfw/thermal/Heater.h
+5002;0x138a;HEATER_TIMEOUT;LOW;;fsfw\src\fsfw\thermal\Heater.h
-5003;0x138b;HEATER_STAYED_ON;LOW;;fsfw/src/fsfw/thermal/Heater.h
+5003;0x138b;HEATER_STAYED_ON;LOW;;fsfw\src\fsfw\thermal\Heater.h
-5004;0x138c;HEATER_STAYED_OFF;LOW;;fsfw/src/fsfw/thermal/Heater.h
+5004;0x138c;HEATER_STAYED_OFF;LOW;;fsfw\src\fsfw\thermal\Heater.h
-5200;0x1450;TEMP_SENSOR_HIGH;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5200;0x1450;TEMP_SENSOR_HIGH;LOW;;fsfw\src\fsfw\thermal\AbstractTemperatureSensor.h
-5201;0x1451;TEMP_SENSOR_LOW;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5201;0x1451;TEMP_SENSOR_LOW;LOW;;fsfw\src\fsfw\thermal\AbstractTemperatureSensor.h
-5202;0x1452;TEMP_SENSOR_GRADIENT;LOW;;fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5202;0x1452;TEMP_SENSOR_GRADIENT;LOW;;fsfw\src\fsfw\thermal\AbstractTemperatureSensor.h
-5901;0x170d;COMPONENT_TEMP_LOW;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5901;0x170d;COMPONENT_TEMP_LOW;LOW;;fsfw\src\fsfw\thermal\ThermalComponentIF.h
-5902;0x170e;COMPONENT_TEMP_HIGH;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5902;0x170e;COMPONENT_TEMP_HIGH;LOW;;fsfw\src\fsfw\thermal\ThermalComponentIF.h
-5903;0x170f;COMPONENT_TEMP_OOL_LOW;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5903;0x170f;COMPONENT_TEMP_OOL_LOW;LOW;;fsfw\src\fsfw\thermal\ThermalComponentIF.h
-5904;0x1710;COMPONENT_TEMP_OOL_HIGH;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5904;0x1710;COMPONENT_TEMP_OOL_HIGH;LOW;;fsfw\src\fsfw\thermal\ThermalComponentIF.h
-5905;0x1711;TEMP_NOT_IN_OP_RANGE;LOW;;fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5905;0x1711;TEMP_NOT_IN_OP_RANGE;LOW;;fsfw\src\fsfw\thermal\ThermalComponentIF.h
-7101;0x1bbd;FDIR_CHANGED_STATE;INFO;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7101;0x1bbd;FDIR_CHANGED_STATE;INFO;;fsfw\src\fsfw\fdir\FailureIsolationBase.h
-7102;0x1bbe;FDIR_STARTS_RECOVERY;MEDIUM;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7102;0x1bbe;FDIR_STARTS_RECOVERY;MEDIUM;;fsfw\src\fsfw\fdir\FailureIsolationBase.h
-7103;0x1bbf;FDIR_TURNS_OFF_DEVICE;MEDIUM;;fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7103;0x1bbf;FDIR_TURNS_OFF_DEVICE;MEDIUM;;fsfw\src\fsfw\fdir\FailureIsolationBase.h
-7201;0x1c21;MONITOR_CHANGED_STATE;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7201;0x1c21;MONITOR_CHANGED_STATE;LOW;;fsfw\src\fsfw\monitoring\MonitoringIF.h
-7202;0x1c22;VALUE_BELOW_LOW_LIMIT;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7202;0x1c22;VALUE_BELOW_LOW_LIMIT;LOW;;fsfw\src\fsfw\monitoring\MonitoringIF.h
-7203;0x1c23;VALUE_ABOVE_HIGH_LIMIT;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7203;0x1c23;VALUE_ABOVE_HIGH_LIMIT;LOW;;fsfw\src\fsfw\monitoring\MonitoringIF.h
-7204;0x1c24;VALUE_OUT_OF_RANGE;LOW;;fsfw/src/fsfw/monitoring/MonitoringIF.h
+7204;0x1c24;VALUE_OUT_OF_RANGE;LOW;;fsfw\src\fsfw\monitoring\MonitoringIF.h
-7400;0x1ce8;CHANGING_MODE;INFO;;fsfw/src/fsfw/modes/HasModesIF.h
+7400;0x1ce8;CHANGING_MODE;INFO;;fsfw\src\fsfw\modes\HasModesIF.h
-7401;0x1ce9;MODE_INFO;INFO;;fsfw/src/fsfw/modes/HasModesIF.h
+7401;0x1ce9;MODE_INFO;INFO;;fsfw\src\fsfw\modes\HasModesIF.h
-7402;0x1cea;FALLBACK_FAILED;HIGH;;fsfw/src/fsfw/modes/HasModesIF.h
+7402;0x1cea;FALLBACK_FAILED;HIGH;;fsfw\src\fsfw\modes\HasModesIF.h
-7403;0x1ceb;MODE_TRANSITION_FAILED;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
+7403;0x1ceb;MODE_TRANSITION_FAILED;LOW;;fsfw\src\fsfw\modes\HasModesIF.h
-7404;0x1cec;CANT_KEEP_MODE;HIGH;;fsfw/src/fsfw/modes/HasModesIF.h
+7404;0x1cec;CANT_KEEP_MODE;HIGH;;fsfw\src\fsfw\modes\HasModesIF.h
-7405;0x1ced;OBJECT_IN_INVALID_MODE;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
+7405;0x1ced;OBJECT_IN_INVALID_MODE;LOW;;fsfw\src\fsfw\modes\HasModesIF.h
-7406;0x1cee;FORCING_MODE;MEDIUM;;fsfw/src/fsfw/modes/HasModesIF.h
+7406;0x1cee;FORCING_MODE;MEDIUM;;fsfw\src\fsfw\modes\HasModesIF.h
-7407;0x1cef;MODE_CMD_REJECTED;LOW;;fsfw/src/fsfw/modes/HasModesIF.h
+7407;0x1cef;MODE_CMD_REJECTED;LOW;;fsfw\src\fsfw\modes\HasModesIF.h
-7506;0x1d52;HEALTH_INFO;INFO;;fsfw/src/fsfw/health/HasHealthIF.h
+7506;0x1d52;HEALTH_INFO;INFO;;fsfw\src\fsfw\health\HasHealthIF.h
-7507;0x1d53;CHILD_CHANGED_HEALTH;INFO;;fsfw/src/fsfw/health/HasHealthIF.h
+7507;0x1d53;CHILD_CHANGED_HEALTH;INFO;;fsfw\src\fsfw\health\HasHealthIF.h
-7508;0x1d54;CHILD_PROBLEMS;LOW;;fsfw/src/fsfw/health/HasHealthIF.h
+7508;0x1d54;CHILD_PROBLEMS;LOW;;fsfw\src\fsfw\health\HasHealthIF.h
-7509;0x1d55;OVERWRITING_HEALTH;LOW;;fsfw/src/fsfw/health/HasHealthIF.h
+7509;0x1d55;OVERWRITING_HEALTH;LOW;;fsfw\src\fsfw\health\HasHealthIF.h
-7510;0x1d56;TRYING_RECOVERY;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
+7510;0x1d56;TRYING_RECOVERY;MEDIUM;;fsfw\src\fsfw\health\HasHealthIF.h
-7511;0x1d57;RECOVERY_STEP;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
+7511;0x1d57;RECOVERY_STEP;MEDIUM;;fsfw\src\fsfw\health\HasHealthIF.h
-7512;0x1d58;RECOVERY_DONE;MEDIUM;;fsfw/src/fsfw/health/HasHealthIF.h
+7512;0x1d58;RECOVERY_DONE;MEDIUM;;fsfw\src\fsfw\health\HasHealthIF.h
-7900;0x1edc;RF_AVAILABLE;INFO;A RF available signal was detected. P1: raw RFA state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7900;0x1edc;RF_AVAILABLE;INFO;A RF available signal was detected. P1: raw RFA state, P2: 0;fsfw\src\fsfw\datalinklayer\DataLinkLayer.h
-7901;0x1edd;RF_LOST;INFO;A previously found RF available signal was lost. P1: raw RFA state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7901;0x1edd;RF_LOST;INFO;A previously found RF available signal was lost. P1: raw RFA state, P2: 0;fsfw\src\fsfw\datalinklayer\DataLinkLayer.h
-7902;0x1ede;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7902;0x1ede;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;fsfw\src\fsfw\datalinklayer\DataLinkLayer.h
-7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw\src\fsfw\datalinklayer\DataLinkLayer.h
-7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw\src\fsfw\datalinklayer\DataLinkLayer.h
-8900;0x22c4;CLOCK_SET;INFO;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8900;0x22c4;CLOCK_SET;INFO;;fsfw\src\fsfw\pus\Service9TimeManagement.h
-8901;0x22c5;CLOCK_SET_FAILURE;LOW;;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8901;0x22c5;CLOCK_SET_FAILURE;LOW;;fsfw\src\fsfw\pus\Service9TimeManagement.h
-9700;0x25e4;TEST;INFO;;fsfw/src/fsfw/pus/Service17Test.h
+9700;0x25e4;TEST;INFO;;fsfw\src\fsfw\pus\Service17Test.h
-10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
+10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;;fsfw\hal\src\fsfw_hal\devicehandlers\MgmLIS3MDLHandler.h
-11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
+11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission\devices\devicedefinitions\powerDefinitions.h
-11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a swithc state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
+11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission\devices\devicedefinitions\powerDefinitions.h
-11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
+11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission\devices\devicedefinitions\powerDefinitions.h
-11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
+11303;0x2c27;FDIR_REACTION_IGNORED;MEDIUM;;mission\devices\devicedefinitions\powerDefinitions.h
-11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;;mission/devices/HeaterHandler.h
+11400;0x2c88;GPIO_PULL_HIGH_FAILED;LOW;;mission\devices\HeaterHandler.h
-11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission/devices/HeaterHandler.h
+11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission\devices\HeaterHandler.h
-11402;0x2c8a;SWITCH_ALREADY_ON;LOW;;mission/devices/HeaterHandler.h
+11402;0x2c8a;HEATER_WENT_ON;INFO;;mission\devices\HeaterHandler.h
-11403;0x2c8b;SWITCH_ALREADY_OFF;LOW;;mission/devices/HeaterHandler.h
+11403;0x2c8b;HEATER_WENT_OFF;INFO;;mission\devices\HeaterHandler.h
-11404;0x2c8c;MAIN_SWITCH_TIMEOUT;LOW;;mission/devices/HeaterHandler.h
+11404;0x2c8c;SWITCH_ALREADY_ON;LOW;;mission\devices\HeaterHandler.h
-11500;0x2cec;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11405;0x2c8d;SWITCH_ALREADY_OFF;LOW;;mission\devices\HeaterHandler.h
-11501;0x2ced;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission/devices/SolarArrayDeploymentHandler.h
+11406;0x2c8e;MAIN_SWITCH_TIMEOUT;MEDIUM;;mission\devices\HeaterHandler.h
-11502;0x2cee;DEPLOYMENT_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11407;0x2c8f;FAULTY_HEATER_WAS_ON;LOW;;mission\devices\HeaterHandler.h
-11503;0x2cef;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11500;0x2cec;MAIN_SWITCH_ON_TIMEOUT;LOW;;mission\devices\SolarArrayDeploymentHandler.h
-11504;0x2cf0;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission/devices/SolarArrayDeploymentHandler.h
+11501;0x2ced;MAIN_SWITCH_OFF_TIMEOUT;LOW;;mission\devices\SolarArrayDeploymentHandler.h
-11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux/devices/ploc/PlocMPSoCHandler.h
+11502;0x2cee;DEPLOYMENT_FAILED;HIGH;;mission\devices\SolarArrayDeploymentHandler.h
-11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
+11503;0x2cef;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;mission\devices\SolarArrayDeploymentHandler.h
-11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux/devices/ploc/PlocMPSoCHandler.h
+11504;0x2cf0;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;mission\devices\SolarArrayDeploymentHandler.h
-11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux/devices/ploc/PlocMPSoCHandler.h
+11601;0x2d51;MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC crc failure in telemetry packet;linux\devices\ploc\PlocMPSoCHandler.h
-11605;0x2d55;MPSOC_HANDLER_SEQ_CNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHandler.h
+11602;0x2d52;ACK_FAILURE;LOW;PLOC receive acknowledgment failure report P1: Command Id which leads the acknowledgment failure report P2: The status field inserted by the MPSoC into the data field;linux\devices\ploc\PlocMPSoCHandler.h
-11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux/devices/ploc/PlocMPSoCHandler.h
+11603;0x2d53;EXE_FAILURE;LOW;PLOC receive execution failure report P1: Command Id which leads the execution failure report P2: The status field inserted by the MPSoC into the data field;linux\devices\ploc\PlocMPSoCHandler.h
-11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;linux\devices\ploc\PlocMPSoCHandler.h
-11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11605;0x2d55;MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH;LOW;Packet sequence count in received space packet does not match expected count P1: Expected sequence count P2: Received sequence count;linux\devices\ploc\PlocMPSoCHandler.h
-11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11606;0x2d56;MPSOC_SHUTDOWN_FAILED;HIGH;Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and thus also to shutdown the supervisor.;linux\devices\ploc\PlocMPSoCHandler.h
-11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11701;0x2db5;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11702;0x2db6;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11703;0x2db7;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission/devices/IMTQHandler.h
+11704;0x2db8;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission/devices/IMTQHandler.h
+11705;0x2db9;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission/devices/RwHandler.h
+11706;0x2dba;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux/devices/startracker/StarTrackerHandler.h
+11707;0x2dbb;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;mission\devices\IMTQHandler.h
-11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux/devices/startracker/StarTrackerHandler.h
+11708;0x2dbc;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;mission\devices\IMTQHandler.h
-12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux/devices/ploc/PlocSupervisorHandler.h
+11801;0x2e19;ERROR_STATE;HIGH;Reaction wheel signals an error state;mission\devices\devicedefinitions\RwDefinitions.h
-12002;0x2ee2;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux/devices/ploc/PlocSupervisorHandler.h
+11802;0x2e1a;RESET_OCCURED;LOW;;mission\devices\devicedefinitions\RwDefinitions.h
-12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;linux/devices/ploc/PlocSupervisorHandler.h
+11901;0x2e7d;BOOTING_FIRMWARE_FAILED;LOW;Failed to boot firmware;linux\devices\startracker\StarTrackerHandler.h
-12004;0x2ee4;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux/devices/ploc/PlocSupervisorHandler.h
+11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux\devices\startracker\StarTrackerHandler.h
-12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s/memory/SdCardManager.h
+12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux\devices\ploc\PlocSupervisorHandler.h
-12101;0x2f45;MOUNTED_SD_CARD;INFO;;bsp_q7s/memory/SdCardManager.h
+12002;0x2ee2;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux\devices\ploc\PlocSupervisorHandler.h
-12200;0x2fa8;UPDATE_FILE_NOT_EXISTS;LOW;;linux/devices/ploc/PlocUpdater.h
+12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report P1: ID of command for which the execution failed P2: Status code sent by the supervisor handler;linux\devices\ploc\PlocSupervisorHandler.h
-12201;0x2fa9;ACTION_COMMANDING_FAILED;LOW;Failed to send command to supervisor handler P1: Return value of CommandActionHelper::commandAction P2: Action ID of command to send;linux/devices/ploc/PlocUpdater.h
+12004;0x2ee4;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux\devices\ploc\PlocSupervisorHandler.h
-12202;0x2faa;UPDATE_AVAILABLE_FAILED;LOW;Supervisor handler replied action message indicating a command execution failure of the update available command;linux/devices/ploc/PlocUpdater.h
+12005;0x2ee5;SUPV_MPSOC_SHUWDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux\devices\ploc\PlocSupervisorHandler.h
-12203;0x2fab;UPDATE_TRANSFER_FAILED;LOW;Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet);linux/devices/ploc/PlocUpdater.h
+12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s\memory\SdCardManager.h
-12204;0x2fac;UPDATE_VERIFY_FAILED;LOW;Supervisor failed to execute the update verify command.;linux/devices/ploc/PlocUpdater.h
+12101;0x2f45;MOUNTED_SD_CARD;INFO;;bsp_q7s\memory\SdCardManager.h
-12205;0x2fad;UPDATE_FINISHED;INFO;MPSoC update successful completed;linux/devices/ploc/PlocUpdater.h
+12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux\devices\ploc\PlocMemoryDumper.h
-12300;0x300c;SEND_MRAM_DUMP_FAILED;LOW;Failed to send mram dump command to supervisor handler P1: Return value of commandAction function P2: Start address of MRAM to dump with this command;linux/devices/ploc/PlocMemoryDumper.h
+12301;0x300d;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;linux\devices\ploc\PlocMemoryDumper.h
-12301;0x300d;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;linux/devices/ploc/PlocMemoryDumper.h
+12302;0x300e;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;linux\devices\ploc\PlocMemoryDumper.h
-12302;0x300e;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;linux/devices/ploc/PlocMemoryDumper.h
+12401;0x3071;INVALID_TC_FRAME;HIGH;;linux\obc\PdecHandler.h
-12401;0x3071;INVALID_TC_FRAME;HIGH;;linux/obc/PdecHandler.h
+12402;0x3072;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;linux\obc\PdecHandler.h
-12402;0x3072;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;linux/obc/PdecHandler.h
+12403;0x3073;CARRIER_LOCK;INFO;Carrier lock detected;linux\obc\PdecHandler.h
-12403;0x3073;CARRIER_LOCK;INFO;Carrier lock detected;linux/obc/PdecHandler.h
+12404;0x3074;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux\obc\PdecHandler.h
-12404;0x3074;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);linux/obc/PdecHandler.h
+12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux\devices\startracker\StrHelper.h
-12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h
+12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux\devices\startracker\StrHelper.h
-12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h
+12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux\devices\startracker\StrHelper.h
-12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h
+12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux\devices\startracker\StrHelper.h
-12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h
+12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux\devices\startracker\StrHelper.h
-12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h
+12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux\devices\startracker\StrHelper.h
-12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h
+12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux\devices\startracker\StrHelper.h
-12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h
+12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux\devices\startracker\StrHelper.h
-12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h
+12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux\devices\startracker\StrHelper.h
-12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h
+12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux\devices\startracker\StrHelper.h
-12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
+12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux\devices\startracker\StrHelper.h
-12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h
+12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux\devices\startracker\StrHelper.h
-12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h
+12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux\devices\startracker\StrHelper.h
-12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h
+12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux\devices\startracker\StrHelper.h
-12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h
+12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux\devices\startracker\StrHelper.h
-12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h
+12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;;linux\devices\startracker\StrHelper.h
-12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;;linux/devices/startracker/StrHelper.h
+12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;linux\devices\startracker\StrHelper.h
-12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;linux/devices/startracker/StrHelper.h
+12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux\devices\ploc\PlocMPSoCHelper.h
-12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h
+12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux\devices\ploc\PlocMPSoCHelper.h
-12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h
+12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;;linux\devices\ploc\PlocMPSoCHelper.h
-12602;0x313a;SENDING_COMMAND_FAILED;LOW;;linux/devices/ploc/PlocMPSoCHelper.h
+12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux\devices\ploc\PlocMPSoCHelper.h
-12603;0x313b;MPSOC_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux\devices\ploc\PlocMPSoCHelper.h
-12604;0x313c;MPSOC_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12605;0x313d;MPSOC_MISSING_ACK;LOW;Did not receive acknowledgment report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux\devices\ploc\PlocMPSoCHelper.h
-12605;0x313d;MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12606;0x313e;MPSOC_MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux\devices\ploc\PlocMPSoCHelper.h
-12606;0x313e;MISSING_EXE;LOW;Did not receive execution report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux/devices/ploc/PlocMPSoCHelper.h
+12607;0x313f;MPSOC_ACK_FAILURE_REPORT;LOW;Received acknowledgment failure report P1: Internal state of MPSoC;linux\devices\ploc\PlocMPSoCHelper.h
-12607;0x313f;ACK_FAILURE_REPORT;LOW;Received acknowledgement failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12608;0x3140;MPSOC_EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux\devices\ploc\PlocMPSoCHelper.h
-12608;0x3140;EXE_FAILURE_REPORT;LOW;Received execution failure report P1: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12609;0x3141;MPSOC_ACK_INVALID_APID;LOW;Expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux\devices\ploc\PlocMPSoCHelper.h
-12609;0x3141;ACK_INVALID_APID;LOW;Expected acknowledgement report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12610;0x3142;MPSOC_EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux\devices\ploc\PlocMPSoCHelper.h
-12610;0x3142;EXE_INVALID_APID;LOW;Expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of MPSoC;linux/devices/ploc/PlocMPSoCHelper.h
+12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux\devices\ploc\PlocMPSoCHelper.h
-12611;0x3143;MPSOC_HELPER_SEQ_CNT_MISMATCH;LOW;Received sequence count does not match expected sequence count P1: Expected sequence count P2: Received sequence count;linux/devices/ploc/PlocMPSoCHelper.h
+12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission\devices\PayloadPcduHandler.h
-12700;0x319c;TRANSITION_BACK_TO_OFF;MEDIUM;Could not transition properly and went back to ALL OFF;mission/devices/PayloadPcduHandler.h
+12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12701;0x319d;NEG_V_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12702;0x319e;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12702;0x319e;U_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12703;0x319f;I_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12703;0x319f;I_DRO_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12704;0x31a0;U_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12704;0x31a0;U_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12705;0x31a1;I_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12705;0x31a1;I_X8_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12706;0x31a2;U_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12706;0x31a2;U_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12707;0x31a3;I_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12707;0x31a3;I_TX_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12708;0x31a4;U_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12708;0x31a4;U_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12709;0x31a5;I_MPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12710;0x31a6;U_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission\devices\PayloadPcduHandler.h
-12711;0x31a7;I_HPA_OUT_OF_BOUNDS;MEDIUM;P1: 0 -> too low, 1 -> too high P2: Float value;mission/devices/PayloadPcduHandler.h
+12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission\system\AcsBoardAssembly.h
-12800;0x3200;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/AcsBoardAssembly.h
+12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission\system\AcsBoardAssembly.h
-12801;0x3201;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/AcsBoardAssembly.h
+12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission\system\AcsBoardAssembly.h
-12802;0x3202;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/AcsBoardAssembly.h
+12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission\system\AcsBoardAssembly.h
-12803;0x3203;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/AcsBoardAssembly.h
+12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission\system\SusAssembly.h
-12900;0x3264;TRANSITION_OTHER_SIDE_FAILED;HIGH;;mission/system/SusAssembly.h
+12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission\system\SusAssembly.h
-12901;0x3265;NOT_ENOUGH_DEVICES_DUAL_MODE;HIGH;;mission/system/SusAssembly.h
+12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission\system\SusAssembly.h
-12902;0x3266;POWER_STATE_MACHINE_TIMEOUT;MEDIUM;;mission/system/SusAssembly.h
+12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission\system\SusAssembly.h
-12903;0x3267;SIDE_SWITCH_TRANSITION_NOT_ALLOWED;LOW;Not implemented, would increase already high complexity. Operator should instead command the assembly off first and then command the assembly on into the desired mode/submode combination;mission/system/SusAssembly.h
+13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission\system\TcsBoardAssembly.h
-13000;0x32c8;CHILDREN_LOST_MODE;MEDIUM;;mission/system/TcsBoardAssembly.h
+13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission\devices\devicedefinitions\GPSDefinitions.h
-13100;0x332c;GPS_FIX_CHANGE;INFO;Fix has changed. P1: Old fix. P2: New fix 0: Not seen, 1: No Fix, 2: 2D-Fix, 3: 3D-Fix;mission/devices/devicedefinitions/GPSDefinitions.h
+13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission\devices\P60DockHandler.h
-13200;0x3390;P60_BOOT_COUNT;INFO;P60 boot count is broadcasted once at SW startup. P1: Boot count;mission/devices/P60DockHandler.h
+13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission\devices\P60DockHandler.h
-13201;0x3391;BATT_MODE;INFO;Battery mode is broadcasted at startup. P1: Mode;mission/devices/P60DockHandler.h
+13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission\devices\P60DockHandler.h
-13202;0x3392;BATT_MODE_CHANGED;MEDIUM;Battery mode has changed. P1: Old mode. P2: New mode;mission/devices/P60DockHandler.h
+13600;0x3520;SUPV_UPDATE_FAILED;LOW;update failed;linux\devices\ploc\PlocSupvHelper.h
-13600;0x3520;ALLOC_FAILURE;MEDIUM;;bsp_q7s/core/CoreController.h
+13601;0x3521;SUPV_UPDATE_SUCCESSFUL;LOW;update successful;linux\devices\ploc\PlocSupvHelper.h
-13601;0x3521;REBOOT_SW;MEDIUM; Software reboot occured. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s/core/CoreController.h
+13602;0x3522;SUPV_CONTINUE_UPDATE_FAILED;LOW;Continue update command failed;linux\devices\ploc\PlocSupvHelper.h
-13602;0x3522;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s/core/CoreController.h
+13603;0x3523;SUPV_CONTINUE_UPDATE_SUCCESSFUL;LOW;Continue update command successful;linux\devices\ploc\PlocSupvHelper.h
-13603;0x3523;REBOOT_HW;MEDIUM;;bsp_q7s/core/CoreController.h
+13604;0x3524;TERMINATED_UPDATE_PROCEDURE;LOW;Terminated update procedure by command;linux\devices\ploc\PlocSupvHelper.h
+13605;0x3525;SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL;LOW;Requesting event buffer was successful;linux\devices\ploc\PlocSupvHelper.h
+13606;0x3526;SUPV_EVENT_BUFFER_REQUEST_FAILED;LOW;Requesting event buffer failed;linux\devices\ploc\PlocSupvHelper.h
+13607;0x3527;SUPV_EVENT_BUFFER_REQUEST_TERMINATED;LOW;Terminated event buffer request by command P1: Number of packets read before process was terminated;linux\devices\ploc\PlocSupvHelper.h
+13608;0x3528;SUPV_SENDING_COMMAND_FAILED;LOW;;linux\devices\ploc\PlocSupvHelper.h
+13609;0x3529;SUPV_HELPER_REQUESTING_REPLY_FAILED;LOW;Request receive message of communication interface failed P1: Return value returned by the communication interface requestReceiveMessage function P2: Internal state of supervisor helper;linux\devices\ploc\PlocSupvHelper.h
+13610;0x352a;SUPV_HELPER_READING_REPLY_FAILED;LOW;Reading receive message of communication interface failed P1: Return value returned by the communication interface readingReceivedMessage function P2: Internal state of supervisor helper;linux\devices\ploc\PlocSupvHelper.h
+13611;0x352b;SUPV_MISSING_ACK;LOW;Did not receive acknowledgement report P1: Number of bytes missing P2: Internal state of MPSoC helper;linux\devices\ploc\PlocSupvHelper.h
+13612;0x352c;SUPV_MISSING_EXE;LOW;Supervisor did not receive execution report P1: Number of bytes missing P2: Internal state of supervisor helper;linux\devices\ploc\PlocSupvHelper.h
+13613;0x352d;SUPV_ACK_FAILURE_REPORT;LOW;Supervisor received acknowledgment failure report P1: Internal state of supervisor helper;linux\devices\ploc\PlocSupvHelper.h
+13614;0x352e;SUPV_EXE_FAILURE_REPORT;LOW;Execution report failure P1:;linux\devices\ploc\PlocSupvHelper.h
+13615;0x352f;SUPV_ACK_INVALID_APID;LOW;Supervisor expected acknowledgment report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux\devices\ploc\PlocSupvHelper.h
+13616;0x3530;SUPV_EXE_INVALID_APID;LOW;Supervisor helper expected execution report but received space packet with other apid P1: Apid of received space packet P2: Internal state of supervisor helper;linux\devices\ploc\PlocSupvHelper.h
+13617;0x3531;ACK_RECEPTION_FAILURE;LOW;Failed to receive acknowledgment report P1: Return value P2: Apid of command for which the reception of the acknowledgment report failed;linux\devices\ploc\PlocSupvHelper.h
+13618;0x3532;EXE_RECEPTION_FAILURE;LOW;Failed to receive execution report P1: Return value P2: Apid of command for which the reception of the execution report failed;linux\devices\ploc\PlocSupvHelper.h
+13619;0x3533;WRITE_MEMORY_FAILED;LOW;Update procedure failed when sending packet with number P1 P1: Packet number for which the memory write command fails;linux\devices\ploc\PlocSupvHelper.h
+13700;0x3584;ALLOC_FAILURE;MEDIUM;;bsp_q7s\core\CoreController.h
+13701;0x3585;REBOOT_SW;MEDIUM; Software reboot occurred. Can also be a systemd reboot. P1: Current Chip, P2: Current Copy;bsp_q7s\core\CoreController.h
+13702;0x3586;REBOOT_MECHANISM_TRIGGERED;MEDIUM;The reboot mechanism was triggered. P1: First 16 bits: Last Chip, Last 16 bits: Last Copy, P2: Each byte is the respective reboot count for the slots;bsp_q7s\core\CoreController.h
+13703;0x3587;REBOOT_HW;MEDIUM;;bsp_q7s\core\CoreController.h

generators/bsp_q7s_objects.csv

@@ -4,18 +4,18 @@
 0x43400001;THERMAL_CONTROLLER
 0x44120006;MGM_0_LIS3_HANDLER
 0x44120010;GYRO_0_ADIS_HANDLER
-0x44120032;SUS_0
+0x44120032;SUS_0_N_LOC_XFYFZM_PT_XF
-0x44120033;SUS_1
+0x44120033;SUS_1_N_LOC_XBYFZM_PT_XB
-0x44120034;SUS_2
+0x44120034;SUS_2_N_LOC_XFYBZB_PT_YB
-0x44120035;SUS_3
+0x44120035;SUS_3_N_LOC_XFYBZF_PT_YF
-0x44120036;SUS_4
+0x44120036;SUS_4_N_LOC_XMYFZF_PT_ZF
-0x44120037;SUS_5
+0x44120037;SUS_5_N_LOC_XFYMZB_PT_ZB
-0x44120038;SUS_6
+0x44120038;SUS_6_R_LOC_XFYBZM_PT_XF
-0x44120039;SUS_7
+0x44120039;SUS_7_R_LOC_XBYBZM_PT_XB
-0x44120040;SUS_8
+0x44120040;SUS_8_R_LOC_XBYBZB_PT_YB
-0x44120041;SUS_9
+0x44120041;SUS_9_R_LOC_XBYBZB_PT_YF
-0x44120042;SUS_10
+0x44120042;SUS_10_N_LOC_XMYBZF_PT_ZF
-0x44120043;SUS_11
+0x44120043;SUS_11_R_LOC_XBYMZB_PT_ZB
 0x44120047;RW1
 0x44120107;MGM_1_RM3100_HANDLER
 0x44120111;GYRO_1_L3G_HANDLER
@@ -41,6 +41,8 @@
 0x44330001;PLOC_MEMORY_DUMPER
 0x44330002;STR_HELPER
 0x44330003;PLOC_MPSOC_HELPER
+0x44330004;AXI_PTME_CONFIG
+0x44330005;PTME_CONFIG
 0x44330015;PLOC_MPSOC_HANDLER
 0x44330016;PLOC_SUPERVISOR_HANDLER
 0x44330017;PLOC_SUPERVISOR_HELPER
@@ -48,26 +50,28 @@
 0x444100A4;HEATER_HANDLER
 0x44420004;TMP1075_HANDLER_1
 0x44420005;TMP1075_HANDLER_2
-0x44420016;RTD_IC_3
+0x44420016;RTD_0_IC3_PLOC_HEATSPREADER
-0x44420017;RTD_IC_4
+0x44420017;RTD_1_IC4_PLOC_MISSIONBOARD
-0x44420018;RTD_IC_5
+0x44420018;RTD_2_IC5_4K_CAMERA
-0x44420019;RTD_IC_6
+0x44420019;RTD_3_IC6_DAC_HEATSPREADER
-0x44420020;RTD_IC_7
+0x44420020;RTD_4_IC7_STARTRACKER
-0x44420021;RTD_IC_8
+0x44420021;RTD_5_IC8_RW1_MX_MY
-0x44420022;RTD_IC_9
+0x44420022;RTD_6_IC9_DRO
-0x44420023;RTD_IC_10
+0x44420023;RTD_7_IC10_SCEX
-0x44420024;RTD_IC_11
+0x44420024;RTD_8_IC11_X8
-0x44420025;RTD_IC_12
+0x44420025;RTD_9_IC12_HPA
-0x44420026;RTD_IC_13
+0x44420026;RTD_10_IC13_PL_TX
-0x44420027;RTD_IC_14
+0x44420027;RTD_11_IC14_MPA
-0x44420028;RTD_IC_15
+0x44420028;RTD_12_IC15_ACU
-0x44420029;RTD_IC_16
+0x44420029;RTD_13_IC16_PLPCDU_HEATSPREADER
-0x44420030;RTD_IC_17
+0x44420030;RTD_14_IC17_TCS_BOARD
-0x44420031;RTD_IC_18
+0x44420031;RTD_15_IC18_IMTQ
 0x445300A3;SYRLINKS_HK_HANDLER
 0x49000000;ARDUINO_COM_IF
 0x49010005;GPIO_IF
-0x49020004;SPI_COM_IF
+0x49020004;SPI_MAIN_COM_IF
+0x49020005;SPI_RW_COM_IF
+0x49020006;SPI_RTD_COM_IF
 0x49030003;UART_COM_IF
 0x49040002;I2C_COM_IF
 0x49050001;CSP_COM_IF
@@ -88,6 +92,7 @@
 0x53000005;PUS_SERVICE_5_EVENT_REPORTING
 0x53000008;PUS_SERVICE_8_FUNCTION_MGMT
 0x53000009;PUS_SERVICE_9_TIME_MGMT
+0x53000011;PUS_SERVICE_11_TC_SCHEDULER
 0x53000017;PUS_SERVICE_17_TEST
 0x53000020;PUS_SERVICE_20_PARAMETERS
 0x53000200;PUS_SERVICE_200_MODE_MGMT
@@ -109,9 +114,18 @@
 0x5400CAFE;DUMMY_INTERFACE
 0x54123456;LIBGPIOD_TEST
 0x54694269;TEST_TASK
+0x60000000;HEATER_0_PLOC_PROC_BRD
+0x60000001;HEATER_1_PCDU_BRD
+0x60000002;HEATER_2_ACS_BRD
+0x60000003;HEATER_3_OBC_BRD
+0x60000004;HEATER_4_CAMERA
+0x60000005;HEATER_5_STR
+0x60000006;HEATER_6_DRO
+0x60000007;HEATER_7_HPA
 0x73000001;ACS_BOARD_ASS
 0x73000002;SUS_BOARD_ASS
 0x73000003;TCS_BOARD_ASS
+0x73000004;RW_ASS
 0x73000100;TM_FUNNEL
 0x73500000;CCSDS_IP_CORE_BRIDGE
 0xFFFFFFFF;NO_OBJECT

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 187 translations.
+ * @brief    Auto-generated event translation file. Contains 206 translations.
  * @details
- * Generated on: 2022-05-03 16:32:00
+ * Generated on: 2022-05-23 16:46:55
  */
 #include "translateEvents.h"
 
@@ -90,9 +90,12 @@ const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
 const char *FDIR_REACTION_IGNORED_STRING = "FDIR_REACTION_IGNORED";
 const char *GPIO_PULL_HIGH_FAILED_STRING = "GPIO_PULL_HIGH_FAILED";
 const char *GPIO_PULL_LOW_FAILED_STRING = "GPIO_PULL_LOW_FAILED";
+const char *HEATER_WENT_ON_STRING = "HEATER_WENT_ON";
+const char *HEATER_WENT_OFF_STRING = "HEATER_WENT_OFF";
 const char *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
 const char *SWITCH_ALREADY_OFF_STRING = "SWITCH_ALREADY_OFF";
 const char *MAIN_SWITCH_TIMEOUT_STRING = "MAIN_SWITCH_TIMEOUT";
+const char *FAULTY_HEATER_WAS_ON_STRING = "FAULTY_HEATER_WAS_ON";
 const char *MAIN_SWITCH_ON_TIMEOUT_STRING = "MAIN_SWITCH_ON_TIMEOUT";
 const char *MAIN_SWITCH_OFF_TIMEOUT_STRING = "MAIN_SWITCH_OFF_TIMEOUT";
 const char *DEPLOYMENT_FAILED_STRING = "DEPLOYMENT_FAILED";
@@ -102,7 +105,7 @@ const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE";
 const char *ACK_FAILURE_STRING = "ACK_FAILURE";
 const char *EXE_FAILURE_STRING = "EXE_FAILURE";
 const char *MPSOC_HANDLER_CRC_FAILURE_STRING = "MPSOC_HANDLER_CRC_FAILURE";
-const char *MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQ_CNT_MISMATCH";
+const char *MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING = "MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH";
 const char *MPSOC_SHUTDOWN_FAILED_STRING = "MPSOC_SHUTDOWN_FAILED";
 const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
 const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
@@ -113,20 +116,16 @@ const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
 const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
 const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
 const char *ERROR_STATE_STRING = "ERROR_STATE";
+const char *RESET_OCCURED_STRING = "RESET_OCCURED";
 const char *BOOTING_FIRMWARE_FAILED_STRING = "BOOTING_FIRMWARE_FAILED";
 const char *BOOTING_BOOTLOADER_FAILED_STRING = "BOOTING_BOOTLOADER_FAILED";
 const char *SUPV_MEMORY_READ_RPT_CRC_FAILURE_STRING = "SUPV_MEMORY_READ_RPT_CRC_FAILURE";
 const char *SUPV_ACK_FAILURE_STRING = "SUPV_ACK_FAILURE";
 const char *SUPV_EXE_FAILURE_STRING = "SUPV_EXE_FAILURE";
 const char *SUPV_CRC_FAILURE_EVENT_STRING = "SUPV_CRC_FAILURE_EVENT";
+const char *SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING = "SUPV_MPSOC_SHUWDOWN_BUILD_FAILED";
 const char *SANITIZATION_FAILED_STRING = "SANITIZATION_FAILED";
 const char *MOUNTED_SD_CARD_STRING = "MOUNTED_SD_CARD";
-const char *UPDATE_FILE_NOT_EXISTS_STRING = "UPDATE_FILE_NOT_EXISTS";
-const char *ACTION_COMMANDING_FAILED_STRING = "ACTION_COMMANDING_FAILED";
-const char *UPDATE_AVAILABLE_FAILED_STRING = "UPDATE_AVAILABLE_FAILED";
-const char *UPDATE_TRANSFER_FAILED_STRING = "UPDATE_TRANSFER_FAILED";
-const char *UPDATE_VERIFY_FAILED_STRING = "UPDATE_VERIFY_FAILED";
-const char *UPDATE_FINISHED_STRING = "UPDATE_FINISHED";
 const char *SEND_MRAM_DUMP_FAILED_STRING = "SEND_MRAM_DUMP_FAILED";
 const char *MRAM_DUMP_FAILED_STRING = "MRAM_DUMP_FAILED";
 const char *MRAM_DUMP_FINISHED_STRING = "MRAM_DUMP_FINISHED";
@@ -153,15 +152,15 @@ const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET
 const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
 const char *MPSOC_FLASH_WRITE_FAILED_STRING = "MPSOC_FLASH_WRITE_FAILED";
 const char *MPSOC_FLASH_WRITE_SUCCESSFUL_STRING = "MPSOC_FLASH_WRITE_SUCCESSFUL";
-const char *SENDING_COMMAND_FAILED_STRING = "SENDING_COMMAND_FAILED";
+const char *MPSOC_SENDING_COMMAND_FAILED_STRING = "MPSOC_SENDING_COMMAND_FAILED";
 const char *MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING = "MPSOC_HELPER_REQUESTING_REPLY_FAILED";
 const char *MPSOC_HELPER_READING_REPLY_FAILED_STRING = "MPSOC_HELPER_READING_REPLY_FAILED";
-const char *MISSING_ACK_STRING = "MISSING_ACK";
+const char *MPSOC_MISSING_ACK_STRING = "MPSOC_MISSING_ACK";
-const char *MISSING_EXE_STRING = "MISSING_EXE";
+const char *MPSOC_MISSING_EXE_STRING = "MPSOC_MISSING_EXE";
-const char *ACK_FAILURE_REPORT_STRING = "ACK_FAILURE_REPORT";
+const char *MPSOC_ACK_FAILURE_REPORT_STRING = "MPSOC_ACK_FAILURE_REPORT";
-const char *EXE_FAILURE_REPORT_STRING = "EXE_FAILURE_REPORT";
+const char *MPSOC_EXE_FAILURE_REPORT_STRING = "MPSOC_EXE_FAILURE_REPORT";
-const char *ACK_INVALID_APID_STRING = "ACK_INVALID_APID";
+const char *MPSOC_ACK_INVALID_APID_STRING = "MPSOC_ACK_INVALID_APID";
-const char *EXE_INVALID_APID_STRING = "EXE_INVALID_APID";
+const char *MPSOC_EXE_INVALID_APID_STRING = "MPSOC_EXE_INVALID_APID";
 const char *MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING = "MPSOC_HELPER_SEQ_CNT_MISMATCH";
 const char *TRANSITION_BACK_TO_OFF_STRING = "TRANSITION_BACK_TO_OFF";
 const char *NEG_V_OUT_OF_BOUNDS_STRING = "NEG_V_OUT_OF_BOUNDS";
@@ -184,6 +183,26 @@ const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
 const char *P60_BOOT_COUNT_STRING = "P60_BOOT_COUNT";
 const char *BATT_MODE_STRING = "BATT_MODE";
 const char *BATT_MODE_CHANGED_STRING = "BATT_MODE_CHANGED";
+const char *SUPV_UPDATE_FAILED_STRING = "SUPV_UPDATE_FAILED";
+const char *SUPV_UPDATE_SUCCESSFUL_STRING = "SUPV_UPDATE_SUCCESSFUL";
+const char *SUPV_CONTINUE_UPDATE_FAILED_STRING = "SUPV_CONTINUE_UPDATE_FAILED";
+const char *SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING = "SUPV_CONTINUE_UPDATE_SUCCESSFUL";
+const char *TERMINATED_UPDATE_PROCEDURE_STRING = "TERMINATED_UPDATE_PROCEDURE";
+const char *SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING = "SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL";
+const char *SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING = "SUPV_EVENT_BUFFER_REQUEST_FAILED";
+const char *SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING = "SUPV_EVENT_BUFFER_REQUEST_TERMINATED";
+const char *SUPV_SENDING_COMMAND_FAILED_STRING = "SUPV_SENDING_COMMAND_FAILED";
+const char *SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING = "SUPV_HELPER_REQUESTING_REPLY_FAILED";
+const char *SUPV_HELPER_READING_REPLY_FAILED_STRING = "SUPV_HELPER_READING_REPLY_FAILED";
+const char *SUPV_MISSING_ACK_STRING = "SUPV_MISSING_ACK";
+const char *SUPV_MISSING_EXE_STRING = "SUPV_MISSING_EXE";
+const char *SUPV_ACK_FAILURE_REPORT_STRING = "SUPV_ACK_FAILURE_REPORT";
+const char *SUPV_EXE_FAILURE_REPORT_STRING = "SUPV_EXE_FAILURE_REPORT";
+const char *SUPV_ACK_INVALID_APID_STRING = "SUPV_ACK_INVALID_APID";
+const char *SUPV_EXE_INVALID_APID_STRING = "SUPV_EXE_INVALID_APID";
+const char *ACK_RECEPTION_FAILURE_STRING = "ACK_RECEPTION_FAILURE";
+const char *EXE_RECEPTION_FAILURE_STRING = "EXE_RECEPTION_FAILURE";
+const char *WRITE_MEMORY_FAILED_STRING = "WRITE_MEMORY_FAILED";
 const char *ALLOC_FAILURE_STRING = "ALLOC_FAILURE";
 const char *REBOOT_SW_STRING = "REBOOT_SW";
 const char *REBOOT_MECHANISM_TRIGGERED_STRING = "REBOOT_MECHANISM_TRIGGERED";
@@ -362,11 +381,17 @@ const char *translateEvents(Event event) {
     case (11401):
       return GPIO_PULL_LOW_FAILED_STRING;
     case (11402):
-      return SWITCH_ALREADY_ON_STRING;
+      return HEATER_WENT_ON_STRING;
     case (11403):
-      return SWITCH_ALREADY_OFF_STRING;
+      return HEATER_WENT_OFF_STRING;
     case (11404):
+      return SWITCH_ALREADY_ON_STRING;
+    case (11405):
+      return SWITCH_ALREADY_OFF_STRING;
+    case (11406):
       return MAIN_SWITCH_TIMEOUT_STRING;
+    case (11407):
+      return FAULTY_HEATER_WAS_ON_STRING;
     case (11500):
       return MAIN_SWITCH_ON_TIMEOUT_STRING;
     case (11501):
@@ -386,7 +411,7 @@ const char *translateEvents(Event event) {
     case (11604):
       return MPSOC_HANDLER_CRC_FAILURE_STRING;
     case (11605):
-      return MPSOC_HANDLER_SEQ_CNT_MISMATCH_STRING;
+      return MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH_STRING;
     case (11606):
       return MPSOC_SHUTDOWN_FAILED_STRING;
     case (11701):
@@ -407,6 +432,8 @@ const char *translateEvents(Event event) {
       return INVALID_ERROR_BYTE_STRING;
     case (11801):
       return ERROR_STATE_STRING;
+    case (11802):
+      return RESET_OCCURED_STRING;
     case (11901):
       return BOOTING_FIRMWARE_FAILED_STRING;
     case (11902):
@@ -419,22 +446,12 @@ const char *translateEvents(Event event) {
       return SUPV_EXE_FAILURE_STRING;
     case (12004):
       return SUPV_CRC_FAILURE_EVENT_STRING;
+    case (12005):
+      return SUPV_MPSOC_SHUWDOWN_BUILD_FAILED_STRING;
     case (12100):
       return SANITIZATION_FAILED_STRING;
     case (12101):
       return MOUNTED_SD_CARD_STRING;
-    case (12200):
-      return UPDATE_FILE_NOT_EXISTS_STRING;
-    case (12201):
-      return ACTION_COMMANDING_FAILED_STRING;
-    case (12202):
-      return UPDATE_AVAILABLE_FAILED_STRING;
-    case (12203):
-      return UPDATE_TRANSFER_FAILED_STRING;
-    case (12204):
-      return UPDATE_VERIFY_FAILED_STRING;
-    case (12205):
-      return UPDATE_FINISHED_STRING;
     case (12300):
       return SEND_MRAM_DUMP_FAILED_STRING;
     case (12301):
@@ -488,23 +505,23 @@ const char *translateEvents(Event event) {
     case (12601):
       return MPSOC_FLASH_WRITE_SUCCESSFUL_STRING;
     case (12602):
-      return SENDING_COMMAND_FAILED_STRING;
+      return MPSOC_SENDING_COMMAND_FAILED_STRING;
     case (12603):
       return MPSOC_HELPER_REQUESTING_REPLY_FAILED_STRING;
     case (12604):
       return MPSOC_HELPER_READING_REPLY_FAILED_STRING;
     case (12605):
-      return MISSING_ACK_STRING;
+      return MPSOC_MISSING_ACK_STRING;
     case (12606):
-      return MISSING_EXE_STRING;
+      return MPSOC_MISSING_EXE_STRING;
     case (12607):
-      return ACK_FAILURE_REPORT_STRING;
+      return MPSOC_ACK_FAILURE_REPORT_STRING;
     case (12608):
-      return EXE_FAILURE_REPORT_STRING;
+      return MPSOC_EXE_FAILURE_REPORT_STRING;
     case (12609):
-      return ACK_INVALID_APID_STRING;
+      return MPSOC_ACK_INVALID_APID_STRING;
     case (12610):
-      return EXE_INVALID_APID_STRING;
+      return MPSOC_EXE_INVALID_APID_STRING;
     case (12611):
       return MPSOC_HELPER_SEQ_CNT_MISMATCH_STRING;
     case (12700):
@@ -550,12 +567,52 @@ const char *translateEvents(Event event) {
     case (13202):
       return BATT_MODE_CHANGED_STRING;
     case (13600):
-      return ALLOC_FAILURE_STRING;
+      return SUPV_UPDATE_FAILED_STRING;
     case (13601):
-      return REBOOT_SW_STRING;
+      return SUPV_UPDATE_SUCCESSFUL_STRING;
     case (13602):
-      return REBOOT_MECHANISM_TRIGGERED_STRING;
+      return SUPV_CONTINUE_UPDATE_FAILED_STRING;
     case (13603):
+      return SUPV_CONTINUE_UPDATE_SUCCESSFUL_STRING;
+    case (13604):
+      return TERMINATED_UPDATE_PROCEDURE_STRING;
+    case (13605):
+      return SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL_STRING;
+    case (13606):
+      return SUPV_EVENT_BUFFER_REQUEST_FAILED_STRING;
+    case (13607):
+      return SUPV_EVENT_BUFFER_REQUEST_TERMINATED_STRING;
+    case (13608):
+      return SUPV_SENDING_COMMAND_FAILED_STRING;
+    case (13609):
+      return SUPV_HELPER_REQUESTING_REPLY_FAILED_STRING;
+    case (13610):
+      return SUPV_HELPER_READING_REPLY_FAILED_STRING;
+    case (13611):
+      return SUPV_MISSING_ACK_STRING;
+    case (13612):
+      return SUPV_MISSING_EXE_STRING;
+    case (13613):
+      return SUPV_ACK_FAILURE_REPORT_STRING;
+    case (13614):
+      return SUPV_EXE_FAILURE_REPORT_STRING;
+    case (13615):
+      return SUPV_ACK_INVALID_APID_STRING;
+    case (13616):
+      return SUPV_EXE_INVALID_APID_STRING;
+    case (13617):
+      return ACK_RECEPTION_FAILURE_STRING;
+    case (13618):
+      return EXE_RECEPTION_FAILURE_STRING;
+    case (13619):
+      return WRITE_MEMORY_FAILED_STRING;
+    case (13700):
+      return ALLOC_FAILURE_STRING;
+    case (13701):
+      return REBOOT_SW_STRING;
+    case (13702):
+      return REBOOT_MECHANISM_TRIGGERED_STRING;
+    case (13703):
       return REBOOT_HW_STRING;
     default:
       return "UNKNOWN_EVENT";

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief  Auto-generated object translation file.
  * @details
- * Contains 117 translations.
+ * Contains 131 translations.
- * Generated on: 2022-05-03 16:32:00
+ * Generated on: 2022-05-23 16:46:58
  */
 #include "translateObjects.h"
 
@@ -12,18 +12,18 @@ const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
 const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
 const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
 const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
-const char *SUS_0_STRING = "SUS_0";
+const char *SUS_0_N_LOC_XFYFZM_PT_XF_STRING = "SUS_0_N_LOC_XFYFZM_PT_XF";
-const char *SUS_1_STRING = "SUS_1";
+const char *SUS_1_N_LOC_XBYFZM_PT_XB_STRING = "SUS_1_N_LOC_XBYFZM_PT_XB";
-const char *SUS_2_STRING = "SUS_2";
+const char *SUS_2_N_LOC_XFYBZB_PT_YB_STRING = "SUS_2_N_LOC_XFYBZB_PT_YB";
-const char *SUS_3_STRING = "SUS_3";
+const char *SUS_3_N_LOC_XFYBZF_PT_YF_STRING = "SUS_3_N_LOC_XFYBZF_PT_YF";
-const char *SUS_4_STRING = "SUS_4";
+const char *SUS_4_N_LOC_XMYFZF_PT_ZF_STRING = "SUS_4_N_LOC_XMYFZF_PT_ZF";
-const char *SUS_5_STRING = "SUS_5";
+const char *SUS_5_N_LOC_XFYMZB_PT_ZB_STRING = "SUS_5_N_LOC_XFYMZB_PT_ZB";
-const char *SUS_6_STRING = "SUS_6";
+const char *SUS_6_R_LOC_XFYBZM_PT_XF_STRING = "SUS_6_R_LOC_XFYBZM_PT_XF";
-const char *SUS_7_STRING = "SUS_7";
+const char *SUS_7_R_LOC_XBYBZM_PT_XB_STRING = "SUS_7_R_LOC_XBYBZM_PT_XB";
-const char *SUS_8_STRING = "SUS_8";
+const char *SUS_8_R_LOC_XBYBZB_PT_YB_STRING = "SUS_8_R_LOC_XBYBZB_PT_YB";
-const char *SUS_9_STRING = "SUS_9";
+const char *SUS_9_R_LOC_XBYBZB_PT_YF_STRING = "SUS_9_R_LOC_XBYBZB_PT_YF";
-const char *SUS_10_STRING = "SUS_10";
+const char *SUS_10_N_LOC_XMYBZF_PT_ZF_STRING = "SUS_10_N_LOC_XMYBZF_PT_ZF";
-const char *SUS_11_STRING = "SUS_11";
+const char *SUS_11_R_LOC_XBYMZB_PT_ZB_STRING = "SUS_11_R_LOC_XBYMZB_PT_ZB";
 const char *RW1_STRING = "RW1";
 const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
 const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
@@ -49,6 +49,8 @@ const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
 const char *STR_HELPER_STRING = "STR_HELPER";
 const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER";
+const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG";
+const char *PTME_CONFIG_STRING = "PTME_CONFIG";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
@@ -56,26 +58,28 @@ const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
 const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
 const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1";
 const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2";
-const char *RTD_IC_3_STRING = "RTD_IC_3";
+const char *RTD_0_IC3_PLOC_HEATSPREADER_STRING = "RTD_0_IC3_PLOC_HEATSPREADER";
-const char *RTD_IC_4_STRING = "RTD_IC_4";
+const char *RTD_1_IC4_PLOC_MISSIONBOARD_STRING = "RTD_1_IC4_PLOC_MISSIONBOARD";
-const char *RTD_IC_5_STRING = "RTD_IC_5";
+const char *RTD_2_IC5_4K_CAMERA_STRING = "RTD_2_IC5_4K_CAMERA";
-const char *RTD_IC_6_STRING = "RTD_IC_6";
+const char *RTD_3_IC6_DAC_HEATSPREADER_STRING = "RTD_3_IC6_DAC_HEATSPREADER";
-const char *RTD_IC_7_STRING = "RTD_IC_7";
+const char *RTD_4_IC7_STARTRACKER_STRING = "RTD_4_IC7_STARTRACKER";
-const char *RTD_IC_8_STRING = "RTD_IC_8";
+const char *RTD_5_IC8_RW1_MX_MY_STRING = "RTD_5_IC8_RW1_MX_MY";
-const char *RTD_IC_9_STRING = "RTD_IC_9";
+const char *RTD_6_IC9_DRO_STRING = "RTD_6_IC9_DRO";
-const char *RTD_IC_10_STRING = "RTD_IC_10";
+const char *RTD_7_IC10_SCEX_STRING = "RTD_7_IC10_SCEX";
-const char *RTD_IC_11_STRING = "RTD_IC_11";
+const char *RTD_8_IC11_X8_STRING = "RTD_8_IC11_X8";
-const char *RTD_IC_12_STRING = "RTD_IC_12";
+const char *RTD_9_IC12_HPA_STRING = "RTD_9_IC12_HPA";
-const char *RTD_IC_13_STRING = "RTD_IC_13";
+const char *RTD_10_IC13_PL_TX_STRING = "RTD_10_IC13_PL_TX";
-const char *RTD_IC_14_STRING = "RTD_IC_14";
+const char *RTD_11_IC14_MPA_STRING = "RTD_11_IC14_MPA";
-const char *RTD_IC_15_STRING = "RTD_IC_15";
+const char *RTD_12_IC15_ACU_STRING = "RTD_12_IC15_ACU";
-const char *RTD_IC_16_STRING = "RTD_IC_16";
+const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPREADER";
-const char *RTD_IC_17_STRING = "RTD_IC_17";
+const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD";
-const char *RTD_IC_18_STRING = "RTD_IC_18";
+const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ";
 const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
 const char *GPIO_IF_STRING = "GPIO_IF";
-const char *SPI_COM_IF_STRING = "SPI_COM_IF";
+const char *SPI_MAIN_COM_IF_STRING = "SPI_MAIN_COM_IF";
+const char *SPI_RW_COM_IF_STRING = "SPI_RW_COM_IF";
+const char *SPI_RTD_COM_IF_STRING = "SPI_RTD_COM_IF";
 const char *UART_COM_IF_STRING = "UART_COM_IF";
 const char *I2C_COM_IF_STRING = "I2C_COM_IF";
 const char *CSP_COM_IF_STRING = "CSP_COM_IF";
@@ -96,6 +100,7 @@ const char *PUS_SERVICE_3_HOUSEKEEPING_STRING = "PUS_SERVICE_3_HOUSEKEEPING";
 const char *PUS_SERVICE_5_EVENT_REPORTING_STRING = "PUS_SERVICE_5_EVENT_REPORTING";
 const char *PUS_SERVICE_8_FUNCTION_MGMT_STRING = "PUS_SERVICE_8_FUNCTION_MGMT";
 const char *PUS_SERVICE_9_TIME_MGMT_STRING = "PUS_SERVICE_9_TIME_MGMT";
+const char *PUS_SERVICE_11_TC_SCHEDULER_STRING = "PUS_SERVICE_11_TC_SCHEDULER";
 const char *PUS_SERVICE_17_TEST_STRING = "PUS_SERVICE_17_TEST";
 const char *PUS_SERVICE_20_PARAMETERS_STRING = "PUS_SERVICE_20_PARAMETERS";
 const char *PUS_SERVICE_200_MODE_MGMT_STRING = "PUS_SERVICE_200_MODE_MGMT";
@@ -117,9 +122,18 @@ const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
 const char *TEST_TASK_STRING = "TEST_TASK";
+const char *HEATER_0_PLOC_PROC_BRD_STRING = "HEATER_0_PLOC_PROC_BRD";
+const char *HEATER_1_PCDU_BRD_STRING = "HEATER_1_PCDU_BRD";
+const char *HEATER_2_ACS_BRD_STRING = "HEATER_2_ACS_BRD";
+const char *HEATER_3_OBC_BRD_STRING = "HEATER_3_OBC_BRD";
+const char *HEATER_4_CAMERA_STRING = "HEATER_4_CAMERA";
+const char *HEATER_5_STR_STRING = "HEATER_5_STR";
+const char *HEATER_6_DRO_STRING = "HEATER_6_DRO";
+const char *HEATER_7_HPA_STRING = "HEATER_7_HPA";
 const char *ACS_BOARD_ASS_STRING = "ACS_BOARD_ASS";
 const char *SUS_BOARD_ASS_STRING = "SUS_BOARD_ASS";
 const char *TCS_BOARD_ASS_STRING = "TCS_BOARD_ASS";
+const char *RW_ASS_STRING = "RW_ASS";
 const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
@@ -139,29 +153,29 @@ const char *translateObject(object_id_t object) {
     case 0x44120010:
       return GYRO_0_ADIS_HANDLER_STRING;
     case 0x44120032:
-      return SUS_0_STRING;
+      return SUS_0_N_LOC_XFYFZM_PT_XF_STRING;
     case 0x44120033:
-      return SUS_1_STRING;
+      return SUS_1_N_LOC_XBYFZM_PT_XB_STRING;
     case 0x44120034:
-      return SUS_2_STRING;
+      return SUS_2_N_LOC_XFYBZB_PT_YB_STRING;
     case 0x44120035:
-      return SUS_3_STRING;
+      return SUS_3_N_LOC_XFYBZF_PT_YF_STRING;
     case 0x44120036:
-      return SUS_4_STRING;
+      return SUS_4_N_LOC_XMYFZF_PT_ZF_STRING;
     case 0x44120037:
-      return SUS_5_STRING;
+      return SUS_5_N_LOC_XFYMZB_PT_ZB_STRING;
     case 0x44120038:
-      return SUS_6_STRING;
+      return SUS_6_R_LOC_XFYBZM_PT_XF_STRING;
     case 0x44120039:
-      return SUS_7_STRING;
+      return SUS_7_R_LOC_XBYBZM_PT_XB_STRING;
     case 0x44120040:
-      return SUS_8_STRING;
+      return SUS_8_R_LOC_XBYBZB_PT_YB_STRING;
     case 0x44120041:
-      return SUS_9_STRING;
+      return SUS_9_R_LOC_XBYBZB_PT_YF_STRING;
     case 0x44120042:
-      return SUS_10_STRING;
+      return SUS_10_N_LOC_XMYBZF_PT_ZF_STRING;
     case 0x44120043:
-      return SUS_11_STRING;
+      return SUS_11_R_LOC_XBYMZB_PT_ZB_STRING;
     case 0x44120047:
       return RW1_STRING;
     case 0x44120107:
@@ -212,6 +226,10 @@ const char *translateObject(object_id_t object) {
       return STR_HELPER_STRING;
     case 0x44330003:
       return PLOC_MPSOC_HELPER_STRING;
+    case 0x44330004:
+      return AXI_PTME_CONFIG_STRING;
+    case 0x44330005:
+      return PTME_CONFIG_STRING;
     case 0x44330015:
       return PLOC_MPSOC_HANDLER_STRING;
     case 0x44330016:
@@ -227,37 +245,37 @@ const char *translateObject(object_id_t object) {
     case 0x44420005:
       return TMP1075_HANDLER_2_STRING;
     case 0x44420016:
-      return RTD_IC_3_STRING;
+      return RTD_0_IC3_PLOC_HEATSPREADER_STRING;
     case 0x44420017:
-      return RTD_IC_4_STRING;
+      return RTD_1_IC4_PLOC_MISSIONBOARD_STRING;
     case 0x44420018:
-      return RTD_IC_5_STRING;
+      return RTD_2_IC5_4K_CAMERA_STRING;
     case 0x44420019:
-      return RTD_IC_6_STRING;
+      return RTD_3_IC6_DAC_HEATSPREADER_STRING;
     case 0x44420020:
-      return RTD_IC_7_STRING;
+      return RTD_4_IC7_STARTRACKER_STRING;
     case 0x44420021:
-      return RTD_IC_8_STRING;
+      return RTD_5_IC8_RW1_MX_MY_STRING;
     case 0x44420022:
-      return RTD_IC_9_STRING;
+      return RTD_6_IC9_DRO_STRING;
     case 0x44420023:
-      return RTD_IC_10_STRING;
+      return RTD_7_IC10_SCEX_STRING;
     case 0x44420024:
-      return RTD_IC_11_STRING;
+      return RTD_8_IC11_X8_STRING;
     case 0x44420025:
-      return RTD_IC_12_STRING;
+      return RTD_9_IC12_HPA_STRING;
     case 0x44420026:
-      return RTD_IC_13_STRING;
+      return RTD_10_IC13_PL_TX_STRING;
     case 0x44420027:
-      return RTD_IC_14_STRING;
+      return RTD_11_IC14_MPA_STRING;
     case 0x44420028:
-      return RTD_IC_15_STRING;
+      return RTD_12_IC15_ACU_STRING;
     case 0x44420029:
-      return RTD_IC_16_STRING;
+      return RTD_13_IC16_PLPCDU_HEATSPREADER_STRING;
     case 0x44420030:
-      return RTD_IC_17_STRING;
+      return RTD_14_IC17_TCS_BOARD_STRING;
     case 0x44420031:
-      return RTD_IC_18_STRING;
+      return RTD_15_IC18_IMTQ_STRING;
     case 0x445300A3:
       return SYRLINKS_HK_HANDLER_STRING;
     case 0x49000000:
@@ -265,7 +283,11 @@ const char *translateObject(object_id_t object) {
     case 0x49010005:
       return GPIO_IF_STRING;
     case 0x49020004:
-      return SPI_COM_IF_STRING;
+      return SPI_MAIN_COM_IF_STRING;
+    case 0x49020005:
+      return SPI_RW_COM_IF_STRING;
+    case 0x49020006:
+      return SPI_RTD_COM_IF_STRING;
     case 0x49030003:
       return UART_COM_IF_STRING;
     case 0x49040002:
@@ -306,6 +328,8 @@ const char *translateObject(object_id_t object) {
       return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
     case 0x53000009:
       return PUS_SERVICE_9_TIME_MGMT_STRING;
+    case 0x53000011:
+      return PUS_SERVICE_11_TC_SCHEDULER_STRING;
     case 0x53000017:
       return PUS_SERVICE_17_TEST_STRING;
     case 0x53000020:
@@ -348,12 +372,30 @@ const char *translateObject(object_id_t object) {
       return LIBGPIOD_TEST_STRING;
     case 0x54694269:
       return TEST_TASK_STRING;
+    case 0x60000000:
+      return HEATER_0_PLOC_PROC_BRD_STRING;
+    case 0x60000001:
+      return HEATER_1_PCDU_BRD_STRING;
+    case 0x60000002:
+      return HEATER_2_ACS_BRD_STRING;
+    case 0x60000003:
+      return HEATER_3_OBC_BRD_STRING;
+    case 0x60000004:
+      return HEATER_4_CAMERA_STRING;
+    case 0x60000005:
+      return HEATER_5_STR_STRING;
+    case 0x60000006:
+      return HEATER_6_DRO_STRING;
+    case 0x60000007:
+      return HEATER_7_HPA_STRING;
     case 0x73000001:
       return ACS_BOARD_ASS_STRING;
     case 0x73000002:
       return SUS_BOARD_ASS_STRING;
     case 0x73000003:
       return TCS_BOARD_ASS_STRING;
+    case 0x73000004:
+      return RW_ASS_STRING;
     case 0x73000100:
       return TM_FUNNEL_STRING;
     case 0x73500000:

linux/CMakeLists.txt

@@ -6,6 +6,4 @@ add_subdirectory(devices)
 add_subdirectory(fsfwconfig)
 add_subdirectory(obc)
 
-target_sources(${OBSW_NAME} PUBLIC
+target_sources(${OBSW_NAME} PUBLIC ObjectFactory.cpp)
-    ObjectFactory.cpp
-)

linux/ObjectFactory.cpp

@@ -7,6 +7,8 @@
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <linux/callbacks/gpioCallbacks.h>
+#include <linux/devices/Max31865RtdLowlevelHandler.h>
+#include <mission/devices/Max31865EiveHandler.h>
 #include <mission/devices/Max31865PT1000Handler.h>
 #include <mission/devices/SusHandler.h>
 #include <mission/system/fdir/RtdFdir.h>
@@ -62,93 +64,104 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
   gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
 
-  gpioComIF->addGpios(gpioCookieSus);
+  gpioChecker(gpioComIF->addGpios(gpioCookieSus), "Sun Sensors");
 
 #if OBSW_ADD_SUN_SENSORS == 1
   SusFdir* fdir = nullptr;
   std::array<SusHandler*, 12> susHandlers = {};
-  SpiCookie* spiCookie =
+  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
-      new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, spiDev, SUS::MAX_CMD_SIZE,
                                        spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
+  susHandlers[0] =
-  fdir = new SusFdir(objects::SUS_0);
+      new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
   susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[0]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
+  susHandlers[1] =
-  fdir = new SusFdir(objects::SUS_1);
+      new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
   susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[1]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
+  susHandlers[2] =
-  fdir = new SusFdir(objects::SUS_2);
+      new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
   susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[2]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
+  susHandlers[3] =
-  fdir = new SusFdir(objects::SUS_3);
+      new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
   susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[3]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
+  susHandlers[4] =
-  fdir = new SusFdir(objects::SUS_4);
+      new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
   susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[4]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
+  susHandlers[5] =
-  fdir = new SusFdir(objects::SUS_5);
+      new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
   susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[5]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
+  susHandlers[6] =
-  fdir = new SusFdir(objects::SUS_6);
+      new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
   susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[6]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
+  susHandlers[7] =
-  fdir = new SusFdir(objects::SUS_7);
+      new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
   susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[7]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
+  susHandlers[8] =
-  fdir = new SusFdir(objects::SUS_8);
+      new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
   susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[8]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
+  susHandlers[9] =
-  fdir = new SusFdir(objects::SUS_9);
+      new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
   susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[9]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
+  susHandlers[10] =
-  fdir = new SusFdir(objects::SUS_10);
+      new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
   susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[10]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, spiDev, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE,
                             spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
+  susHandlers[11] =
-  fdir = new SusFdir(objects::SUS_11);
+      new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
   susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
   susHandlers[11]->setCustomFdir(fdir);
 
@@ -163,10 +176,13 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #endif
     }
   }
-  std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1,  objects::SUS_2,
+  std::array<object_id_t, 12> susIds = {
-                                        objects::SUS_3, objects::SUS_4,  objects::SUS_5,
+      objects::SUS_0_N_LOC_XFYFZM_PT_XF,  objects::SUS_1_N_LOC_XBYFZM_PT_XB,
-                                        objects::SUS_6, objects::SUS_7,  objects::SUS_8,
+      objects::SUS_2_N_LOC_XFYBZB_PT_YB,  objects::SUS_3_N_LOC_XFYBZF_PT_YF,
-                                        objects::SUS_9, objects::SUS_10, objects::SUS_11};
+      objects::SUS_4_N_LOC_XMYFZF_PT_ZF,  objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
+      objects::SUS_6_R_LOC_XFYBZM_PT_XF,  objects::SUS_7_R_LOC_XBYBZM_PT_XB,
+      objects::SUS_8_R_LOC_XBYBZB_PT_YB,  objects::SUS_9_R_LOC_XBYBZB_PT_YF,
+      objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::SUS_11_R_LOC_XBYMZB_PT_ZB};
   SusAssHelper susAssHelper = SusAssHelper(susIds);
   auto susAss =
       new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
@@ -175,7 +191,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 }
 
 void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
-                                        PowerSwitchIF* pwrSwitcher) {
+                                        PowerSwitchIF* pwrSwitcher, SpiComIF* comIF) {
   using namespace gpio;
   GpioCookie* rtdGpioCookie = new GpioCookie;
 
@@ -228,11 +244,11 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
                                                &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
   rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
 
-  gpioComIF->addGpios(rtdGpioCookie);
+  gpioChecker(gpioComIF->addGpios(rtdGpioCookie), "RTDs");
 
 #if OBSW_ADD_RTD_DEVICES == 1
-  static constexpr uint8_t NUMBER_RTDS = 16;
+  using namespace EiveMax31855;
-  std::array<std::pair<address_t, gpioId_t>, NUMBER_RTDS> cookieArgs = {{
+  std::array<std::pair<address_t, gpioId_t>, NUM_RTDS> cookieArgs = {{
       {addresses::RTD_IC_3, gpioIds::RTD_IC_3},
       {addresses::RTD_IC_4, gpioIds::RTD_IC_4},
       {addresses::RTD_IC_5, gpioIds::RTD_IC_5},
@@ -250,40 +266,61 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
       {addresses::RTD_IC_17, gpioIds::RTD_IC_17},
       {addresses::RTD_IC_18, gpioIds::RTD_IC_18},
   }};
-  std::array<object_id_t, NUMBER_RTDS> rtdIds = {
+  // HSPD: Heatspreader
-      objects::RTD_IC_3,  objects::RTD_IC_4,  objects::RTD_IC_5,  objects::RTD_IC_6,
+  std::array<std::pair<object_id_t, std::string>, NUM_RTDS> rtdInfos = {{
-      objects::RTD_IC_7,  objects::RTD_IC_8,  objects::RTD_IC_9,  objects::RTD_IC_10,
+      {objects::RTD_0_IC3_PLOC_HEATSPREADER, "RTD_0_PLOC_HSPD"},
-      objects::RTD_IC_11, objects::RTD_IC_12, objects::RTD_IC_13, objects::RTD_IC_14,
+      {objects::RTD_1_IC4_PLOC_MISSIONBOARD, "RTD_1_PLOC_MISSIONBRD"},
-      objects::RTD_IC_15, objects::RTD_IC_16, objects::RTD_IC_17, objects::RTD_IC_18};
+      {objects::RTD_2_IC5_4K_CAMERA, "RTD_2_4K_CAMERA"},
-  std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
+      {objects::RTD_3_IC6_DAC_HEATSPREADER, "RTD_3_DAC_HSPD"},
-  std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
+      {objects::RTD_4_IC7_STARTRACKER, "RTD_4_STARTRACKER"},
+      {objects::RTD_5_IC8_RW1_MX_MY, "RTD_5_RW1_MX_MY"},
+      {objects::RTD_6_IC9_DRO, "RTD_6_DRO"},
+      {objects::RTD_7_IC10_SCEX, "RTD_7_SCEX"},
+      {objects::RTD_8_IC11_X8, "RTD_8_X8"},
+      {objects::RTD_9_IC12_HPA, "RTD_9_HPA"},
+      {objects::RTD_10_IC13_PL_TX, "RTD_10_PL_TX,"},
+      {objects::RTD_11_IC14_MPA, "RTD_11_MPA"},
+      {objects::RTD_12_IC15_ACU, "RTD_12_ACU"},
+      {objects::RTD_13_IC16_PLPCDU_HEATSPREADER, "RTD_13_PLPCDU_HSPD"},
+      {objects::RTD_14_IC17_TCS_BOARD, "RTD_14_TCS_BOARD"},
+      {objects::RTD_15_IC18_IMTQ, "RTD_15_IMTQ"},
+  }};
+  std::array<SpiCookie*, NUM_RTDS> rtdCookies = {};
+  std::array<Max31865EiveHandler*, NUM_RTDS> rtds = {};
   RtdFdir* rtdFdir = nullptr;
-  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
+  // Create special low level reader communication interface
-    rtdCookies[idx] =
+  new Max31865RtdReader(objects::SPI_RTD_COM_IF, comIF, gpioComIF);
-        new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, spiDev,
+  for (uint8_t idx = 0; idx < NUM_RTDS; idx++) {
-                      Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
+    rtdCookies[idx] = new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second,
-    rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_COM_IF, rtdCookies[idx]);
+                                    MAX31865::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
+    rtdCookies[idx]->setMutexParams(MutexIF::TimeoutType::WAITING, spi::RTD_CS_TIMEOUT);
+    Max31865ReaderCookie* rtdLowLevelCookie =
+        new Max31865ReaderCookie(rtdInfos[idx].first, idx, rtdInfos[idx].second, rtdCookies[idx]);
+    rtds[idx] =
+        new Max31865EiveHandler(rtdInfos[idx].first, objects::SPI_RTD_COM_IF, rtdLowLevelCookie);
+    rtds[idx]->setDeviceInfo(idx, rtdInfos[idx].second);
     rtds[idx]->setParent(objects::TCS_BOARD_ASS);
-    rtdFdir = new RtdFdir(rtdIds[idx]);
+    rtdFdir = new RtdFdir(rtdInfos[idx].first);
     rtds[idx]->setCustomFdir(rtdFdir);
-    rtds[idx]->setDeviceIdx(idx + 3);
 #if OBSW_DEBUG_RTD == 1
-    rtds[idx]->setDebugMode(true);
+    rtds[idx]->setDebugMode(true, 5);
+#endif
+#if OBSW_TEST_RTD == 1
+    rtds[idx]->setInstantNormal(true);
+    rtds[idx]->setStartUpImmediately();
 #endif
   }
 
-#if OBSW_TEST_RTD == 1
+  TcsBoardHelper helper(rtdInfos);
-  for (auto& rtd : rtds) {
-    if (rtd != nullptr) {
-      rtd->setStartUpImmediately();
-      rtd->setInstantNormal(true);
-    }
-  }
-#endif  // OBSW_TEST_RTD == 1
-  TcsBoardHelper helper(rtdIds);
   TcsBoardAssembly* tcsBoardAss =
       new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
                            pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
   static_cast<void>(tcsBoardAss);
 #endif  // OBSW_ADD_RTD_DEVICES == 1
 }
+
+void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "ObjectFactory: Adding GPIOs failed for " << output << std::endl;
+  }
+}

linux/ObjectFactory.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
 #include <string>
 
 class GpioIF;
@@ -10,6 +12,9 @@ namespace ObjectFactory {
 
 void createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher,
                                std::string spiDev);
-void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
+void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher,
+                         SpiComIF* comIF);
+
+void gpioChecker(ReturnValue_t result, std::string output);
 
 }  // namespace ObjectFactory

linux/boardtest/CMakeLists.txt

@@ -1,10 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE LibgpiodTest.cpp I2cTestClass.cpp
-	LibgpiodTest.cpp
+                                    SpiTestClass.cpp UartTestClass.cpp)
-	I2cTestClass.cpp
-	SpiTestClass.cpp
-	UartTestClass.cpp
-)
-
-
-
-

linux/boardtest/LibgpiodTest.cpp

@@ -29,8 +29,8 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
         sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
         return RETURN_FAILED;
       } else {
-        sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " <<
+        sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = "
-            static_cast<int>(gpioState) << std::endl;
+                   << static_cast<int>(gpioState) << std::endl;
       }
       break;
     }

linux/callbacks/CMakeLists.txt

@@ -1,3 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE gpioCallbacks.cpp)
-	gpioCallbacks.cpp
-)

linux/csp/CMakeLists.txt

@@ -1,8 +1 @@
-target_sources(${OBSW_NAME} PUBLIC
+target_sources(${OBSW_NAME} PUBLIC CspComIF.cpp CspCookie.cpp)
-	CspComIF.cpp
-	CspCookie.cpp
-)
-
-
-
-

linux/devices/CMakeLists.txt

@@ -1,8 +1,8 @@
 if(EIVE_BUILD_GPSD_GPS_HANDLER)
-    target_sources(${OBSW_NAME} PRIVATE
+  target_sources(${OBSW_NAME} PRIVATE GPSHyperionLinuxController.cpp)
-        GPSHyperionLinuxController.cpp
-    )
 endif()
 
+target_sources(${OBSW_NAME} PRIVATE Max31865RtdLowlevelHandler.cpp)
+
 add_subdirectory(ploc)
 add_subdirectory(startracker)

linux/devices/Max31865RtdLowlevelHandler.cpp

@@ -0,0 +1,465 @@
+#include "Max31865RtdLowlevelHandler.h"
+
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <fsfw_hal/linux/spi/ManualCsLockGuard.h>
+
+#define OBSW_RTD_AUTO_MODE 1
+
+#if OBSW_RTD_AUTO_MODE == 1
+static constexpr uint8_t BASE_CFG = (MAX31865::Bias::ON << MAX31865::CfgBitPos::BIAS_SEL) |
+                                    (MAX31865::Wires::FOUR_WIRE << MAX31865::CfgBitPos::WIRE_SEL) |
+                                    (MAX31865::ConvMode::AUTO << MAX31865::CfgBitPos::CONV_MODE);
+#else
+static constexpr uint8_t BASE_CFG =
+    (MAX31865::Bias::OFF << MAX31865::CfgBitPos::BIAS_SEL) |
+    (MAX31865::Wires::FOUR_WIRE << MAX31865::CfgBitPos::WIRE_SEL) |
+    (MAX31865::ConvMode::NORM_OFF << MAX31865::CfgBitPos::CONV_MODE);
+#endif
+
+Max31865RtdReader::Max31865RtdReader(object_id_t objectId, SpiComIF* lowLevelComIF, GpioIF* gpioIF)
+    : SystemObject(objectId), rtds(EiveMax31855::NUM_RTDS), comIF(lowLevelComIF), gpioIF(gpioIF) {
+  readerMutex = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t Max31865RtdReader::performOperation(uint8_t operationCode) {
+  using namespace MAX31865;
+  ReturnValue_t result = RETURN_OK;
+  static_cast<void>(result);
+  // Stopwatch watch;
+  if (periodicInitHandling()) {
+#if OBSW_RTD_AUTO_MODE == 0
+    // 10 ms delay for VBIAS startup
+    TaskFactory::delayTask(10);
+#endif
+  } else {
+    // No devices usable (e.g. TCS board off)
+    return RETURN_OK;
+  }
+
+#if OBSW_RTD_AUTO_MODE == 0
+  result = periodicReadReqHandling();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  // After requesting, 65 milliseconds delay required
+  TaskFactory::delayTask(65);
+#endif
+
+  return periodicReadHandling();
+}
+
+bool Max31865RtdReader::rtdIsActive(uint8_t idx) {
+  if (rtds[idx]->on and rtds[idx]->active and rtds[idx]->configured) {
+    return true;
+  }
+  return false;
+}
+
+bool Max31865RtdReader::periodicInitHandling() {
+  using namespace MAX31865;
+  MutexGuard mg(readerMutex);
+  ReturnValue_t result = RETURN_OK;
+  if (mg.getLockResult() != RETURN_OK) {
+    sif::warning << "Max31865RtdReader::periodicInitHandling: Mutex lock failed" << std::endl;
+    return false;
+  }
+
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    if ((rtd->on or rtd->active) and not rtd->configured and rtd->cd.hasTimedOut()) {
+      ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
+      if (mg.lockResult != RETURN_OK or mg.gpioResult != RETURN_OK) {
+        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
+        break;
+      }
+      result = writeCfgReg(rtd->spiCookie, BASE_CFG);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        handleSpiError(rtd, result, "writeCfgReg");
+      }
+      if (rtd->writeLowThreshold) {
+        result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          handleSpiError(rtd, result, "writeLowThreshold");
+        }
+      }
+      if (rtd->writeHighThreshold) {
+        result = writeHighThreshold(rtd->spiCookie, rtd->highThreshold);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          handleSpiError(rtd, result, "writeHighThreshold");
+        }
+      }
+      result = clearFaultStatus(rtd->spiCookie);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        handleSpiError(rtd, result, "clearFaultStatus");
+      }
+      rtd->configured = true;
+      rtd->db.configured = true;
+      if (rtd->active) {
+        rtd->db.active = true;
+      }
+    }
+    if (rtd->active and rtd->configured and not rtd->db.active) {
+      rtd->db.active = true;
+    }
+  }
+  bool someRtdUsable = false;
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    if (rtdIsActive(rtd->idx)) {
+#if OBSW_RTD_AUTO_MODE == 0
+      result = writeBiasSel(Bias::ON, rtd->spiCookie, BASE_CFG);
+#endif
+      someRtdUsable = true;
+    }
+  }
+  return someRtdUsable;
+}
+
+ReturnValue_t Max31865RtdReader::periodicReadReqHandling() {
+  using namespace MAX31865;
+  MutexGuard mg(readerMutex);
+  if (mg.getLockResult() != RETURN_OK) {
+    sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
+    return RETURN_FAILED;
+  }
+  // Now request one shot config for all active RTDs
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    if (rtdIsActive(rtd->idx)) {
+      ReturnValue_t result = writeCfgReg(rtd->spiCookie, BASE_CFG | (1 << CfgBitPos::ONE_SHOT));
+      if (result != RETURN_OK) {
+        handleSpiError(rtd, result, "writeCfgReg");
+        // Release mutex ASAP
+        return RETURN_FAILED;
+      }
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::periodicReadHandling() {
+  using namespace MAX31865;
+  auto result = RETURN_OK;
+  MutexGuard mg(readerMutex);
+  if (mg.getLockResult() != RETURN_OK) {
+    sif::warning << "Max31865RtdReader::periodicReadReqHandling: Mutex lock failed" << std::endl;
+    return RETURN_FAILED;
+  }
+  // Now read the RTD values
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    if (rtdIsActive(rtd->idx)) {
+      uint16_t rtdVal = 0;
+      bool faultBitSet = false;
+      result = readRtdVal(rtd->spiCookie, rtdVal, faultBitSet);
+      if (result != RETURN_OK) {
+        handleSpiError(rtd, result, "readRtdVal");
+        return RETURN_FAILED;
+      }
+      if (faultBitSet) {
+        rtd->db.faultBitSet = faultBitSet;
+      }
+      rtd->db.adcCode = rtdVal;
+    }
+  }
+#if OBSW_RTD_AUTO_MODE == 0
+  for (auto& rtd : rtds) {
+    if (rtd == nullptr) {
+      continue;
+    }
+    // Even if a device was made inactive, turn off the bias here. If it was turned off, not
+    // necessary anymore..
+    if (rtd->on) {
+      result = writeBiasSel(Bias::OFF, rtd->spiCookie, BASE_CFG);
+    }
+  }
+#endif
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::initializeInterface(CookieIF* cookie) {
+  if (cookie == nullptr) {
+    throw std::invalid_argument("Invalid MAX31865 Reader Cookie");
+  }
+  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
+  ReturnValue_t result = comIF->initializeInterface(rtdCookie->spiCookie);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  if (rtdCookie->idx > EiveMax31855::NUM_RTDS) {
+    throw std::invalid_argument("Invalid RTD index");
+  }
+  rtds[rtdCookie->idx] = rtdCookie;
+  MutexGuard mg(readerMutex);
+  if (dbLen == 0) {
+    dbLen = rtdCookie->db.getSerializedSize();
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::sendMessage(CookieIF* cookie, const uint8_t* sendData,
+                                             size_t sendLen) {
+  if (cookie == nullptr) {
+    return RETURN_FAILED;
+  }
+  // Empty command.. don't fail for now
+  if (sendLen < 1) {
+    return RETURN_OK;
+  }
+  MutexGuard mg(readerMutex);
+  if (mg.getLockResult() != RETURN_OK) {
+    sif::warning << "Max31865RtdReader::sendMessage: Mutex lock failed" << std::endl;
+    return RETURN_FAILED;
+  }
+  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
+  uint8_t cmdRaw = sendData[0];
+  if (cmdRaw > EiveMax31855::RtdCommands::NUM_CMDS) {
+    sif::warning << "Max31865RtdReader::sendMessage: Invalid command" << std::endl;
+    return RETURN_FAILED;
+  }
+
+  auto thresholdHandler = [](Max31865ReaderCookie* rtdCookie, const uint8_t* sendData) {
+    rtdCookie->lowThreshold = (sendData[1] << 8) | sendData[2];
+    rtdCookie->highThreshold = (sendData[3] << 8) | sendData[4];
+    rtdCookie->writeLowThreshold = true;
+    rtdCookie->writeHighThreshold = true;
+  };
+
+  auto cmd = static_cast<EiveMax31855::RtdCommands>(sendData[0]);
+  switch (cmd) {
+    case (EiveMax31855::RtdCommands::ON): {
+      if (not rtdCookie->on) {
+        rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
+        rtdCookie->cd.resetTimer();
+        rtdCookie->on = true;
+        rtdCookie->active = false;
+        rtdCookie->configured = false;
+        if (sendLen == 5) {
+          thresholdHandler(rtdCookie, sendData);
+        }
+      }
+      break;
+    }
+    case (EiveMax31855::RtdCommands::ACTIVE): {
+      if (not rtdCookie->on) {
+        rtdCookie->cd.setTimeout(MAX31865::WARMUP_MS);
+        rtdCookie->cd.resetTimer();
+        rtdCookie->on = true;
+        rtdCookie->active = true;
+        rtdCookie->configured = false;
+      } else {
+        rtdCookie->active = true;
+      }
+      if (sendLen == 5) {
+        thresholdHandler(rtdCookie, sendData);
+      }
+      break;
+    }
+    case (EiveMax31855::RtdCommands::OFF): {
+      rtdCookie->on = false;
+      rtdCookie->active = false;
+      rtdCookie->configured = false;
+      break;
+    }
+    case (EiveMax31855::RtdCommands::HIGH_TRESHOLD): {
+      if (sendLen == 3) {
+        rtdCookie->highThreshold = (sendData[1] << 8) | sendData[2];
+        rtdCookie->writeHighThreshold = true;
+      } else {
+        return RETURN_FAILED;
+      }
+      break;
+    }
+    case (EiveMax31855::RtdCommands::LOW_THRESHOLD): {
+      if (sendLen == 3) {
+        rtdCookie->lowThreshold = (sendData[1] << 8) | sendData[2];
+        rtdCookie->writeLowThreshold = true;
+      } else {
+        return RETURN_FAILED;
+      }
+      break;
+    }
+    case (EiveMax31855::RtdCommands::CFG):
+    default: {
+      // TODO: Only implement if needed
+      break;
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::getSendSuccess(CookieIF* cookie) { return RETURN_OK; }
+
+ReturnValue_t Max31865RtdReader::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
+                                                     size_t* size) {
+  MutexGuard mg(readerMutex);
+  if (mg.getLockResult() != RETURN_OK) {
+    // TODO: Emit warning
+    return RETURN_FAILED;
+  }
+  auto* rtdCookie = dynamic_cast<Max31865ReaderCookie*>(cookie);
+  uint8_t* exchangePtr = rtdCookie->exchangeBuf.data();
+  size_t serLen = 0;
+  auto result = rtdCookie->db.serialize(&exchangePtr, &serLen, rtdCookie->exchangeBuf.size(),
+                                        SerializeIF::Endianness::MACHINE);
+  if (result != RETURN_OK) {
+    // TODO: Emit warning
+    return RETURN_FAILED;
+  }
+  *buffer = reinterpret_cast<uint8_t*>(rtdCookie->exchangeBuf.data());
+  *size = serLen;
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::writeCfgReg(SpiCookie* cookie, uint8_t cfg) {
+  using namespace MAX31865;
+  return writeNToReg(cookie, CONFIG, 1, &cfg, nullptr);
+}
+
+ReturnValue_t Max31865RtdReader::writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie,
+                                              uint8_t baseCfg) {
+  using namespace MAX31865;
+  if (bias == MAX31865::Bias::OFF) {
+    baseCfg &= ~(1 << CfgBitPos::BIAS_SEL);
+  } else {
+    baseCfg |= (1 << CfgBitPos::BIAS_SEL);
+  }
+  return writeCfgReg(cookie, baseCfg);
+}
+
+ReturnValue_t Max31865RtdReader::clearFaultStatus(SpiCookie* cookie) {
+  using namespace MAX31865;
+  // Read back the current configuration to avoid overwriting it when clearing te fault status
+  uint8_t currentCfg = 0;
+  auto result = readCfgReg(cookie, currentCfg);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  // Clear bytes 5, 3 and 2 which need to be 0
+  currentCfg &= ~0x2C;
+  currentCfg |= (1 << CfgBitPos::FAULT_STATUS_CLEAR);
+  return writeCfgReg(cookie, currentCfg);
+}
+
+ReturnValue_t Max31865RtdReader::readCfgReg(SpiCookie* cookie, uint8_t& cfg) {
+  using namespace MAX31865;
+  uint8_t* replyPtr = nullptr;
+  auto result = readNFromReg(cookie, CONFIG, 1, &replyPtr);
+  if (result == RETURN_OK) {
+    cfg = replyPtr[0];
+  }
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::writeLowThreshold(SpiCookie* cookie, uint16_t val) {
+  using namespace MAX31865;
+  uint8_t cmd[2] = {static_cast<uint8_t>((val >> 8) & 0xff), static_cast<uint8_t>(val & 0xff)};
+  return writeNToReg(cookie, LOW_THRESHOLD, 2, cmd, nullptr);
+}
+
+ReturnValue_t Max31865RtdReader::writeHighThreshold(SpiCookie* cookie, uint16_t val) {
+  using namespace MAX31865;
+  uint8_t cmd[2] = {static_cast<uint8_t>((val >> 8) & 0xff), static_cast<uint8_t>(val & 0xff)};
+  return writeNToReg(cookie, HIGH_THRESHOLD, 2, cmd, nullptr);
+}
+
+ReturnValue_t Max31865RtdReader::readLowThreshold(SpiCookie* cookie, uint16_t& lowThreshold) {
+  using namespace MAX31865;
+  uint8_t* replyPtr = nullptr;
+  auto result = readNFromReg(cookie, LOW_THRESHOLD, 2, &replyPtr);
+  if (result == RETURN_OK) {
+    lowThreshold = (replyPtr[0] << 8) | replyPtr[1];
+  }
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::readHighThreshold(SpiCookie* cookie, uint16_t& highThreshold) {
+  using namespace MAX31865;
+  uint8_t* replyPtr = nullptr;
+  auto result = readNFromReg(cookie, HIGH_THRESHOLD, 2, &replyPtr);
+  if (result == RETURN_OK) {
+    highThreshold = (replyPtr[0] << 8) | replyPtr[1];
+  }
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::writeNToReg(SpiCookie* cookie, uint8_t reg, size_t n, uint8_t* cmd,
+                                             uint8_t** reply) {
+  using namespace MAX31865;
+  if (n > cmdBuf.size() - 1) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  cmdBuf[0] = reg | WRITE_BIT;
+  for (size_t idx = 0; idx < n; idx++) {
+    cmdBuf[idx + 1] = cmd[idx];
+  }
+  return comIF->sendMessage(cookie, cmdBuf.data(), n + 1);
+}
+
+ReturnValue_t Max31865RtdReader::readRtdVal(SpiCookie* cookie, uint16_t& val, bool& faultBitSet) {
+  using namespace MAX31865;
+  uint8_t* replyPtr = nullptr;
+  auto result = readNFromReg(cookie, RTD, 2, &replyPtr);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  if (replyPtr[1] & 0b0000'0001) {
+    faultBitSet = true;
+  }
+  // Shift 1 to the right to remove fault bit
+  val = ((replyPtr[0] << 8) | replyPtr[1]) >> 1;
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::readNFromReg(SpiCookie* cookie, uint8_t reg, size_t n,
+                                              uint8_t** reply) {
+  using namespace MAX31865;
+  if (n > 4) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  // Clear write bit in any case
+  reg &= ~WRITE_BIT;
+  cmdBuf[0] = reg;
+  std::memset(cmdBuf.data() + 1, 0, n);
+  ReturnValue_t result = comIF->sendMessage(cookie, cmdBuf.data(), n + 1);
+  if (result != RETURN_OK) {
+    return RETURN_FAILED;
+  }
+
+  size_t dummyLen = 0;
+  uint8_t* replyPtr = nullptr;
+  result = comIF->readReceivedMessage(cookie, &replyPtr, &dummyLen);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  if (reply != nullptr) {
+    *reply = replyPtr + 1;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t Max31865RtdReader::handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result,
+                                                const char* ctx) {
+  cookie->db.spiErrorCount.value += 1;
+  sif::warning << "Max31865RtdReader::handleSpiError: " << ctx << " | Failed with result " << result
+               << std::endl;
+  return result;
+}
+
+ReturnValue_t Max31865RtdReader::initialize() {
+  csLock = comIF->getCsMutex();
+  return SystemObject::initialize();
+}

linux/devices/Max31865RtdLowlevelHandler.h

@@ -0,0 +1,87 @@
+#ifndef LINUX_DEVICES_MAX31865RTDREADER_H_
+#define LINUX_DEVICES_MAX31865RTDREADER_H_
+
+#include <fsfw/ipc/MutexIF.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
+
+#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
+
+struct Max31865ReaderCookie : public CookieIF {
+  Max31865ReaderCookie(){};
+  Max31865ReaderCookie(object_id_t handlerId_, uint8_t idx_, const std::string& locString_,
+                       SpiCookie* spiCookie_)
+      : idx(idx_), handlerId(handlerId_), locString(locString_), spiCookie(spiCookie_) {}
+
+  uint8_t idx = 0;
+  object_id_t handlerId = objects::NO_OBJECT;
+
+  std::string locString = "";
+  std::array<uint8_t, 12> exchangeBuf{};
+  Countdown cd = Countdown(MAX31865::WARMUP_MS);
+
+  bool on = false;
+  bool configured = false;
+  bool active = false;
+  bool writeLowThreshold = false;
+  bool writeHighThreshold = false;
+  uint16_t lowThreshold = 0;
+  uint16_t highThreshold = 0;
+  SpiCookie* spiCookie = nullptr;
+
+  // Exchange data buffer struct
+  EiveMax31855::ReadOutStruct db;
+};
+
+class Max31865RtdReader : public SystemObject,
+                          public ExecutableObjectIF,
+                          public DeviceCommunicationIF {
+ public:
+  Max31865RtdReader(object_id_t objectId, SpiComIF* lowLevelComIF, GpioIF* gpioIF);
+
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+  ReturnValue_t initialize() override;
+
+ private:
+  std::vector<Max31865ReaderCookie*> rtds;
+  std::array<uint8_t, 4> cmdBuf = {};
+  size_t dbLen = 0;
+  MutexIF* readerMutex;
+
+  SpiComIF* comIF;
+  GpioIF* gpioIF;
+  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::BLOCKING;
+  uint32_t csTimeoutMs = 0;
+  MutexIF* csLock = nullptr;
+
+  bool periodicInitHandling();
+  ReturnValue_t periodicReadReqHandling();
+  ReturnValue_t periodicReadHandling();
+
+  bool rtdIsActive(uint8_t idx);
+  ReturnValue_t writeCfgReg(SpiCookie* cookie, uint8_t cfg);
+  ReturnValue_t writeBiasSel(MAX31865::Bias bias, SpiCookie* cookie, uint8_t baseCfg);
+  ReturnValue_t readCfgReg(SpiCookie* cookie, uint8_t& cfg);
+  ReturnValue_t readRtdVal(SpiCookie* cookie, uint16_t& val, bool& faultBitSet);
+  ReturnValue_t writeLowThreshold(SpiCookie* cookie, uint16_t val);
+  ReturnValue_t writeHighThreshold(SpiCookie* cookie, uint16_t val);
+  ReturnValue_t readLowThreshold(SpiCookie* cookie, uint16_t& val);
+  ReturnValue_t readHighThreshold(SpiCookie* cookie, uint16_t& val);
+  ReturnValue_t clearFaultStatus(SpiCookie* cookie);
+
+  ReturnValue_t readNFromReg(SpiCookie* cookie, uint8_t reg, size_t n, uint8_t** reply);
+  ReturnValue_t writeNToReg(SpiCookie* cookie, uint8_t reg, size_t n, uint8_t* cmd,
+                            uint8_t** reply);
+
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
+
+  ReturnValue_t handleSpiError(Max31865ReaderCookie* cookie, ReturnValue_t result, const char* ctx);
+};
+
+#endif /* LINUX_DEVICES_MAX31865RTDREADER_H_ */

linux/devices/devicedefinitions/PlocMPSoCDefinitions.h

@@ -29,6 +29,8 @@ static const DeviceCommandId_t TC_MODE_REPLAY = 16;
 static const DeviceCommandId_t TC_CAM_CMD_SEND = 17;
 static const DeviceCommandId_t TC_MODE_IDLE = 18;
 static const DeviceCommandId_t TM_CAM_CMD_RPT = 19;
+static const DeviceCommandId_t SET_UART_TX_TRISTATE = 20;
+static const DeviceCommandId_t RELEASE_UART_TX = 21;
 
 // Will reset the sequence count of the OBSW
 static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
@@ -576,6 +578,9 @@ class TcReplayWriteSeq : public TcBase {
   }
 };
 
+/**
+ * @brief   Helps to extract the fields of the flash write command from the PUS packet.
+ */
 class FlashWritePusCmd : public MPSoCReturnValuesIF {
  public:
   FlashWritePusCmd(){};

linux/devices/devicedefinitions/SupvReturnValuesIF.h

@@ -0,0 +1,61 @@
+#ifndef SUPV_RETURN_VALUES_IF_H_
+#define SUPV_RETURN_VALUES_IF_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+class SupvReturnValuesIF {
+ public:
+  static const uint8_t INTERFACE_ID = CLASS_ID::SUPV_RETURN_VALUES_IF;
+
+  //! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
+  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
+  static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
+  //! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
+  static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
+  //! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
+  static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
+  //! [EXPORT] : [COMMENT] Failed to read current system time
+  static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
+  //! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
+  //! for PS, 1 for PL and 2 for INT
+  static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA5);
+  //! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
+  //! timeouts must be in the range between 1000 and 360000 ms.
+  static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA6);
+  //! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
+  static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA7);
+  //! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
+  //! larger than 21.
+  static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA8);
+  //! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
+  //! and 2.
+  static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xA9);
+  //! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
+  static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAA);
+  //! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM  wipe
+  //! commands are invalid (e.g. start address bigger than stop address)
+  static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAB);
+  //! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
+  //! other apid.
+  static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAC);
+  //! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
+  static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAD);
+  //! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
+  //! been created with the reception of the first dump packet.
+  static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAE);
+  //! [EXPORT] : [COMMENT] Received action command has invalid length
+  static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xAF);
+  //! [EXPORT] : [COMMENT] Filename too long
+  static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xB0);
+  //! [EXPORT] : [COMMENT] Received update status report with invalid packet length field
+  static const ReturnValue_t UPDATE_STATUS_REPORT_INVALID_LENGTH = MAKE_RETURN_CODE(0xB1);
+  //! [EXPORT] : [COMMENT] Update status report does not contain expected CRC. There might be a bit
+  //! flip in the update memory region.
+  static const ReturnValue_t UPDATE_CRC_FAILURE = MAKE_RETURN_CODE(0xB2);
+  //! [EXPORT] : [COMMENT] Supervisor helper task ist currently executing a command (wait until
+  //! helper tas has finished or interrupt by sending the terminate command)
+  static const ReturnValue_t SUPV_HELPER_EXECUTING = MAKE_RETURN_CODE(0xB3);
+};
+
+#endif /* SUPV_RETURN_VALUES_IF_H_ */

linux/devices/ploc/CMakeLists.txt

@@ -1,7 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(
-    PlocSupervisorHandler.cpp
+  ${OBSW_NAME}
-    PlocUpdater.cpp
+  PRIVATE PlocSupervisorHandler.cpp PlocMemoryDumper.cpp PlocMPSoCHandler.cpp
-    PlocMemoryDumper.cpp
+          PlocMPSoCHelper.cpp PlocSupvHelper.cpp)
-    PlocMPSoCHandler.cpp
-    PlocMPSoCHelper.cpp
-)

linux/devices/ploc/PlocMPSoCHandler.cpp

@@ -99,6 +99,20 @@ void PlocMPSoCHandler::performOperationHook() {
 ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                               const uint8_t* data, size_t size) {
   ReturnValue_t result = RETURN_OK;
+  switch (actionId) {
+    case mpsoc::SET_UART_TX_TRISTATE: {
+      uartIsolatorSwitch.pullLow();
+      return EXECUTION_FINISHED;
+      break;
+    }
+    case mpsoc::RELEASE_UART_TX: {
+      uartIsolatorSwitch.pullHigh();
+      return EXECUTION_FINISHED;
+      break;
+      default:
+        break;
+    }
+  }
 
   if (plocMPSoCHelperExecuting) {
     return MPSoCReturnValuesIF::MPSOC_HELPER_EXECUTING;
@@ -134,6 +148,7 @@ ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueI
 
 void PlocMPSoCHandler::doStartUp() {
 #ifdef XIPHOS_Q7S
+#if not OBSW_MPSOC_JTAG_BOOT == 1
   switch (powerState) {
     case PowerState::OFF:
       commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
@@ -147,11 +162,19 @@ void PlocMPSoCHandler::doStartUp() {
       break;
   }
 #else
+  powerState = PowerState::ON;
+  setMode(_MODE_TO_ON);
+  uartIsolatorSwitch.pullHigh();
+#endif /* not MSPOC_JTAG_BOOT == 1 */
+#else
+  powerState = PowerState::ON;
   setMode(_MODE_TO_ON);
 #endif /* XIPHOS_Q7S */
 }
 
 void PlocMPSoCHandler::doShutDown() {
+#ifdef XIPHOS_Q7S
+#if not OBSW_MPSOC_JTAG_BOOT == 1
   switch (powerState) {
     case PowerState::ON:
       uartIsolatorSwitch.pullLow();
@@ -164,6 +187,12 @@ void PlocMPSoCHandler::doShutDown() {
     default:
       break;
   }
+#else
+  uartIsolatorSwitch.pullLow();
+  setMode(_MODE_POWER_DOWN);
+  powerState = PowerState::OFF;
+#endif
+#endif
 }
 
 ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@@ -252,6 +281,8 @@ void PlocMPSoCHandler::fillCommandAndReplyMap() {
   this->insertInCommandMap(mpsoc::TC_MODE_REPLAY);
   this->insertInCommandMap(mpsoc::TC_MODE_IDLE);
   this->insertInCommandMap(mpsoc::TC_CAM_CMD_SEND);
+  this->insertInCommandMap(mpsoc::RELEASE_UART_TX);
+  this->insertInCommandMap(mpsoc::SET_UART_TX_TRISTATE);
   this->insertInReplyMap(mpsoc::ACK_REPORT, 3, nullptr, mpsoc::SIZE_ACK_REPORT);
   this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
   this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
@@ -302,7 +333,7 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain
   sequenceCount++;
   uint16_t recvSeqCnt = (*(start + 2) << 8 | *(start + 3)) & PACKET_SEQUENCE_COUNT_MASK;
   if (recvSeqCnt != sequenceCount) {
-    triggerEvent(MPSOC_HANDLER_SEQ_CNT_MISMATCH, sequenceCount, recvSeqCnt);
+    triggerEvent(MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH, sequenceCount, recvSeqCnt);
     sequenceCount = recvSeqCnt;
   }
   return result;
@@ -656,10 +687,12 @@ ReturnValue_t PlocMPSoCHandler::handleCamCmdRpt(const uint8_t* data) {
   std::string camCmdRptMsg(
       reinterpret_cast<const char*>(dataFieldPtr),
       tmCamCmdRpt.rememberSpacePacketSize - mpsoc::SPACE_PACKET_HEADER_SIZE - 3);
+#if OBSW_DEBUG_PLOC_MPSOC == 1
   uint8_t ackValue = *(packet.getPacketData() + packet.getPacketDataLength() - 2);
-  sif::info << "CamCmdRpt message: " << camCmdRptMsg << std::endl;
+  sif::info << "PlocMPSoCHandler: CamCmdRpt message: " << camCmdRptMsg << std::endl;
-  sif::info << "CamCmdRpt Ack value: 0x" << std::hex << static_cast<unsigned int>(ackValue)
+  sif::info << "PlocMPSoCHandler: CamCmdRpt Ack value: 0x" << std::hex
-            << std::endl;
+            << static_cast<unsigned int>(ackValue) << std::endl;
+#endif /* OBSW_DEBUG_PLOC_MPSOC == 1 */
   handleDeviceTM(packet.getPacketData(), packet.getPacketDataLength() - 1, mpsoc::TM_CAM_CMD_RPT);
   return result;
 }
@@ -799,6 +832,14 @@ size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
   return replyLen;
 }
 
+ReturnValue_t PlocMPSoCHandler::doSendReadHook() {
+  // Prevent DHB from polling UART during commands executed by the mpsoc helper task
+  if (plocMPSoCHelperExecuting) {
+    return RETURN_FAILED;
+  }
+  return RETURN_OK;
+}
+
 MessageQueueIF* PlocMPSoCHandler::getCommandQueuePtr() { return commandActionHelperQueue; }
 
 void PlocMPSoCHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) { return; }
@@ -806,16 +847,19 @@ void PlocMPSoCHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step)
 void PlocMPSoCHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
                                           ReturnValue_t returnCode) {
   switch (actionId) {
-    case supv::START_MPSOC:
+    case supv::START_MPSOC: {
       sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC" << std::endl;
+      // This usually happens when the supervisor handler is in off mode
       powerState = PowerState::OFF;
+      setMode(MODE_OFF);
       break;
-    case supv::SHUTDOWN_MPSOC:
+    }
+    case supv::SHUTDOWN_MPSOC: {
       triggerEvent(MPSOC_SHUTDOWN_FAILED);
       sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC" << std::endl;
-      // TODO: Setting state to on or off here?
+      powerState = PowerState::OFF;
-      powerState = PowerState::ON;
       break;
+    }
     default:
       sif::debug << "PlocMPSoCHandler::stepFailedReceived: Received unexpected action reply"
                  << std::endl;
@@ -879,10 +923,11 @@ void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
 }
 
 void PlocMPSoCHandler::disableAllReplies() {
+  using namespace mpsoc;
   DeviceReplyMap::iterator iter;
 
   /* Disable ack reply */
-  iter = deviceReplyMap.find(mpsoc::ACK_REPORT);
+  iter = deviceReplyMap.find(ACK_REPORT);
   DeviceReplyInfo* info = &(iter->second);
   info->delayCycles = 0;
   info->command = deviceCommandMap.end();
@@ -891,17 +936,26 @@ void PlocMPSoCHandler::disableAllReplies() {
 
   /* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
   switch (commandId) {
-    case mpsoc::TC_MEM_WRITE:
+    case TC_MEM_WRITE:
       break;
-    case mpsoc::TC_MEM_READ: {
+    case TC_MEM_READ: {
-      iter = deviceReplyMap.find(mpsoc::TM_MEMORY_READ_REPORT);
+      iter = deviceReplyMap.find(TM_MEMORY_READ_REPORT);
       info = &(iter->second);
       info->delayCycles = 0;
+      info->active = false;
+      info->command = deviceCommandMap.end();
+      break;
+    }
+    case TC_CAM_CMD_SEND: {
+      iter = deviceReplyMap.find(TM_CAM_CMD_RPT);
+      info = &(iter->second);
+      info->delayCycles = 0;
+      info->active = false;
       info->command = deviceCommandMap.end();
       break;
     }
     default: {
-      sif::debug << "PlocMPSoCHandler::disableAllReplies: Unknown command id" << commandId
+      sif::debug << "PlocMPSoCHandler::disableAllReplies: Unknown command id: " << commandId
                  << std::endl;
       break;
     }
@@ -959,15 +1013,19 @@ void PlocMPSoCHandler::handleActionCommandFailure(ActionId_t actionId) {
   }
   switch (powerState) {
     case PowerState::BOOTING: {
-      sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to boot MPSoC"
+      sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
                 << std::endl;
-      powerState = PowerState::OFF;
+      // This is commonly the case when the MPSoC is already operational. Thus the power state is
+      // set to on here
+      powerState = PowerState::ON;
       break;
     }
     case PowerState::SHUTDOWN: {
+      // FDIR will intercept event and switch PLOC power off
+      triggerEvent(MPSOC_SHUTDOWN_FAILED);
       sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
                    << std::endl;
-      powerState = PowerState::ON;
+      powerState = PowerState::OFF;
       break;
     }
     default:

linux/devices/ploc/PlocMPSoCHandler.h

@@ -14,6 +14,7 @@
 #include "fsfw_hal/linux/uart/UartComIF.h"
 #include "linux/devices/devicedefinitions/MPSoCReturnValuesIF.h"
 #include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
+#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
 
 /**
  * @brief	This is the device handler for the MPSoC of the payload computer.
@@ -76,6 +77,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
                                       uint8_t expectedReplies = 1, bool useAlternateId = false,
                                       DeviceCommandId_t alternateReplyID = 0) override;
   size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
+  virtual ReturnValue_t doSendReadHook() override;
 
  private:
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
@@ -94,7 +96,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   static const Event MPSOC_HANDLER_CRC_FAILURE = MAKE_EVENT(4, severity::LOW);
   //! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
   //! count P1: Expected sequence count P2: Received sequence count
-  static const Event MPSOC_HANDLER_SEQ_CNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
+  static const Event MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
   //! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
   //! thus also to shutdown the supervisor.
   static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
@@ -106,7 +108,11 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   MessageQueueIF* eventQueue = nullptr;
   MessageQueueIF* commandActionHelperQueue = nullptr;
 
-  SourceSequenceCounter sequenceCount;
+  // Initiate the sequence count with the maximum value. It is incremented before
+  // a packet is sent, so the first value will be 0 accordingly using
+  // the wrap around of the counter.
+  SourceSequenceCounter sequenceCount =
+      SourceSequenceCounter(SpacePacketBase::LIMIT_SEQUENCE_COUNT - 1);
 
   uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
 

linux/devices/ploc/PlocMPSoCHelper.cpp

@@ -204,7 +204,7 @@ ReturnValue_t PlocMPSoCHelper::sendCommand(mpsoc::TcBase& tc) {
   result = uartComIF->sendMessage(comCookie, tc.getWholeData(), tc.getFullSize());
   if (result != RETURN_OK) {
     sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
-    triggerEvent(SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
+    triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
     return result;
   }
   return result;
@@ -227,11 +227,11 @@ ReturnValue_t PlocMPSoCHelper::handleAck() {
 
 void PlocMPSoCHelper::handleAckApidFailure(uint16_t apid) {
   if (apid == mpsoc::apid::ACK_FAILURE) {
-    triggerEvent(ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
+    triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
     sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Received acknowledgement failure "
                  << "report" << std::endl;
   } else {
-    triggerEvent(ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
+    triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
     sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
                  << "but received space packet with apid " << std::hex << apid << std::endl;
   }
@@ -254,11 +254,11 @@ ReturnValue_t PlocMPSoCHelper::handleExe() {
 
 void PlocMPSoCHelper::handleExeApidFailure(uint16_t apid) {
   if (apid == mpsoc::apid::EXE_FAILURE) {
-    triggerEvent(EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
+    triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
     sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Received execution failure "
                  << "report" << std::endl;
   } else {
-    triggerEvent(EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
+    triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
     sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Expected execution report "
                  << "but received space packet with apid " << std::hex << apid << std::endl;
   }
@@ -281,7 +281,7 @@ ReturnValue_t PlocMPSoCHelper::handleTmReception(mpsoc::TmPacket* tmPacket, size
   }
   if (remainingBytes != 0) {
     sif::warning << "PlocMPSoCHelper::handleTmReception: Failed to receive reply" << std::endl;
-    triggerEvent(MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
+    triggerEvent(MPSOC_MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
     return RETURN_FAILED;
   }
   result = tmPacket->checkCrc();

linux/devices/ploc/PlocMPSoCHelper.h

@@ -29,10 +29,10 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF, public H
   //! [EXPORT] : [COMMENT] Flash write successful
   static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::LOW);
   //! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
-  //! ot the PLOC
+  //! to the MPSoC
   //! P1: Return value returned by the communication interface sendMessage function
   //! P2: Internal state of MPSoC helper
-  static const Event SENDING_COMMAND_FAILED = MAKE_EVENT(2, severity::LOW);
+  static const Event MPSOC_SENDING_COMMAND_FAILED = MAKE_EVENT(2, severity::LOW);
   //! [EXPORT] : [COMMENT] Request receive message of communication interface failed
   //! P1: Return value returned by the communication interface requestReceiveMessage function
   //! P2: Internal state of MPSoC helper
@@ -41,28 +41,28 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF, public H
   //! P1: Return value returned by the communication interface readingReceivedMessage function
   //! P2: Internal state of MPSoC helper
   static const Event MPSOC_HELPER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
-  //! [EXPORT] : [COMMENT] Did not receive acknowledgement report
+  //! [EXPORT] : [COMMENT] Did not receive acknowledgment report
   //! P1: Number of bytes missing
   //! P2: Internal state of MPSoC helper
-  static const Event MISSING_ACK = MAKE_EVENT(5, severity::LOW);
+  static const Event MPSOC_MISSING_ACK = MAKE_EVENT(5, severity::LOW);
   //! [EXPORT] : [COMMENT] Did not receive execution report
   //! P1: Number of bytes missing
   //! P2: Internal state of MPSoC helper
-  static const Event MISSING_EXE = MAKE_EVENT(6, severity::LOW);
+  static const Event MPSOC_MISSING_EXE = MAKE_EVENT(6, severity::LOW);
-  //! [EXPORT] : [COMMENT] Received acknowledgement failure report
+  //! [EXPORT] : [COMMENT] Received acknowledgment failure report
   //! P1: Internal state of MPSoC
-  static const Event ACK_FAILURE_REPORT = MAKE_EVENT(7, severity::LOW);
+  static const Event MPSOC_ACK_FAILURE_REPORT = MAKE_EVENT(7, severity::LOW);
   //! [EXPORT] : [COMMENT] Received execution failure report
   //! P1: Internal state of MPSoC
-  static const Event EXE_FAILURE_REPORT = MAKE_EVENT(8, severity::LOW);
+  static const Event MPSOC_EXE_FAILURE_REPORT = MAKE_EVENT(8, severity::LOW);
-  //! [EXPORT] : [COMMENT] Expected acknowledgement report but received space packet with other apid
+  //! [EXPORT] : [COMMENT] Expected acknowledgment report but received space packet with other apid
   //! P1: Apid of received space packet
   //! P2: Internal state of MPSoC
-  static const Event ACK_INVALID_APID = MAKE_EVENT(9, severity::LOW);
+  static const Event MPSOC_ACK_INVALID_APID = MAKE_EVENT(9, severity::LOW);
   //! [EXPORT] : [COMMENT] Expected execution report but received space packet with other apid
   //! P1: Apid of received space packet
   //! P2: Internal state of MPSoC
-  static const Event EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);
+  static const Event MPSOC_EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);
   //! [EXPORT] : [COMMENT] Received sequence count does not match expected sequence count
   //! P1: Expected sequence count
   //! P2: Received sequence count

linux/devices/ploc/PlocMemoryDumper.cpp

@@ -121,7 +121,10 @@ void PlocMemoryDumper::doStateMachine() {
 void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
 
 void PlocMemoryDumper::stepFailedReceived(ActionId_t actionId, uint8_t step,
-                                          ReturnValue_t returnCode) {}
+                                          ReturnValue_t returnCode) {
+  triggerEvent(MRAM_DUMP_FAILED);
+  state = State::IDLE;
+}
 
 void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
 
@@ -149,10 +152,9 @@ void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId, ReturnValue
     case (supv::FIRST_MRAM_DUMP):
     case (supv::CONSECUTIVE_MRAM_DUMP):
       triggerEvent(MRAM_DUMP_FAILED, mram.lastStartAddress);
+      pendingCommand = NONE;
       break;
     default:
-      sif::debug << "PlocMemoryDumper::completionFailedReceived: Invalid pending command "
-                 << std::endl;
       break;
   }
   state = State::IDLE;
@@ -168,12 +170,12 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
     tempStartAddress = mram.startAddress;
     tempEndAddress = mram.startAddress + MAX_MRAM_DUMP_SIZE;
     mram.startAddress += MAX_MRAM_DUMP_SIZE;
-    mram.lastStartAddress = tempStartAddress;
   } else {
     tempStartAddress = mram.startAddress;
     tempEndAddress = mram.endAddress;
     mram.startAddress = mram.endAddress;
   }
+  mram.lastStartAddress = tempStartAddress;
 
   MemoryParams params(tempStartAddress, tempEndAddress);
 

linux/devices/ploc/PlocSupervisorHandler.h

@@ -2,19 +2,22 @@
 #define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
 
 #include "OBSWConfig.h"
+#include "PlocSupvHelper.h"
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "devices/powerSwitcherList.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/timemanager/Countdown.h"
 #include "fsfw_hal/linux/gpio/Gpio.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "fsfw_hal/linux/uart/UartComIF.h"
 #include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
+#include "linux/devices/devicedefinitions/SupvReturnValuesIF.h"
 
 /**
  * @brief	This is the device handler for the supervisor of the PLOC which is programmed by
  *          Thales.
  *
- * @details The PLOC uses the space packet protocol for communication. To each command the PLOC
+ * @details The PLOC uses the space packet protocol for communication. On each command the PLOC
  *          answers with at least one acknowledgment and one execution report.
  *          Flight manual:
  *          https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_Commands
@@ -25,10 +28,14 @@
 class PlocSupervisorHandler : public DeviceHandlerBase {
  public:
   PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
-                        Gpio uartIsolatorSwitch, power::Switch_t powerSwitch);
+                        Gpio uartIsolatorSwitch, power::Switch_t powerSwitch,
+                        PlocSupvHelper* supvHelper);
   virtual ~PlocSupervisorHandler();
 
   virtual ReturnValue_t initialize() override;
+  void performOperationHook() override;
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
 
  protected:
   void doStartUp() override;
@@ -49,48 +56,10 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
                                       uint8_t expectedReplies = 1, bool useAlternateId = false,
                                       DeviceCommandId_t alternateReplyID = 0) override;
   size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
+  ReturnValue_t doSendReadHook() override;
+  void doOffActivity() override;
 
  private:
-  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;
-
-  //! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
-  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
-  //! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
-  static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
-  //! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
-  static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
-  //! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
-  static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
-  //! [EXPORT] : [COMMENT] Failed to read current system time
-  static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
-  //! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
-  //! for PS, 1 for PL and 2 for INT
-  static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA5);
-  //! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
-  //! timeouts must be in the range between 1000 and 360000 ms.
-  static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA6);
-  //! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
-  static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA7);
-  //! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
-  //! larger than 21.
-  static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA8);
-  //! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
-  //! and 2.
-  static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xA9);
-  //! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
-  static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAA);
-  //! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM  wipe
-  //! commands are invalid (e.g. start address bigger than stop address)
-  static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAB);
-  //! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
-  //! other apid.
-  static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAC);
-  //! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
-  static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAD);
-  //! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
-  //! been created with the reception of the first dump packet.
-  static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAE);
-
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
 
   //! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
@@ -98,12 +67,35 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   //! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
   static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
   //! [EXPORT] : [COMMENT] PLOC received execution failure report
+  //! P1: ID of command for which the execution failed
+  //! P2: Status code sent by the supervisor handler
   static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
   //! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
   static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor helper currently executing a command
+  static const Event SUPV_HELPER_EXECUTING = MAKE_EVENT(5, severity::LOW);
+  //! [EXPORT] : [COMMENT] Failed to build the command to shutdown the MPSoC
+  static const Event SUPV_MPSOC_SHUWDOWN_BUILD_FAILED = MAKE_EVENT(5, severity::LOW);
 
   static const uint16_t APID_MASK = 0x7FF;
   static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
+  static const uint8_t EXE_STATUS_OFFSET = 10;
+  static const uint8_t SIZE_NULL_TERMINATOR = 1;
+  // 5 s
+  static const uint32_t EXECUTION_DEFAULT_TIMEOUT = 5000;
+  // 70 S
+  static const uint32_t ACKNOWLEDGE_DEFAULT_TIMEOUT = 70000;
+  // 60 s
+  static const uint32_t MRAM_DUMP_EXECUTION_TIMEOUT = 60000;
+  // 70 s
+  static const uint32_t COPY_ADC_TO_MRAM_TIMEOUT = 70000;
+  // 60 s
+  static const uint32_t MRAM_DUMP_TIMEOUT = 60000;
+  // 2 s
+  static const uint32_t BOOT_TIMEOUT = 2000;
+  enum class StartupState : uint8_t { OFF, BOOTING, SET_TIME, SET_TIME_EXECUTING, ON };
+
+  StartupState startupState = StartupState::OFF;
 
   uint8_t commandBuffer[supv::MAX_COMMAND_SIZE];
 
@@ -121,9 +113,14 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   supv::HkSet hkset;
   supv::BootStatusReport bootStatusReport;
   supv::LatchupStatusReport latchupStatusReport;
+  supv::LoggingReport loggingReport;
+  supv::AdcReport adcReport;
 
   const power::Switch_t powerSwitch = power::NO_SWITCH;
 
+  PlocSupvHelper* supvHelper = nullptr;
+  MessageQueueIF* eventQueue = nullptr;
+
   /** Number of expected replies following the MRAM dump command */
   uint32_t expectedMramDumpPackets = 0;
   uint32_t receivedMramDumpPackets = 0;
@@ -135,16 +132,32 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   /** This buffer is used to concatenate space packets received in two different read steps */
   uint8_t spacePacketBuffer[supv::MAX_PACKET_SIZE];
 
-#ifdef TE0720_1CFA
+#ifndef TE0720_1CFA
   SdCardManager* sdcMan = nullptr;
 #endif /* BOARD_TE0720 == 0 */
 
-  /** Path to PLOC specific files on SD card */
+  // Path to supervisor specific files on SD card
-  std::string plocFilePath = "ploc";
+  std::string supervisorFilePath = "ploc/supervisor";
   std::string activeMramFile;
 
-  /** Setting this variable to true will enable direct downlink of MRAM packets */
+  // Supervisor helper class currently executing a command
-  bool downlinkMramDump = false;
+  bool plocSupvHelperExecuting = false;
+
+  Countdown executionReportTimeout = Countdown(EXECUTION_DEFAULT_TIMEOUT, false);
+  Countdown acknowledgementReportTimeout = Countdown(ACKNOWLEDGE_DEFAULT_TIMEOUT, false);
+  // Vorago nees some time to boot properly
+  Countdown bootTimeout = Countdown(BOOT_TIMEOUT);
+  Countdown mramDumpTimeout = Countdown(MRAM_DUMP_TIMEOUT);
+
+  /**
+   * @brief Adjusts the timeout of the execution report dependent on command
+   */
+  void setExecutionTimeout(DeviceCommandId_t command);
+
+  /**
+   * @brief   Handles event messages received from the supervisor helper
+   */
+  void handleEvent(EventMessage* eventMessage);
 
   ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches);
 
@@ -193,6 +206,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   ReturnValue_t handleBootStatusReport(const uint8_t* data);
 
   ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
+  ReturnValue_t handleLoggingReport(const uint8_t* data);
+  ReturnValue_t handleAdcReport(const uint8_t* data);
 
   /**
    * @brief   Depending on the current active command, this function sets the reply id of the
@@ -253,22 +268,17 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
 
   ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData,
                                         DeviceCommandId_t deviceCommand);
-  ReturnValue_t prepareAutoCalibrateAlertCmd(const uint8_t* commandData);
   ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData);
-  ReturnValue_t prepareSetAlertIrqFilterCmd(const uint8_t* commandData);
-  ReturnValue_t prepareSetAdcSweetPeriodCmd(const uint8_t* commandData);
   void prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData);
   void prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData);
   void prepareSetAdcThresholdCmd(const uint8_t* commandData);
-  void prepareEnableNvmsCmd(const uint8_t* commandData);
-  void prepareSelectNvmCmd(const uint8_t* commandData);
   ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData);
   ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData);
   ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
-  void preparePrintCpuStatsCmd(const uint8_t* commandData);
-  void prepareSetDbgVerbosityCmd(const uint8_t* commandData);
   void prepareSetGpioCmd(const uint8_t* commandData);
   void prepareReadGpioCmd(const uint8_t* commandData);
+  ReturnValue_t prepareLoggingRequest(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareEnableNvmsCommand(const uint8_t* commandData);
 
   /**
    * @brief   Copies the content of a space packet to the command buffer.
@@ -282,6 +292,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
    */
   void disableAllReplies();
 
+  void disableReply(DeviceCommandId_t replyId);
+
   /**
    * @brief   This function sends a failure report if the active action was commanded by an other
    *          object.
@@ -348,6 +360,15 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
 
   ReturnValue_t createMramDumpFile();
   ReturnValue_t getTimeStampString(std::string& timeStamp);
+
+  void prepareSetShutdownTimeoutCmd(const uint8_t* commandData);
+
+  ReturnValue_t extractUpdateCommand(const uint8_t* commandData, size_t size, std::string* file,
+                                     uint8_t* memoryId, uint32_t* startAddress);
+  ReturnValue_t eventSubscription();
+
+  void handleExecutionSuccessReport(const uint8_t* data);
+  void handleExecutionFailureReport(uint16_t statusCode);
 };
 
 #endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */

linux/devices/ploc/PlocSupvHelper.cpp

@@ -0,0 +1,562 @@
+#include "PlocSupvHelper.h"
+
+#include <filesystem>
+#include <fstream>
+
+#include "OBSWConfig.h"
+#ifdef XIPHOS_Q7S
+#include "bsp_q7s/memory/FilesystemHelper.h"
+#include "bsp_q7s/memory/SdCardManager.h"
+#endif
+
+#include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/tasks/TaskFactory.h"
+#include "fsfw/timemanager/Countdown.h"
+#include "mission/utility/Filenaming.h"
+#include "mission/utility/ProgressPrinter.h"
+#include "mission/utility/Timestamp.h"
+
+PlocSupvHelper::PlocSupvHelper(object_id_t objectId) : SystemObject(objectId) {}
+
+PlocSupvHelper::~PlocSupvHelper() {}
+
+ReturnValue_t PlocSupvHelper::initialize() {
+#ifdef XIPHOS_Q7S
+  sdcMan = SdCardManager::instance();
+  if (sdcMan == nullptr) {
+    sif::warning << "PlocSupvHelper::initialize: Invalid SD Card Manager" << std::endl;
+    return RETURN_FAILED;
+  }
+#endif
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::performOperation(uint8_t operationCode) {
+  ReturnValue_t result = RETURN_OK;
+  semaphore.acquire();
+  while (true) {
+    switch (internalState) {
+      case InternalState::IDLE: {
+        semaphore.acquire();
+        break;
+      }
+      case InternalState::UPDATE: {
+        result = performUpdate();
+        if (result == RETURN_OK) {
+          triggerEvent(SUPV_UPDATE_SUCCESSFUL, result);
+        } else if (result == PROCESS_TERMINATED) {
+          // Event already triggered
+        } else {
+          triggerEvent(SUPV_UPDATE_FAILED, result);
+        }
+        internalState = InternalState::IDLE;
+        break;
+      }
+      case InternalState::CONTINUE_UPDATE: {
+        result = continueUpdate();
+        if (result == RETURN_OK) {
+          triggerEvent(SUPV_CONTINUE_UPDATE_SUCCESSFUL, result);
+        } else if (result == PROCESS_TERMINATED) {
+          // Event already triggered
+        } else {
+          triggerEvent(SUPV_CONTINUE_UPDATE_FAILED, result);
+        }
+        internalState = InternalState::IDLE;
+        break;
+      }
+      case InternalState::REQUEST_EVENT_BUFFER: {
+        result = performEventBufferRequest();
+        if (result == RETURN_OK) {
+          triggerEvent(SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL, result);
+        } else if (result == PROCESS_TERMINATED) {
+          // Event already triggered
+          break;
+        } else {
+          triggerEvent(SUPV_EVENT_BUFFER_REQUEST_FAILED, result);
+        }
+        internalState = InternalState::IDLE;
+        break;
+      }
+      default:
+        sif::debug << "PlocSupvHelper::performOperation: Invalid state" << std::endl;
+        break;
+    }
+  }
+}
+
+ReturnValue_t PlocSupvHelper::setComIF(UartComIF* uartComIF_) {
+  if (uartComIF_ == nullptr) {
+    sif::warning << "PlocSupvHelper::initialize: Provided invalid uart com if" << std::endl;
+    return RETURN_FAILED;
+  }
+  uartComIF = uartComIF_;
+  return RETURN_OK;
+}
+
+void PlocSupvHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
+
+ReturnValue_t PlocSupvHelper::startUpdate(std::string file, uint8_t memoryId,
+                                          uint32_t startAddress) {
+  ReturnValue_t result = RETURN_OK;
+#ifdef XIPHOS_Q7S
+  result = FilesystemHelper::checkPath(file);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::startUpdate: File " << file << " does not exist" << std::endl;
+    return result;
+  }
+  result = FilesystemHelper::fileExists(file);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::startUpdate: The file " << file << " does not exist"
+                 << std::endl;
+    return result;
+  }
+#endif
+#ifdef TE0720_1CFA
+  if (not std::filesystem::exists(file)) {
+    sif::warning << "PlocSupvHelper::startUpdate: The file " << file << " does not exist"
+                 << std::endl;
+    return RETURN_FAILED;
+  }
+#endif
+  update.file = file;
+  update.length = getFileSize(update.file);
+  update.memoryId = memoryId;
+  update.startAddress = startAddress;
+  update.remainingSize = update.length;
+  update.bytesWritten = 0;
+  update.packetNum = 1;
+  update.sequenceCount = 1;
+  internalState = InternalState::UPDATE;
+  uartComIF->flushUartTxAndRxBuf(comCookie);
+  semaphore.release();
+  return result;
+}
+
+void PlocSupvHelper::initiateUpdateContinuation() {
+  internalState = InternalState::CONTINUE_UPDATE;
+  semaphore.release();
+}
+
+ReturnValue_t PlocSupvHelper::startEventbBufferRequest(std::string path) {
+#ifdef XIPHOS_Q7S
+  ReturnValue_t result = FilesystemHelper::checkPath(path);
+  if (result != RETURN_OK) {
+    return result;
+  }
+#endif
+  if (not std::filesystem::exists(path)) {
+    return PATH_NOT_EXISTS;
+  }
+  eventBufferReq.path = path;
+  internalState = InternalState::REQUEST_EVENT_BUFFER;
+  uartComIF->flushUartTxAndRxBuf(comCookie);
+  semaphore.release();
+  return RETURN_OK;
+}
+
+void PlocSupvHelper::stopProcess() { terminate = true; }
+
+ReturnValue_t PlocSupvHelper::performUpdate() {
+  ReturnValue_t result = RETURN_OK;
+  result = calcImageCrc();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = selectMemory();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = prepareUpdate();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = eraseMemory();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = writeUpdatePackets();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleCheckMemoryCommand();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::continueUpdate() {
+  ReturnValue_t result = prepareUpdate();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = writeUpdatePackets();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleCheckMemoryCommand();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::writeUpdatePackets() {
+  ReturnValue_t result = RETURN_OK;
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
+  ProgressPrinter progressPrinter("Supervisor update", update.length,
+                                  ProgressPrinter::HALF_PERCENT);
+#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
+  uint8_t tempData[supv::WriteMemory::CHUNK_MAX];
+  std::ifstream file(update.file, std::ifstream::binary);
+  uint16_t dataLength = 0;
+  supv::SequenceFlags seqFlags;
+  while (update.remainingSize > 0) {
+    if (terminate) {
+      terminate = false;
+      triggerEvent(TERMINATED_UPDATE_PROCEDURE);
+      return PROCESS_TERMINATED;
+    }
+    if (update.remainingSize > supv::WriteMemory::CHUNK_MAX) {
+      dataLength = supv::WriteMemory::CHUNK_MAX;
+    } else {
+      dataLength = static_cast<uint16_t>(update.remainingSize);
+    }
+    if (file.is_open()) {
+      file.seekg(update.bytesWritten, file.beg);
+      file.read(reinterpret_cast<char*>(tempData), dataLength);
+      if (!file) {
+        sif::warning << "PlocSupvHelper::performUpdate: Read only " << file.gcount() << " of "
+                     << dataLength << " bytes" << std::endl;
+        sif::info << "PlocSupvHelper::performUpdate: Failed when trying to read byte "
+                  << update.bytesWritten << std::endl;
+      }
+    } else {
+      return FILE_CLOSED_ACCIDENTALLY;
+    }
+    if (update.bytesWritten == 0) {
+      seqFlags = supv::SequenceFlags::FIRST_PKT;
+    } else if (update.remainingSize == 0) {
+      seqFlags = supv::SequenceFlags::LAST_PKT;
+    } else {
+      seqFlags = supv::SequenceFlags::CONTINUED_PKT;
+    }
+    supv::WriteMemory packet(seqFlags, update.sequenceCount++, update.memoryId,
+                             update.startAddress + update.bytesWritten, dataLength, tempData);
+    result = handlePacketTransmission(packet);
+    if (result != RETURN_OK) {
+      update.sequenceCount--;
+      triggerEvent(WRITE_MEMORY_FAILED, update.packetNum);
+      return result;
+    }
+    update.remainingSize -= dataLength;
+    update.packetNum += 1;
+    update.bytesWritten += dataLength;
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
+    progressPrinter.print(update.bytesWritten);
+#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::performEventBufferRequest() {
+  using namespace supv;
+  ReturnValue_t result = RETURN_OK;
+  RequestLoggingData packet(RequestLoggingData::Sa::REQUEST_EVENT_BUFFERS);
+  result = sendCommand(packet);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleAck();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleEventBufferReception();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleExe();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::selectMemory() {
+  ReturnValue_t result = RETURN_OK;
+  supv::MPSoCBootSelect packet(update.memoryId);
+  result = handlePacketTransmission(packet);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::prepareUpdate() {
+  ReturnValue_t result = RETURN_OK;
+  supv::ApidOnlyPacket packet(supv::APID_PREPARE_UPDATE);
+  result = handlePacketTransmission(packet, PREPARE_UPDATE_EXECUTION_REPORT);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::eraseMemory() {
+  ReturnValue_t result = RETURN_OK;
+  supv::EraseMemory eraseMemory(update.memoryId, update.startAddress, update.length);
+  result = handlePacketTransmission(eraseMemory, supv::recv_timeout::ERASE_MEMORY);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::handlePacketTransmission(SpacePacket& packet,
+                                                       uint32_t timeoutExecutionReport) {
+  ReturnValue_t result = RETURN_OK;
+  result = sendCommand(packet);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleAck();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleExe(timeoutExecutionReport);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::sendCommand(SpacePacket& packet) {
+  ReturnValue_t result = RETURN_OK;
+  rememberApid = packet.getAPID();
+  result = uartComIF->sendMessage(comCookie, packet.getWholeData(), packet.getFullSize());
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::sendCommand: Failed to send command" << std::endl;
+    triggerEvent(SUPV_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::handleAck() {
+  ReturnValue_t result = RETURN_OK;
+  supv::AcknowledgmentReport ackReport;
+  result = handleTmReception(&ackReport, supv::SIZE_ACK_REPORT);
+  if (result != RETURN_OK) {
+    triggerEvent(ACK_RECEPTION_FAILURE, result, static_cast<uint32_t>(rememberApid));
+    sif::warning << "PlocSupvHelper::handleAck: Error in reception of acknowledgment report"
+                 << std::endl;
+    return result;
+  }
+  result = ackReport.checkApid();
+  if (result != RETURN_OK) {
+    if (result == SupvReturnValuesIF::RECEIVED_ACK_FAILURE) {
+      triggerEvent(SUPV_ACK_FAILURE_REPORT, static_cast<uint32_t>(ackReport.getRefApid()));
+    } else if (result == SupvReturnValuesIF::INVALID_APID) {
+      triggerEvent(SUPV_ACK_INVALID_APID, static_cast<uint32_t>(rememberApid));
+    }
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::handleExe(uint32_t timeout) {
+  ReturnValue_t result = RETURN_OK;
+  supv::ExecutionReport exeReport;
+  result = handleTmReception(&exeReport, supv::SIZE_EXE_REPORT, timeout);
+  if (result != RETURN_OK) {
+    triggerEvent(EXE_RECEPTION_FAILURE, result, static_cast<uint32_t>(rememberApid));
+    sif::warning << "PlocSupvHelper::handleExe: Error in reception of execution report"
+                 << std::endl;
+    return result;
+  }
+  result = exeReport.checkApid();
+  if (result != RETURN_OK) {
+    if (result == SupvReturnValuesIF::RECEIVED_EXE_FAILURE) {
+      triggerEvent(SUPV_EXE_FAILURE_REPORT, static_cast<uint32_t>(exeReport.getRefApid()));
+    } else if (result == SupvReturnValuesIF::INVALID_APID) {
+      triggerEvent(SUPV_EXE_INVALID_APID, static_cast<uint32_t>(rememberApid));
+    }
+    return result;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocSupvHelper::handleTmReception(supv::TmPacket* tmPacket, size_t remainingBytes,
+                                                uint32_t timeout) {
+  ReturnValue_t result = RETURN_OK;
+  size_t readBytes = 0;
+  size_t currentBytes = 0;
+  Countdown countdown(timeout);
+  while (!countdown.hasTimedOut()) {
+    result = receive(tmPacket->getWholeData() + readBytes, &currentBytes, remainingBytes);
+    if (result != RETURN_OK) {
+      return result;
+    }
+    readBytes += currentBytes;
+    remainingBytes = remainingBytes - currentBytes;
+    if (remainingBytes == 0) {
+      break;
+    }
+  }
+  if (remainingBytes != 0) {
+    sif::warning << "PlocSupvHelper::handleTmReception: Failed to read " << std::dec
+                 << remainingBytes << " bytes" << std::endl;
+    return RETURN_FAILED;
+  }
+  result = tmPacket->checkCrc();
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::handleTmReception: CRC check failed" << std::endl;
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
+  ReturnValue_t result = RETURN_OK;
+  uint8_t* buffer = nullptr;
+  result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::receive: Failed to request reply" << std::endl;
+    triggerEvent(SUPV_HELPER_REQUESTING_REPLY_FAILED, result,
+                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
+    return RETURN_FAILED;
+  }
+  result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::receive: Failed to read received message" << std::endl;
+    triggerEvent(SUPV_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
+    return RETURN_FAILED;
+  }
+  if (*readBytes > 0) {
+    std::memcpy(data, buffer, *readBytes);
+  } else {
+    TaskFactory::delayTask(40);
+  }
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::calcImageCrc() {
+  ReturnValue_t result = RETURN_OK;
+#ifdef XIPHOS_Q7S
+  result = FilesystemHelper::checkPath(update.file);
+#endif
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::calcImageCrc: File " << update.file << " does not exist"
+                 << std::endl;
+    return result;
+  }
+  std::ifstream file(update.file, std::ifstream::binary);
+  uint16_t remainder = CRC16_INIT;
+  uint8_t input;
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
+  ProgressPrinter progress("Supervisor update crc calculation", update.length,
+                           ProgressPrinter::ONE_PERCENT);
+#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
+  uint32_t byteCount = 0;
+  for (byteCount = 0; byteCount < update.length; byteCount++) {
+    file.seekg(byteCount, file.beg);
+    file.read(reinterpret_cast<char*>(&input), 1);
+    remainder = CRC::crc16ccitt(&input, sizeof(input), remainder);
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
+    progress.print(byteCount);
+#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
+  }
+#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
+  progress.print(byteCount);
+#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
+  file.close();
+  update.crc = remainder;
+  return result;
+}
+
+ReturnValue_t PlocSupvHelper::handleCheckMemoryCommand() {
+  ReturnValue_t result = RETURN_OK;
+  // Verification of update write procedure
+  supv::CheckMemory packet(update.memoryId, update.startAddress, update.length);
+  result = sendCommand(packet);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = handleAck();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  supv::UpdateStatusReport updateStatusReport;
+  result = handleTmReception(&updateStatusReport,
+                             static_cast<size_t>(updateStatusReport.getNominalSize()),
+                             supv::recv_timeout::UPDATE_STATUS_REPORT);
+  if (result != RETURN_OK) {
+    sif::warning
+        << "PlocSupvHelper::handleCheckMemoryCommand: Failed to receive update status report"
+        << std::endl;
+    return result;
+  }
+  result = handleExe(CRC_EXECUTION_TIMEOUT);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = updateStatusReport.parseDataField();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  result = updateStatusReport.verifycrc(update.crc);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocSupvHelper::handleCheckMemoryCommand: CRC failure. Expected CRC 0x"
+                 << std::hex << update.crc << " but received CRC 0x" << updateStatusReport.getCrc()
+                 << std::endl;
+    return result;
+  }
+  return result;
+}
+
+uint32_t PlocSupvHelper::getFileSize(std::string filename) {
+  std::ifstream file(filename, std::ifstream::binary);
+  file.seekg(0, file.end);
+  uint32_t size = file.tellg();
+  file.close();
+  return size;
+}
+
+ReturnValue_t PlocSupvHelper::handleEventBufferReception() {
+  ReturnValue_t result = RETURN_OK;
+  std::string filename = Filenaming::generateAbsoluteFilename(
+      eventBufferReq.path, eventBufferReq.filename, timestamping);
+  std::ofstream file(filename, std::ios_base::app | std::ios_base::out);
+  uint32_t packetsRead = 0;
+  size_t requestLen = 0;
+  supv::TmPacket tmPacket;
+  for (packetsRead = 0; packetsRead < NUM_EVENT_BUFFER_PACKETS; packetsRead++) {
+    if (terminate) {
+      triggerEvent(SUPV_EVENT_BUFFER_REQUEST_TERMINATED, packetsRead - 1);
+      file.close();
+      return PROCESS_TERMINATED;
+    }
+    if (packetsRead == NUM_EVENT_BUFFER_PACKETS - 1) {
+      requestLen = SIZE_EVENT_BUFFER_LAST_PACKET;
+    } else {
+      requestLen = SIZE_EVENT_BUFFER_FULL_PACKET;
+    }
+    result = handleTmReception(&tmPacket, requestLen);
+    if (result != RETURN_OK) {
+      sif::debug << "PlocSupvHelper::handleEventBufferReception: Failed while trying to read packet"
+                 << " " << packetsRead + 1 << std::endl;
+      file.close();
+      return result;
+    }
+    uint16_t apid = tmPacket.getAPID();
+    if (apid != supv::APID_MRAM_DUMP_TM) {
+      sif::warning << "PlocSupvHelper::handleEventBufferReception: Did not expect space packet "
+                   << "with APID 0x" << std::hex << apid << std::endl;
+      file.close();
+      return EVENT_BUFFER_REPLY_INVALID_APID;
+    }
+    file.write(reinterpret_cast<const char*>(tmPacket.getPacketData()),
+               tmPacket.getPayloadDataLength());
+  }
+  return result;
+}

linux/devices/ploc/PlocSupvHelper.h

@@ -0,0 +1,241 @@
+#ifndef BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_
+#define BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_
+
+#include <string>
+
+#include "OBSWConfig.h"
+#include "fsfw/devicehandlers/CookieIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/osal/linux/BinarySemaphore.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
+#ifdef XIPHOS_Q7S
+#include "bsp_q7s/memory/SdCardManager.h"
+#endif
+
+/**
+ * @brief   Helper class for supervisor of PLOC intended to accelerate large data transfers between
+ *          the supervisor and the OBC.
+ * @author  J. Meier
+ */
+class PlocSupvHelper : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
+ public:
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPV_HELPER;
+
+  //! [EXPORT] : [COMMENT] update failed
+  static const Event SUPV_UPDATE_FAILED = MAKE_EVENT(0, severity::LOW);
+  //! [EXPORT] : [COMMENT] update successful
+  static const Event SUPV_UPDATE_SUCCESSFUL = MAKE_EVENT(1, severity::LOW);
+  //! [EXPORT] : [COMMENT] Continue update command failed
+  static const Event SUPV_CONTINUE_UPDATE_FAILED = MAKE_EVENT(2, severity::LOW);
+  //! [EXPORT] : [COMMENT] Continue update command successful
+  static const Event SUPV_CONTINUE_UPDATE_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
+  //! [EXPORT] : [COMMENT] Terminated update procedure by command
+  static const Event TERMINATED_UPDATE_PROCEDURE = MAKE_EVENT(4, severity::LOW);
+  //! [EXPORT] : [COMMENT] Requesting event buffer was successful
+  static const Event SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL = MAKE_EVENT(5, severity::LOW);
+  //! [EXPORT] : [COMMENT] Requesting event buffer failed
+  static const Event SUPV_EVENT_BUFFER_REQUEST_FAILED = MAKE_EVENT(6, severity::LOW);
+  //! [EXPORT] : [COMMENT] Terminated event buffer request by command
+  //! P1: Number of packets read before process was terminated
+  static const Event SUPV_EVENT_BUFFER_REQUEST_TERMINATED = MAKE_EVENT(7, severity::LOW);
+  //! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
+  //! to the supervisor
+  //! P1: Return value returned by the communication interface sendMessage function
+  //! P2: Internal state of supervisor helper
+  static const Event SUPV_SENDING_COMMAND_FAILED = MAKE_EVENT(8, severity::LOW);
+  //! [EXPORT] : [COMMENT] Request receive message of communication interface failed
+  //! P1: Return value returned by the communication interface requestReceiveMessage function
+  //! P2: Internal state of supervisor helper
+  static const Event SUPV_HELPER_REQUESTING_REPLY_FAILED = MAKE_EVENT(9, severity::LOW);
+  //! [EXPORT] : [COMMENT] Reading receive message of communication interface failed
+  //! P1: Return value returned by the communication interface readingReceivedMessage function
+  //! P2: Internal state of supervisor helper
+  static const Event SUPV_HELPER_READING_REPLY_FAILED = MAKE_EVENT(10, severity::LOW);
+  //! [EXPORT] : [COMMENT] Did not receive acknowledgement report
+  //! P1: Number of bytes missing
+  //! P2: Internal state of MPSoC helper
+  static const Event SUPV_MISSING_ACK = MAKE_EVENT(11, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor did not receive execution report
+  //! P1: Number of bytes missing
+  //! P2: Internal state of supervisor helper
+  static const Event SUPV_MISSING_EXE = MAKE_EVENT(12, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor received acknowledgment failure report
+  //! P1: Internal state of supervisor helper
+  static const Event SUPV_ACK_FAILURE_REPORT = MAKE_EVENT(13, severity::LOW);
+  //! [EXPORT] : [COMMENT] Execution report failure
+  //! P1:
+  static const Event SUPV_EXE_FAILURE_REPORT = MAKE_EVENT(14, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor expected acknowledgment report but received space packet with
+  //! other apid P1: Apid of received space packet P2: Internal state of supervisor helper
+  static const Event SUPV_ACK_INVALID_APID = MAKE_EVENT(15, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor helper expected execution report but received space packet
+  //! with other apid P1: Apid of received space packet P2: Internal state of supervisor helper
+  static const Event SUPV_EXE_INVALID_APID = MAKE_EVENT(16, severity::LOW);
+  //! [EXPORT] : [COMMENT] Failed to receive acknowledgment report
+  //! P1: Return value
+  //! P2: Apid of command for which the reception of the acknowledgment report failed
+  static const Event ACK_RECEPTION_FAILURE = MAKE_EVENT(17, severity::LOW);
+  //! [EXPORT] : [COMMENT] Failed to receive execution report
+  //! P1: Return value
+  //! P2: Apid of command for which the reception of the execution report failed
+  static const Event EXE_RECEPTION_FAILURE = MAKE_EVENT(18, severity::LOW);
+  //! [EXPORT] : [COMMENT] Update procedure failed when sending packet with number P1
+  //! P1: Packet number for which the memory write command fails
+  static const Event WRITE_MEMORY_FAILED = MAKE_EVENT(19, severity::LOW);
+
+  PlocSupvHelper(object_id_t objectId);
+  virtual ~PlocSupvHelper();
+
+  ReturnValue_t initialize() override;
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+
+  ReturnValue_t setComIF(UartComIF* uartComfIF_);
+  void setComCookie(CookieIF* comCookie_);
+
+  /**
+   * @brief   Starts update procedure
+   *
+   * @param file            File containing the update data
+   * @param memoryId        ID of the memory where to write to
+   * @param startAddress    Address where to write data
+   *
+   * @return  RETURN_OK if successful, otherwise error return value
+   */
+  ReturnValue_t startUpdate(std::string file, uint8_t memoryId, uint32_t startAddress);
+
+  /**
+   * @brief This initiate the continuation of a failed update.
+   */
+  void initiateUpdateContinuation();
+
+  /**
+   * @brief Calling this function will initiate the procedure to request the event buffer
+   */
+  ReturnValue_t startEventbBufferRequest(std::string path);
+
+  /**
+   * @brief   Can be used to interrupt a running data transfer.
+   */
+  void stopProcess();
+
+ private:
+  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPV_HELPER;
+
+  //! [EXPORT] : [COMMENT] File accidentally close
+  static const ReturnValue_t FILE_CLOSED_ACCIDENTALLY = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] Process has been terminated by command
+  static const ReturnValue_t PROCESS_TERMINATED = MAKE_RETURN_CODE(0xA1);
+  //! [EXPORT] : [COMMENT] Received command with invalid pathname
+  static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
+  //! [EXPORT] : [COMMENT] Expected event buffer TM but received space packet with other APID
+  static const ReturnValue_t EVENT_BUFFER_REPLY_INVALID_APID = MAKE_RETURN_CODE(0xA3);
+
+  static const uint16_t CRC16_INIT = 0xFFFF;
+  // Event buffer reply will carry 24 space packets with 1016 bytes and one space packet with
+  // 192 bytes
+  static const uint8_t NUM_EVENT_BUFFER_PACKETS = 25;
+  static const size_t SIZE_EVENT_BUFFER_FULL_PACKET = 1024;
+  static const size_t SIZE_EVENT_BUFFER_LAST_PACKET = 200;
+  static const uint32_t CRC_EXECUTION_TIMEOUT = 60000;
+  static const uint32_t PREPARE_UPDATE_EXECUTION_REPORT = 2000;
+
+  struct Update {
+    uint8_t memoryId;
+    uint32_t startAddress;
+    // Absolute name of file containing update data
+    std::string file;
+    // Size of update
+    uint32_t length;
+    uint32_t crc;
+    size_t remainingSize;
+    size_t bytesWritten;
+    uint32_t packetNum;
+    uint16_t sequenceCount;
+  };
+
+  struct Update update;
+
+  struct EventBufferRequest {
+    std::string path = "";
+    // Default name of file where event buffer data will be written to. Timestamp will be added to
+    // name when new file is created
+    std::string filename = "event-buffer.bin";
+  };
+
+  EventBufferRequest eventBufferReq;
+
+  enum class InternalState { IDLE, UPDATE, CONTINUE_UPDATE, REQUEST_EVENT_BUFFER };
+
+  InternalState internalState = InternalState::IDLE;
+
+  BinarySemaphore semaphore;
+#ifdef XIPHOS_Q7S
+  SdCardManager* sdcMan = nullptr;
+#endif
+  uint8_t commandBuffer[supv::MAX_COMMAND_SIZE];
+
+  bool terminate = false;
+
+  /**
+   * Communication interface responsible for data transactions between OBC and Supervisor.
+   */
+  UartComIF* uartComIF = nullptr;
+  // Communication cookie. Must be set by the supervisor Handler
+  CookieIF* comCookie = nullptr;
+
+  bool timestamping = true;
+
+  // Remembers APID to know at which command a procedure failed
+  uint16_t rememberApid = 0;
+
+  ReturnValue_t performUpdate();
+  ReturnValue_t continueUpdate();
+  ReturnValue_t writeUpdatePackets();
+  ReturnValue_t performEventBufferRequest();
+  ReturnValue_t handlePacketTransmission(SpacePacket& packet,
+                                         uint32_t timeoutExecutionReport = 60000);
+  ReturnValue_t sendCommand(SpacePacket& packet);
+  /**
+   * @brief Function which reads form the communication interface
+   *
+   * @param data            Pointer to buffer where read data will be written to
+   * @param raedBytes       Actual number of bytes read
+   * @param requestBytes    Number of bytes to read
+   */
+  ReturnValue_t receive(uint8_t* data, size_t* readBytes, size_t requestBytes);
+  ReturnValue_t handleAck();
+  ReturnValue_t handleExe(uint32_t timeout = 1000);
+  /**
+   * @brief Handles reading of TM packets from the communication interface
+   *
+   * @param tmPacket        Pointer to space packet where received data will be written to
+   * @param reaminingBytes  Number of bytes to read in the space packet
+   * @param timeout         Receive timeout in milliseconds
+   *
+   * @note  It can take up to 70 seconds until the supervisor replies with an acknowledgment
+   *        failure report.
+   */
+  ReturnValue_t handleTmReception(supv::TmPacket* tmPacket, size_t remainingBytes,
+                                  uint32_t timeout = 70000);
+  ReturnValue_t selectMemory();
+  ReturnValue_t prepareUpdate();
+  ReturnValue_t eraseMemory();
+  // Calculates CRC over image. Will be used for verification after update writing has
+  // finished.
+  ReturnValue_t calcImageCrc();
+  ReturnValue_t handleCheckMemoryCommand();
+  /**
+   * @brief Return size of file with name filename
+   *
+   * @param filename
+   *
+   * @return The size of the file
+   */
+  uint32_t getFileSize(std::string filename);
+  ReturnValue_t handleEventBufferReception();
+};
+
+#endif /* BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_ */

linux/devices/ploc/PlocUpdater.cpp

@@ -1,385 +0,0 @@
-#include "PlocUpdater.h"
-
-#include <filesystem>
-#include <fstream>
-#include <string>
-
-#include "fsfw/ipc/QueueFactory.h"
-
-PlocUpdater::PlocUpdater(object_id_t objectId)
-    : SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
-  auto mqArgs = MqArgs(this->getObjectId());
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
-}
-
-PlocUpdater::~PlocUpdater() {}
-
-ReturnValue_t PlocUpdater::initialize() {
-#ifdef XIPHOS_Q7S
-  sdcMan = SdCardManager::instance();
-#endif
-  ReturnValue_t result = SystemObject::initialize();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  result = commandActionHelper.initialize();
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  result = actionHelper.initialize(commandQueue);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
-  readCommandQueue();
-  doStateMachine();
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                         const uint8_t* data, size_t size) {
-  ReturnValue_t result = RETURN_FAILED;
-
-  if (state != State::IDLE) {
-    return IS_BUSY;
-  }
-
-  if (size > MAX_PLOC_UPDATE_PATH) {
-    return NAME_TOO_LONG;
-  }
-
-  switch (actionId) {
-    case UPDATE_A_UBOOT:
-      image = Image::A;
-      partition = Partition::UBOOT;
-      break;
-    case UPDATE_A_BITSTREAM:
-      image = Image::A;
-      partition = Partition::BITSTREAM;
-      break;
-    case UPDATE_A_LINUX:
-      image = Image::A;
-      partition = Partition::LINUX_OS;
-      break;
-    case UPDATE_A_APP_SW:
-      image = Image::A;
-      partition = Partition::APP_SW;
-      break;
-    case UPDATE_B_UBOOT:
-      image = Image::B;
-      partition = Partition::UBOOT;
-      break;
-    case UPDATE_B_BITSTREAM:
-      image = Image::B;
-      partition = Partition::BITSTREAM;
-      break;
-    case UPDATE_B_LINUX:
-      image = Image::B;
-      partition = Partition::LINUX_OS;
-      break;
-    case UPDATE_B_APP_SW:
-      image = Image::B;
-      partition = Partition::APP_SW;
-      break;
-    default:
-      return INVALID_ACTION_ID;
-  }
-
-  result = getImageLocation(data, size);
-
-  if (result != RETURN_OK) {
-    return result;
-  }
-
-  state = State::UPDATE_AVAILABLE;
-
-  return EXECUTION_FINISHED;
-}
-
-MessageQueueId_t PlocUpdater::getCommandQueue() const { return commandQueue->getId(); }
-
-MessageQueueIF* PlocUpdater::getCommandQueuePtr() { return commandQueue; }
-
-void PlocUpdater::readCommandQueue() {
-  CommandMessage message;
-  ReturnValue_t result;
-
-  for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
-       result = commandQueue->receiveMessage(&message)) {
-    if (result != RETURN_OK) {
-      continue;
-    }
-    result = actionHelper.handleActionMessage(&message);
-    if (result == HasReturnvaluesIF::RETURN_OK) {
-      continue;
-    }
-
-    result = commandActionHelper.handleReply(&message);
-    if (result == HasReturnvaluesIF::RETURN_OK) {
-      continue;
-    }
-  }
-}
-
-void PlocUpdater::doStateMachine() {
-  switch (state) {
-    case State::IDLE:
-      break;
-    case State::UPDATE_AVAILABLE:
-      commandUpdateAvailable();
-      break;
-    case State::UPDATE_TRANSFER:
-      commandUpdatePacket();
-      break;
-    case State::UPDATE_VERIFY:
-      commandUpdateVerify();
-      break;
-    case State::COMMAND_EXECUTING:
-      break;
-    default:
-      break;
-  }
-}
-
-ReturnValue_t PlocUpdater::checkNameLength(size_t size) {
-  if (size > MAX_PLOC_UPDATE_PATH) {
-    return NAME_TOO_LONG;
-  }
-  return RETURN_OK;
-}
-
-ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
-  ReturnValue_t result = checkNameLength(size);
-  if (result != RETURN_OK) {
-    return result;
-  }
-
-#ifdef XIPHOS_Q7S
-  // Check if file is stored on SD card and if associated SD card is mounted
-  if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
-      std::string(SdCardManager::SD_0_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
-      sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl;
-      return SD_NOT_MOUNTED;
-    }
-  } else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
-             std::string(SdCardManager::SD_1_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
-      sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
-      return SD_NOT_MOUNTED;
-    }
-  } else {
-    // update image not stored on SD card
-  }
-#endif /* BOARD_TE0720 == 0 */
-
-  updateFile = std::string(reinterpret_cast<const char*>(data), size);
-
-  // Check if file exists
-  if (not std::filesystem::exists(updateFile)) {
-    return FILE_NOT_EXISTS;
-  }
-  return RETURN_OK;
-}
-
-void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
-
-void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) {}
-
-void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
-
-void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
-  switch (pendingCommand) {
-    case (supv::UPDATE_AVAILABLE):
-      state = State::UPDATE_TRANSFER;
-      break;
-    case (supv::UPDATE_IMAGE_DATA):
-      if (remainingPackets == 0) {
-        packetsSent = 0;  // Reset packets sent variable for next update sequence
-        state = State::UPDATE_VERIFY;
-      } else {
-        state = State::UPDATE_TRANSFER;
-      }
-      break;
-    case (supv::UPDATE_VERIFY):
-      triggerEvent(UPDATE_FINISHED);
-      state = State::IDLE;
-      pendingCommand = supv::NONE;
-      break;
-    default:
-      state = State::IDLE;
-      break;
-  }
-}
-
-void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
-  switch (pendingCommand) {
-    case (supv::UPDATE_AVAILABLE): {
-      triggerEvent(UPDATE_AVAILABLE_FAILED);
-      break;
-    }
-    case (supv::UPDATE_IMAGE_DATA): {
-      triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
-      break;
-    }
-    case (supv::UPDATE_VERIFY): {
-      triggerEvent(UPDATE_VERIFY_FAILED);
-      break;
-    }
-    default:
-      break;
-  }
-  state = State::IDLE;
-}
-
-void PlocUpdater::commandUpdateAvailable() {
-  ReturnValue_t result = RETURN_OK;
-
-  if (not std::filesystem::exists(updateFile)) {
-    triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state));
-    state = State::IDLE;
-    return;
-  }
-
-  std::ifstream file(updateFile, std::ifstream::binary);
-  file.seekg(0, file.end);
-  imageSize = static_cast<size_t>(file.tellg());
-  file.close();
-
-  numOfUpdatePackets = imageSize / MAX_SP_DATA;
-  if (imageSize % MAX_SP_DATA) {
-    numOfUpdatePackets++;
-  }
-
-  remainingPackets = numOfUpdatePackets;
-  packetsSent = 0;
-
-  calcImageCrc();
-
-  supv::UpdateInfo packet(supv::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
-                          static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
-
-  result =
-      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_AVAILABLE,
-                                        packet.getWholeData(), packet.getFullSize());
-  if (result != RETURN_OK) {
-    sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
-                 << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_AVAILABLE);
-    state = State::IDLE;
-    pendingCommand = supv::NONE;
-    return;
-  }
-
-  pendingCommand = supv::UPDATE_AVAILABLE;
-  state = State::COMMAND_EXECUTING;
-  return;
-}
-
-void PlocUpdater::commandUpdatePacket() {
-  ReturnValue_t result = RETURN_OK;
-  uint16_t payloadLength = 0;
-
-  if (not std::filesystem::exists(updateFile)) {
-    triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state), packetsSent);
-    state = State::IDLE;
-    return;
-  }
-
-  std::ifstream file(updateFile, std::ifstream::binary);
-  file.seekg(packetsSent * MAX_SP_DATA, file.beg);
-
-  if (remainingPackets == 1) {
-    payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
-  } else {
-    payloadLength = MAX_SP_DATA;
-  }
-
-  supv::UpdatePacket packet(payloadLength);
-  file.read(reinterpret_cast<char*>(packet.getDataFieldPointer()), payloadLength);
-  file.close();
-  // sequence count of first packet is 1
-  packet.setPacketSequenceCount((packetsSent + 1) & supv::SEQUENCE_COUNT_MASK);
-  if (numOfUpdatePackets > 1) {
-    adjustSequenceFlags(packet);
-  }
-  packet.makeCrc();
-
-  result =
-      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_IMAGE_DATA,
-                                        packet.getWholeData(), packet.getFullSize());
-
-  if (result != RETURN_OK) {
-    sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
-                 << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_IMAGE_DATA);
-    state = State::IDLE;
-    pendingCommand = supv::NONE;
-    return;
-  }
-
-  remainingPackets--;
-  packetsSent++;
-
-  pendingCommand = supv::UPDATE_IMAGE_DATA;
-  state = State::COMMAND_EXECUTING;
-}
-
-void PlocUpdater::commandUpdateVerify() {
-  ReturnValue_t result = RETURN_OK;
-
-  supv::UpdateInfo packet(supv::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
-                          static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
-
-  result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_VERIFY,
-                                             packet.getWholeData(), packet.getFullSize());
-  if (result != RETURN_OK) {
-    sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
-                 << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_VERIFY);
-    state = State::IDLE;
-    pendingCommand = supv::NONE;
-    return;
-  }
-  state = State::COMMAND_EXECUTING;
-  pendingCommand = supv::UPDATE_VERIFY;
-  return;
-}
-
-void PlocUpdater::calcImageCrc() {
-  std::ifstream file(updateFile, std::ifstream::binary);
-  file.seekg(0, file.end);
-  uint32_t count;
-  uint32_t bit;
-  uint32_t remainder = INITIAL_REMAINDER_32;
-  char input;
-  for (count = 0; count < imageSize; count++) {
-    file.seekg(count, file.beg);
-    file.read(&input, 1);
-    remainder ^= (input << 16);
-    for (bit = 8; bit > 0; --bit) {
-      if (remainder & TOPBIT_32) {
-        remainder = (remainder << 1) ^ POLYNOMIAL_32;
-      } else {
-        remainder = (remainder << 1);
-      }
-    }
-  }
-  file.close();
-  imageCrc = (remainder ^ FINAL_XOR_VALUE_32);
-}
-
-void PlocUpdater::adjustSequenceFlags(supv::UpdatePacket& packet) {
-  if (packetsSent == 0) {
-    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::FIRST_PKT));
-  } else if (remainingPackets == 1) {
-    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::LAST_PKT));
-  } else {
-    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::CONTINUED_PKT));
-  }
-}

linux/devices/ploc/PlocUpdater.h

@@ -1,174 +0,0 @@
-#ifndef MISSION_DEVICES_PLOCUPDATER_H_
-#define MISSION_DEVICES_PLOCUPDATER_H_
-
-#include <linux/devices/devicedefinitions/PlocSupervisorDefinitions.h>
-
-#include "OBSWConfig.h"
-#include "bsp_q7s/memory/SdCardManager.h"
-#include "eive/definitions.h"
-#include "fsfw/action/ActionHelper.h"
-#include "fsfw/action/CommandActionHelper.h"
-#include "fsfw/action/CommandsActionsIF.h"
-#include "fsfw/action/HasActionsIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw/tasks/ExecutableObjectIF.h"
-#include "fsfw/tmtcpacket/SpacePacket.h"
-#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
-#include "linux/fsfwconfig/objects/systemObjectList.h"
-
-/**
- * @brief   An object of this class can be used to perform the software updates of the PLOC. The
- *          software update will be read from one of the SD cards, split into multiple space
- *          packets and sent to the PlocSupervisorHandler.
- *
- * @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition
- *          A and Partition B)
- *
- * @author  J. Meier
- */
-class PlocUpdater : public SystemObject,
-                    public HasActionsIF,
-                    public ExecutableObjectIF,
-                    public HasReturnvaluesIF,
-                    public CommandsActionsIF {
- public:
-  static const ActionId_t UPDATE_A_UBOOT = 0;
-  static const ActionId_t UPDATE_A_BITSTREAM = 1;
-  static const ActionId_t UPDATE_A_LINUX = 2;
-  static const ActionId_t UPDATE_A_APP_SW = 3;
-  static const ActionId_t UPDATE_B_UBOOT = 4;
-  static const ActionId_t UPDATE_B_BITSTREAM = 5;
-  static const ActionId_t UPDATE_B_LINUX = 6;
-  static const ActionId_t UPDATE_B_APP_SW = 7;
-
-  PlocUpdater(object_id_t objectId);
-  virtual ~PlocUpdater();
-
-  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                              const uint8_t* data, size_t size);
-  MessageQueueId_t getCommandQueue() const;
-  ReturnValue_t initialize() override;
-  MessageQueueIF* getCommandQueuePtr() override;
-  void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
-  void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
-  void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
-  void completionSuccessfulReceived(ActionId_t actionId) override;
-  void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
-
- private:
-  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER;
-
-  //! [EXPORT] : [COMMENT] Updater is already performing an update
-  static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0);
-  //! [EXPORT] : [COMMENT] Received update command with invalid path string (too long).
-  static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1);
-  //! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not
-  //! mounted.
-  static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2);
-  //! [EXPORT] : [COMMENT] Update file received with update command does not exist.
-  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3);
-
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_UPDATER;
-
-  //! [EXPORT] : [COMMENT] Try to read update file but the file does not exist.
-  //! P1: Indicates in which state the file read fails
-  //! P2: During the update transfer the second parameter gives information about the number of
-  //! already sent packets
-  static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
-  //! [EXPORT] : [COMMENT] Failed to send command to supervisor handler
-  //! P1: Return value of CommandActionHelper::commandAction
-  //! P2: Action ID of command to send
-  static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW);
-  //! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution
-  //! failure of the update available command
-  static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW);
-  //! [EXPORT] : [COMMENT] Supervisor handler failed to transfer an update space packet.
-  //! P1: Parameter holds the number of update packets already sent (inclusive the failed packet)
-  static const Event UPDATE_TRANSFER_FAILED = MAKE_EVENT(3, severity::LOW);
-  //! [EXPORT] : [COMMENT] Supervisor failed to execute the update verify command.
-  static const Event UPDATE_VERIFY_FAILED = MAKE_EVENT(4, severity::LOW);
-  //! [EXPORT] : [COMMENT] MPSoC update successful completed
-  static const Event UPDATE_FINISHED = MAKE_EVENT(5, severity::INFO);
-
-  static const uint32_t QUEUE_SIZE = config::PLOC_UPDATER_QUEUE_SIZE;
-  static const size_t MAX_PLOC_UPDATE_PATH = 50;
-  static const size_t SD_PREFIX_LENGTH = 8;
-  // Maximum size of update payload data per space packet (max size of space packet is 1024 bytes)
-  static const size_t MAX_SP_DATA = 1016;
-
-  static const uint32_t TOPBIT_32 = (1 << 31);
-  static const uint32_t POLYNOMIAL_32 = 0x04C11DB7;
-  static const uint32_t INITIAL_REMAINDER_32 = 0xFFFFFFFF;
-  static const uint32_t FINAL_XOR_VALUE_32 = 0xFFFFFFFF;
-
-  MessageQueueIF* commandQueue = nullptr;
-
-#ifdef XIPHOS_Q7S
-  SdCardManager* sdcMan = nullptr;
-#endif
-  CommandActionHelper commandActionHelper;
-
-  ActionHelper actionHelper;
-
-  enum class State : uint8_t {
-    IDLE,
-    UPDATE_AVAILABLE,
-    UPDATE_TRANSFER,
-    UPDATE_VERIFY,
-    COMMAND_EXECUTING
-  };
-
-  State state = State::IDLE;
-
-  ActionId_t pendingCommand = supv::NONE;
-
-  enum class Image : uint8_t { NONE, A, B };
-
-  Image image = Image::NONE;
-
-  enum class Partition : uint8_t { NONE, UBOOT, BITSTREAM, LINUX_OS, APP_SW };
-
-  Partition partition = Partition::NONE;
-
-  uint32_t packetsSent = 0;
-  uint32_t remainingPackets = 0;
-  // Number of packets required to transfer the update image
-  uint32_t numOfUpdatePackets = 0;
-
-  std::string updateFile;
-  uint32_t imageSize = 0;
-  uint32_t imageCrc = 0;
-
-  void readCommandQueue();
-  void doStateMachine();
-
-  /**
-   * @brief   Extracts the path and name of the update image from the service 8 command data.
-   */
-  ReturnValue_t getImageLocation(const uint8_t* data, size_t size);
-
-  ReturnValue_t checkNameLength(size_t size);
-
-  /**
-   * @brief   Prepares and sends update available command to PLOC supervisor handler.
-   */
-  void commandUpdateAvailable();
-
-  /**
-   * @brief   Prepares and sends and update packet to the PLOC supervisor handler.
-   */
-  void commandUpdatePacket();
-
-  /**
-   * @brief   Prepares and sends the update verification packet to the PLOC supervisor handler.
-   */
-  void commandUpdateVerify();
-
-  void calcImageCrc();
-
-  void adjustSequenceFlags(supv::UpdatePacket& packet);
-};
-
-#endif /* MISSION_DEVICES_PLOCUPDATER_H_ */

linux/devices/startracker/CMakeLists.txt

@@ -1,7 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(
-    StarTrackerHandler.cpp
+  ${OBSW_NAME}
-    StarTrackerJsonCommands.cpp
+  PRIVATE StarTrackerHandler.cpp StarTrackerJsonCommands.cpp
-    ArcsecDatalinkLayer.cpp
+          ArcsecDatalinkLayer.cpp ArcsecJsonParamBase.cpp StrHelper.cpp)
-    ArcsecJsonParamBase.cpp
-    StrHelper.cpp
-)

linux/devices/startracker/StrHelper.cpp

@@ -6,6 +6,7 @@
 #include "OBSWConfig.h"
 #include "fsfw/timemanager/Countdown.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
+#include "mission/utility/Filenaming.h"
 #include "mission/utility/ProgressPrinter.h"
 #include "mission/utility/Timestamp.h"
 
@@ -181,7 +182,8 @@ ReturnValue_t StrHelper::performImageDownload() {
   struct DownloadActionRequest downloadReq;
   uint32_t size = 0;
   uint32_t retries = 0;
-  std::string image = makeFullFilename(downloadImage.path, downloadImage.filename);
+  std::string image = Filenaming::generateAbsoluteFilename(downloadImage.path,
+                                                           downloadImage.filename, timestamping);
   std::ofstream file(image, std::ios_base::out);
   if (not std::filesystem::exists(image)) {
     return FILE_CREATION_FAILED;
@@ -400,7 +402,8 @@ ReturnValue_t StrHelper::performFlashRead() {
   uint32_t size = 0;
   uint32_t retries = 0;
   Timestamp timestamp;
-  std::string fullname = makeFullFilename(flashRead.path, flashRead.filename);
+  std::string fullname =
+      Filenaming::generateAbsoluteFilename(flashRead.path, flashRead.filename, timestamping);
   std::ofstream file(fullname, std::ios_base::app | std::ios_base::out);
   if (not std::filesystem::exists(fullname)) {
     return FILE_CREATION_FAILED;
@@ -588,14 +591,3 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) {
   }
   return result;
 }
-
-std::string StrHelper::makeFullFilename(std::string path, std::string filename) {
-  std::string image;
-  Timestamp timestamp;
-  if (timestamping) {
-    image = path + "/" + timestamp.str() + filename;
-  } else {
-    image = path + "/" + filename;
-  }
-  return image;
-}

linux/devices/startracker/StrHelper.h

@@ -173,8 +173,7 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
   static const size_t SIZE_IMAGE_PART = 1024;
   static const uint32_t FLASH_REGION_SIZE = 0x20000;
 
-  class ImageDownload {
+  struct ImageDownload {
-   public:
     static const uint32_t LAST_POSITION = 4095;
   };
 
@@ -199,15 +198,13 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
 
   BinarySemaphore semaphore;
 
-  class UploadImage {
+  struct UploadImage {
-   public:
     // Name including absolute path of image to upload
     std::string uploadFile;
   };
   UploadImage uploadImage;
 
-  class DownloadImage {
+  struct DownloadImage {
-   public:
     // Path where the downloaded image will be stored
     std::string path;
     // Default name of downloaded image, can be changed via command
@@ -215,8 +212,7 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
   };
   DownloadImage downloadImage;
 
-  class FlashWrite {
+  struct FlashWrite {
-   public:
     // File which contains data to write when executing the flash write command
     std::string fullname;
     // The first region to write to
@@ -229,8 +225,7 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
   };
   FlashWrite flashWrite;
 
-  class FlashRead {
+  struct FlashRead {
-   public:
     // Path where the file containing the read data will be stored
     std::string path = "";
     // Default name of file containing the data read from flash, can be changed via command
@@ -349,16 +344,6 @@ class StrHelper : public SystemObject, public ExecutableObjectIF, public HasRetu
    *
    */
   ReturnValue_t unlockAndEraseRegions(uint32_t from, uint32_t to);
-
-  /**
-   * @brief Creates full filename either with timestamp or without
-   *
-   * @param path    Path where to create the file
-   * @param filename    Name fo the file
-   *
-   * @return    Full filename
-   */
-  std::string makeFullFilename(std::string path, std::string filename);
 };
 
 #endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */

linux/fsfwconfig/CMakeLists.txt

@@ -1,28 +1,16 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp
-	ipc/MissionMessageTypes.cpp
+                                    pollingsequence/pollingSequenceFactory.cpp)
-	pollingsequence/pollingSequenceFactory.cpp
-)
 
-target_include_directories(${OBSW_NAME} PUBLIC
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
 
 # If a special translation file for object IDs exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
+  target_sources(${OBSW_NAME} PRIVATE objects/translateObjects.cpp)
-        objects/translateObjects.cpp
+  target_sources(${UNITTEST_NAME} PRIVATE objects/translateObjects.cpp)
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
 endif()
 
 # If a special translation file for events exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
+  target_sources(${OBSW_NAME} PRIVATE events/translateEvents.cpp)
-        events/translateEvents.cpp
+  target_sources(${UNITTEST_NAME} PRIVATE events/translateEvents.cpp)
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
 endif()

linux/fsfwconfig/devices/addresses.h

@@ -24,18 +24,18 @@ enum logicalAddresses : address_t {
 
   RAD_SENSOR = objects::RAD_SENSOR,
 
-  SUS_0 = objects::SUS_0,
+  SUS_0 = objects::SUS_0_N_LOC_XFYFZM_PT_XF,
-  SUS_1 = objects::SUS_1,
+  SUS_1 = objects::SUS_1_N_LOC_XBYFZM_PT_XB,
-  SUS_2 = objects::SUS_2,
+  SUS_2 = objects::SUS_2_N_LOC_XFYBZB_PT_YB,
-  SUS_3 = objects::SUS_3,
+  SUS_3 = objects::SUS_3_N_LOC_XFYBZF_PT_YF,
-  SUS_4 = objects::SUS_4,
+  SUS_4 = objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
-  SUS_5 = objects::SUS_5,
+  SUS_5 = objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
-  SUS_6 = objects::SUS_6,
+  SUS_6 = objects::SUS_6_R_LOC_XFYBZM_PT_XF,
-  SUS_7 = objects::SUS_7,
+  SUS_7 = objects::SUS_7_R_LOC_XBYBZM_PT_XB,
-  SUS_8 = objects::SUS_8,
+  SUS_8 = objects::SUS_8_R_LOC_XBYBZB_PT_YB,
-  SUS_9 = objects::SUS_9,
+  SUS_9 = objects::SUS_9_R_LOC_XBYBZB_PT_YF,
-  SUS_10 = objects::SUS_10,
+  SUS_10 = objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
-  SUS_11 = objects::SUS_11,
+  SUS_11 = objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
 
   /* Dummy and Test Addresses */
   DUMMY_ECHO = 129,