fixed merge conflicts

.gitignore

@@ -1,4 +1,5 @@
 /build*
+/cmake-build*
 
 # Eclipse
 .settings

CHANGELOG.md

@@ -3,30 +3,78 @@ Change Log
 
 All notable changes to this project will be documented in this file.
 
-The format is based on [Keep a Changelog](http://keepachangelog.com/)
+The format is based on [Keep a Changelog](http://keepachangelog.com/).
-and this project adheres to [Semantic Versioning](http://semver.org/).
 
 The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
 list yields a list of all related PRs for each release.
 
 # [unreleased]
 
+# [v1.12.0]
+
+## 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
+
+- Host build working again
+
 ## Added
 
-
 - 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
+- Custom Syrlinks FDIR which disabled most of the default FDIR functionality
 
 ## Changed
 
 - PCDU handler only called once in PST, but can handle multiple messages now
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/221
+  Bugfix: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/235
 - Update rootfs base of Linux, all related OBSW changes
-- Use gpsd version 3.17 now. Includes API changes
 - Add `/usr/local/bin` to PATH. All shell scripts are there now
-- Rename GPS device to `/dev/gps0`
 - Add Syrlinks and TMP devices to Software by default
+- Update GPS Linux Hyperion Handler to use socket interface. Still allows switching
+  back to SHM interface, but the SHM interface is a possible cause of SW crashes
+- Updated code for changed FSFW HAL GPIO API: `readGpio` prototype has changed
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/240 and
+  https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/76
+
+### GPS
+
+PRs: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/239
+
+- Rename GPS device to `/dev/gps0`
+- Use gpsd version 3.17 now. Includes API changes
+
+### EM and FM splitup & Build Workflow improvements
+
+PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/238
+
+- Split up `bsp_q7s` in separate EM and FM build with module loading set to different
+  default values. The EM object factory is unique which allows building a parallel setup
+  with dummy components
+- All major BSPs have an own `OBSWConfig.h.in` file which simplifies the file significantly
+- Renamed Q7S primary build folders:
+  - `cmake-build-debug-q7s` for primary development build
+  - `cmake-build-release-q7s` for primary release build
+  - `cmake-build-debug-q7s-em` for primary development build of the EM software
+  - `cmake-build-release-q7s-em` for primary release build of the EM software
+- Refactored Q7S helper script handling. It is now intended and preferred to copy the environment
+  script to the same folder level as the `eive-obsw` and source it. This will also
+  add the path containing the shell helper scripts to `PATH`
+- The actual helper shell scripts were renamed as well to `q7s-<buildSystem>-<buildType>.sh`
 
 # [v1.10.1]
 

CMakeLists.txt

@@ -25,10 +25,13 @@ if(NOT FSFW_OSAL)
 endif()
 
 if(TGT_BSP)
-    if(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")
         option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
     elseif(TGT_BSP MATCHES "arm/q7s")
+        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)
@@ -53,8 +56,27 @@ include(EiveHelpers)
 option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
 option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
 
-set(OBSW_ADD_STAR_TRACKER 0)
+if(EIVE_Q7S_EM)
-set(OBSW_DEBUG_STARTRACKER 0)
+    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(INIT_VAL 1)
+endif()
+set(OBSW_ADD_MGT ${INIT_VAL} CACHE STRING "Add MGT module" )
+set(OBSW_ADD_BPX_BATTERY_HANDLER ${INIT_VAL} CACHE STRING "Add MGT module")
+set(OBSW_ADD_STAR_TRACKER ${INIT_VAL} CACHE STRING "Add Startracker module")
+set(OBSW_ADD_SUN_SENSORS ${INIT_VAL} CACHE STRING "Add sun sensor module")
+set(OBSW_ADD_SUS_BOARD_ASS ${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
@@ -98,7 +120,7 @@ set(SIMPLE_OBSW_NAME eive-simple)
 set(UNITTEST_NAME eive-unittest)
 set(LIB_FSFW_NAME fsfw)
 set(LIB_EIVE_MISSION eive-mission)
-set(LIB_ETL_NAME etl)
+set(LIB_ETL_TARGET etl::etl)
 set(LIB_CSP_NAME libcsp)
 set(LIB_LWGPS_NAME lwgps)
 set(LIB_ARCSEC wire)
@@ -188,7 +210,7 @@ endif()
 # Configuration files
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
-configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
+configure_file(${BSP_PATH}/OBSWConfig.h.in OBSWConfig.h)
 if(TGT_BSP MATCHES "arm/q7s")
     configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
 elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
@@ -276,7 +298,11 @@ target_include_directories(${WATCHDOG_NAME} PUBLIC
 )
 
 # unittests
-add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
+if(NOT TGT_BSP)
+    add_executable(${UNITTEST_NAME})
+else()
+    add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
+endif()
 
 if(EIVE_ADD_ETL_LIB)
 endif()
@@ -305,16 +331,25 @@ add_subdirectory(${UNITTEST_PATH})
 
 # This should have already been downloaded by the FSFW
 # Still include it to be safe
-include(FetchContent)
+find_package(etl ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
-FetchContent_Declare(
+# Not installed, so use FetchContent to download and provide etl
-    etl
+if(NOT etl_FOUND)
-    GIT_REPOSITORY https://github.com/ETLCPP/etl
+    message(STATUS
-    GIT_TAG        ${FSFW_ETL_LIB_VERSION}
+        "No ETL installation was found with find_package. Installing and providing "
-)
+        "etl with FindPackage"
-FetchContent_MakeAvailable(etl)
+    )
+    include(FetchContent)
+    FetchContent_Declare(
+        etl
+        GIT_REPOSITORY https://github.com/ETLCPP/etl
+        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
@@ -328,8 +363,21 @@ if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s"))
             GIT_TAG        ${FSFW_CATCH2_LIB_VERSION}
         )
 
-        FetchContent_MakeAvailable(Catch2)
+        list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
-        #fixes regression -preview4, to be confirmed in later releases
+    endif()
+endif()
+
+# The documentation for FetchContent recommends declaring all the dependencies
+# before making them available. We make all declared dependency available here
+# after their declaration
+if(FSFW_FETCH_CONTENT_TARGETS)
+    FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
+    if(TARGET etl)
+        add_library(${LIB_ETL_TARGET} ALIAS etl)
+    endif()
+    if(TARGET Catch2)
+        # Fixes regression -preview4, to be confirmed in later releases
+        # Related 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")
@@ -378,7 +426,7 @@ endif()
 
 if(EIVE_ADD_ETL_LIB)
     target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        etl
+        ${LIB_ETL_TARGET}
     )
 endif()
 

README.md

@@ -107,28 +107,47 @@ When using Windows, run theses steps in MSYS2.
    Add `-G "MinGW Makefiles` in MinGW64 on Windows.
 
    ```sh
-   mkdir build-Debug-Q7S && cd build-Debug-Q7S
+   mkdir cmake-build-debug-q7s && cd cmake-build-debug-q7s
    cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..
    cmake --build . -j
    ```
 
-   You can also use provided shell scripts to perform these commands
+   You can also use provided shell scripts to perform these commands.
-
    ```sh
-   cd cmake/scripts/Q7S
+   cp scripts/q7s-env.sh ..
-   ./make_debug_cfg.sh
+   cp scripts/q7s-env-em.sh ..
-   cd ../../..
    ```
 
-   This will invoke a Python script which in turn invokes CMake with the correct
+   Adapt these scripts for your needs by editing the `CROSS_COMPILE_BIN_PATH`
-   arguments to configure CMake for Q7S cross-compilation.
+   and `ZYNQ_7020_SYSROOT`. After that, you can run the following commands to set up
+   the FM build
+
+   ```sh
+   cd ..
+   ./q7s-env.sh
+   q7s-make-debug.sh
+   ```
+
+   You can build the EM setup by running
+
+   ```sh
+   export EIVE_Q7S_EM=1
+   ```
+
+   or by running the `q7s-env-em.sh` script instead before setting up the build
+   configuration.
+
+   The shell scripts will invoke a Python script which in turn invokes CMake with the correct
+   arguments to configure CMake for Q7S cross-compilation. You can look into the command
+   output to see which commands were run exactly.
    
    There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
    or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`.
    
 5. Build the software with
+
    ```sh
-   cd build-Debug-Q7S
+   cd cmake-build-debug-q7s
    cmake --build . -j
    ```
 
@@ -167,7 +186,7 @@ The EIVE OBSW is the default target if no target is specified.
 **Debug**
 
 ```sh
-mkdir build-Debug-Q7S && cd build-Debug-Q7S
+mkdir cmake-build-debug-q7s && cd cmake-build-debug-q7s
 cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```
@@ -175,7 +194,7 @@ cmake --build . -j
 **Release**
 
 ```sh
-mkdir build-Release-Q7S && cd build-Release-Q7S
+mkdir cmake-build-release-q7s && cd cmake-build-release-q7s
 cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Release ..
 cmake --build . -j
 ```
@@ -190,7 +209,7 @@ You can also use the FSFW OSAL `host` to build on Windows or for generic OSes.
 Note: Currently this is not supported.
 
 ```sh
-mkdir build-Debug-Host && cd build-Debug-Host
+mkdir cmake-build-debug && cd cmake-build-debug
 cmake -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```
@@ -201,7 +220,7 @@ To build the unittests, the corresponding target must be specified in the build
 The configure steps do not need to be repeated if the folder has already been configured.
 
 ```sh
-mkdir build-Debug-Unittest && cd build-Debug-Unittest
+mkdir cmake-build-debug && cd cmake-build-debug
 cmake ..
 cmake --build . --target eive-unittests -j
 ```

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_hosted/OBSWConfig.h.in

@@ -0,0 +1,122 @@
+/**
+ * @brief   This file can be used to add preprocessor define for conditional
+ *          code inclusion exclusion or various other project constants and
+ *          properties in one place.
+ */
+#ifndef FSFWCONFIG_OBSWCONFIG_H_
+#define FSFWCONFIG_OBSWCONFIG_H_
+
+#include "commonConfig.h"
+#include "OBSWVersion.h"
+    
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_STAR_TRACKER                       0
+#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_MGT                                0
+#define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_ACS_HANDLERS                       0
+#define OBSW_ADD_GPS_0                              0
+#define OBSW_ADD_GPS_1                              0
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_BPX_BATTERY_HANDLER                0
+#define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_PL_PCDU                            0
+#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_RAD_SENSORS                        0
+#define OBSW_ADD_SYRLINKS                           0
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
+
+/*******************************************************************/
+/** All of the following flags should be disabled for mission code */
+/*******************************************************************/
+
+// Can be used to switch device to NORMAL mode immediately
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_TEST_TASK                          0
+#define OBSW_ADD_TEST_PST                           0
+// If this is enabled, all other SPI code should be disabled
+#define OBSW_ADD_SPI_TEST_CODE                      0
+// If this is enabled, all other I2C code should be disabled
+#define OBSW_ADD_I2C_TEST_CODE                      0
+#define OBSW_ADD_UART_TEST_CODE                     0
+
+#define OBSW_TEST_ACS                               0
+#define OBSW_DEBUG_ACS                              0
+#define OBSW_TEST_SUS                               0
+#define OBSW_DEBUG_SUS                              0
+#define OBSW_TEST_RTD                               0
+#define OBSW_DEBUG_RTD                              0
+#define OBSW_TEST_RAD_SENSOR                        0
+#define OBSW_DEBUG_RAD_SENSOR                       0
+#define OBSW_TEST_PL_PCDU                           0
+#define OBSW_DEBUG_PL_PCDU                          0
+#define OBSW_TEST_BPX_BATT                          0
+#define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
+
+#define OBSW_TEST_LIBGPIOD                          0
+#define OBSW_TEST_PLOC_HANDLER                      0
+#define OBSW_TEST_CCSDS_BRIDGE                      0
+#define OBSW_TEST_CCSDS_PTME                        0
+#define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_OPEN_BY_LABEL                0
+#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME            0
+#define OBSW_DEBUG_P60DOCK                          0
+
+#define OBSW_PRINT_CORE_HK                          0
+#define OBSW_DEBUG_PDU1                             0
+#define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
+#define OBSW_DEBUG_ACU                              0
+#define OBSW_DEBUG_SYRLINKS                         0
+
+#define OBSW_DEBUG_PDEC_HANDLER                     0
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
+#define OBSW_DEBUG_STARTRACKER                      0
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
+/*******************************************************************/
+/** CMake Defines                                                  */
+/*******************************************************************/
+#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
+
+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
+
+#ifdef RASPBERRY_PI
+#include "rpiConfig.h"
+#elif defined(XIPHOS_Q7S)
+#include "q7sConfig.h"
+#endif
+
+#ifdef __cplusplus
+
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+#endif
+
+#endif /* FSFWCONFIG_OBSWCONFIG_H_ */

bsp_hosted/ObjectFactory.cpp

@@ -9,6 +9,7 @@
 #include <tmtc/pusIds.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/bsp_hosted.mk

@@ -1,11 +0,0 @@
-# add main and others
-CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/*.c)
-
-CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c)
-
-CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c)
-
-INCLUDES += $(CURRENTPATH)/boardconfig
-INCLUDES += $(CURRENTPATH)/fsfwconfig

bsp_hosted/main.cpp

@@ -20,7 +20,7 @@ int main(void) {
   std::cout << "-- EIVE OBSW --" << std::endl;
   std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
   std::cout << "-- OBSW "
-            << " v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
+            << "v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
             << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 

bsp_linux_board/OBSWConfig.h.in

@@ -0,0 +1,122 @@
+/**
+ * @brief   This file can be used to add preprocessor define for conditional
+ *          code inclusion exclusion or various other project constants and
+ *          properties in one place.
+ */
+#ifndef FSFWCONFIG_OBSWCONFIG_H_
+#define FSFWCONFIG_OBSWCONFIG_H_
+
+#include "commonConfig.h"
+#include "OBSWVersion.h"
+     
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_STAR_TRACKER                       0
+#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_MGT                                0
+#define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_ACS_HANDLERS                       0
+#define OBSW_ADD_GPS_0                              0
+#define OBSW_ADD_GPS_1                              0
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_BPX_BATTERY_HANDLER                0
+#define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_PL_PCDU                            0
+#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_RAD_SENSORS                        0
+#define OBSW_ADD_SYRLINKS                           0
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
+
+/*******************************************************************/
+/** All of the following flags should be disabled for mission code */
+/*******************************************************************/
+
+// Can be used to switch device to NORMAL mode immediately
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_TEST_TASK                          0
+#define OBSW_ADD_TEST_PST                           0
+// If this is enabled, all other SPI code should be disabled
+#define OBSW_ADD_SPI_TEST_CODE                      0
+// If this is enabled, all other I2C code should be disabled
+#define OBSW_ADD_I2C_TEST_CODE                      0
+#define OBSW_ADD_UART_TEST_CODE                     0
+
+#define OBSW_TEST_ACS                               0
+#define OBSW_DEBUG_ACS                              0
+#define OBSW_TEST_SUS                               0
+#define OBSW_DEBUG_SUS                              0
+#define OBSW_TEST_RTD                               0
+#define OBSW_DEBUG_RTD                              0
+#define OBSW_TEST_RAD_SENSOR                        0
+#define OBSW_DEBUG_RAD_SENSOR                       0
+#define OBSW_TEST_PL_PCDU                           0
+#define OBSW_DEBUG_PL_PCDU                          0
+#define OBSW_TEST_BPX_BATT                          0
+#define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
+
+#define OBSW_TEST_LIBGPIOD                          0
+#define OBSW_TEST_PLOC_HANDLER                      0
+#define OBSW_TEST_CCSDS_BRIDGE                      0
+#define OBSW_TEST_CCSDS_PTME                        0
+#define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_OPEN_BY_LABEL                0
+#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME            0
+#define OBSW_DEBUG_P60DOCK                          0
+
+#define OBSW_PRINT_CORE_HK                          0
+#define OBSW_DEBUG_PDU1                             0
+#define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
+#define OBSW_DEBUG_ACU                              0
+#define OBSW_DEBUG_SYRLINKS                         0
+
+#define OBSW_DEBUG_PDEC_HANDLER                     0
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
+#define OBSW_DEBUG_STARTRACKER                      0
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
+/*******************************************************************/
+/** CMake Defines                                                  */
+/*******************************************************************/
+#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
+
+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
+
+#ifdef RASPBERRY_PI
+#include "rpiConfig.h"
+#elif defined(XIPHOS_Q7S)
+#include "q7sConfig.h"
+#endif
+
+#ifdef __cplusplus
+
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+#endif
+
+#endif /* FSFWCONFIG_OBSWCONFIG_H_ */

bsp_linux_board/ObjectFactory.cpp

@@ -121,7 +121,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
   auto mgmLis3Handler =
       new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
   mgmLis3Handler->setStartUpImmediately();
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+#if OBSW_TEST_ACS == 1
   mgmLis3Handler->setToGoToNormalMode(true);
 #endif
 
@@ -131,7 +131,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
   auto mgmRm3100Handler =
       new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
   mgmRm3100Handler->setStartUpImmediately();
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+#if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setToGoToNormalMode(true);
 #endif
 
@@ -141,7 +141,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
   mgmLis3Handler =
       new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
   mgmLis3Handler->setStartUpImmediately();
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+#if OBSW_TEST_ACS == 1
   mgmLis3Handler->setToGoToNormalMode(true);
 #endif
 
@@ -151,7 +151,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
   mgmRm3100Handler =
       new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
   mgmRm3100Handler->setStartUpImmediately();
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+#if OBSW_TEST_ACS == 1
   mgmRm3100Handler->setToGoToNormalMode(true);
 #endif
 
@@ -167,7 +167,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
   auto gyroL3gHandler =
       new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
   gyroL3gHandler->setStartUpImmediately();
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+#if OBSW_TEST_ACS == 1
   gyroL3gHandler->setToGoToNormalMode(true);
 #endif
 
@@ -184,7 +184,7 @@ void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
   gyroL3gHandler =
       new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
   gyroL3gHandler->setStartUpImmediately();
-#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+#if OBSW_TEST_ACS == 1
   gyroL3gHandler->setToGoToNormalMode(true);
 #endif
 }

bsp_q7s/CMakeLists.txt

@@ -13,6 +13,7 @@ add_subdirectory(simple)
 
 target_sources(${OBSW_NAME} PUBLIC
 	main.cpp
+    obsw.cpp
 )
 
 add_subdirectory(boardtest)
@@ -20,6 +21,13 @@ add_subdirectory(boardtest)
 add_subdirectory(boardconfig)
 add_subdirectory(comIF)
 add_subdirectory(core)
+
+if(EIVE_Q7S_EM)
+    add_subdirectory(em)
+else()
+    add_subdirectory(fm)
+endif()
+
 add_subdirectory(memory)
 add_subdirectory(callbacks)
 add_subdirectory(xadc)

bsp_q7s/OBSWConfig.h.in

@@ -0,0 +1,126 @@
+/**
+ * @brief   This file can be used to add preprocessor define for conditional
+ *          code inclusion exclusion or various other project constants and
+ *          properties in one place.
+ */
+#ifndef FSFWCONFIG_OBSWCONFIG_H_
+#define FSFWCONFIG_OBSWCONFIG_H_
+
+#include "commonConfig.h"
+#include "q7sConfig.h"
+#include "OBSWVersion.h"
+
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+#define OBSW_USE_CCSDS_IP_CORE                      1
+// Set to 1 if all telemetry should be sent to the PTME IP Core
+#define OBSW_TM_TO_PTME                             0
+// Set to 1 if telecommands are received via the PDEC IP Core
+#define OBSW_TC_FROM_PDEC                           0
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
+#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_MPSOC                         0
+#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@
+#define OBSW_ADD_ACS_HANDLERS                       @OBSW_ADD_ACS_HANDLERS@
+#define OBSW_ADD_RW                                 @OBSW_ADD_RW@
+#define OBSW_ADD_RTD_DEVICES                        @OBSW_ADD_RTD_DEVICES@
+#define OBSW_ADD_TMP_DEVICES                        @OBSW_ADD_TMP_DEVICES@
+#define OBSW_ADD_RAD_SENSORS                        @OBSW_ADD_RAD_SENSORS@
+#define OBSW_ADD_PL_PCDU                            @OBSW_ADD_PL_PCDU@
+#define OBSW_ADD_SYRLINKS                           @OBSW_ADD_SYRLINKS@
+#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
+
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
+
+/*******************************************************************/
+/** All of the following flags should be disabled for mission code */
+/*******************************************************************/
+
+// Can be used to switch device to NORMAL mode immediately
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_TEST_TASK                          0
+#define OBSW_ADD_TEST_PST                           0
+// If this is enabled, all other SPI code should be disabled
+#define OBSW_ADD_SPI_TEST_CODE                      0
+// If this is enabled, all other I2C code should be disabled
+#define OBSW_ADD_I2C_TEST_CODE                      0
+#define OBSW_ADD_UART_TEST_CODE                     0
+
+#define OBSW_TEST_ACS                               0
+#define OBSW_DEBUG_ACS                              0
+#define OBSW_TEST_SUS                               0
+#define OBSW_DEBUG_SUS                              0
+#define OBSW_TEST_RTD                               0
+#define OBSW_DEBUG_RTD                              0
+#define OBSW_TEST_RAD_SENSOR                        0
+#define OBSW_DEBUG_RAD_SENSOR                       0
+#define OBSW_TEST_PL_PCDU                           0
+#define OBSW_DEBUG_PL_PCDU                          0
+#define OBSW_TEST_BPX_BATT                          0
+#define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
+
+#define OBSW_TEST_LIBGPIOD                          0
+#define OBSW_TEST_PLOC_HANDLER                      0
+#define OBSW_TEST_CCSDS_BRIDGE                      0
+#define OBSW_TEST_CCSDS_PTME                        0
+#define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_OPEN_BY_LABEL                0
+#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME            0
+#define OBSW_DEBUG_P60DOCK                          0
+
+#define OBSW_PRINT_CORE_HK                          0
+#define OBSW_DEBUG_PDU1                             0
+#define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
+#define OBSW_DEBUG_ACU                              0
+#define OBSW_DEBUG_SYRLINKS                         0
+
+#define OBSW_DEBUG_PDEC_HANDLER                     0
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
+#define OBSW_DEBUG_STARTRACKER                      0
+
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
+/*******************************************************************/
+/** CMake Defines                                                  */
+/*******************************************************************/
+#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
+
+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
+
+
+#ifdef __cplusplus
+
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+#endif
+
+#endif /* FSFWCONFIG_OBSWCONFIG_H_ */

bsp_q7s/boardconfig/q7sConfig.h.in

@@ -3,6 +3,8 @@
 
 #include <cstdint>
 
+#define OBSW_Q7S_EM                                 @OBSW_Q7S_EM@
+
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -23,8 +23,9 @@
 Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
   doTestSdCard = false;
   doTestScratchApi = false;
-  doTestGps = false;
+  doTestGpsShm = false;
-  doTestXadc = true;
+  doTestGpsSocket = false;
+  doTestXadc = false;
 }
 
 ReturnValue_t Q7STestTask::performOneShotAction() {
@@ -36,15 +37,20 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
   }
   // testJsonLibDirect();
   // testDummyParams();
-  // testProtHandler();
+  if (doTestProtHandler) {
+    testProtHandler();
+  }
   FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
   testFileSystemHandlerDirect(opCode);
   return TestTask::performOneShotAction();
 }
 
 ReturnValue_t Q7STestTask::performPeriodicAction() {
-  if (doTestGps) {
+  if (doTestGpsShm) {
-    testGpsDaemon();
+    testGpsDaemonShm();
+  }
+  if (doTestGpsSocket) {
+    testGpsDaemonSocket();
   }
   if (doTestXadc) {
     xadcTest();
@@ -238,8 +244,8 @@ void Q7STestTask::testProtHandler() {
   }
 }
 
-void Q7STestTask::testGpsDaemon() {
+void Q7STestTask::testGpsDaemonShm() {
-  gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
+  gpsmm gpsmm(GPSD_SHARED_MEMORY, "");
   gps_data_t* gps;
   gps = gpsmm.read();
   if (gps == nullptr) {
@@ -266,6 +272,68 @@ void Q7STestTask::testGpsDaemon() {
   sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
 }
 
+void Q7STestTask::testGpsDaemonSocket() {
+  if (gpsmmShmPtr == nullptr) {
+    gpsmmShmPtr = new gpsmm("localhost", DEFAULT_GPSD_PORT);
+  }
+  // The data from the device will generally be read all at once. Therefore, we
+  // can set all field here
+  if (not gpsmmShmPtr->is_open()) {
+    if (gpsNotOpenSwitch) {
+      // Opening failed
+#if FSFW_VERBOSE_LEVEL >= 1
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: Opening GPSMM failed | "
+                   << "Error " << errno << " | " << gps_errstr(errno) << std::endl;
+#endif
+
+      gpsNotOpenSwitch = false;
+    }
+    return;
+  }
+  // Stopwatch watch;
+  gps_data_t* gps = nullptr;
+  gpsmmShmPtr->stream(WATCH_ENABLE | WATCH_JSON);
+  if (not gpsmmShmPtr->waiting(50000000)) {
+    return;
+  }
+  gps = gpsmmShmPtr->read();
+  if (gps == nullptr) {
+    if (gpsReadFailedSwitch) {
+      gpsReadFailedSwitch = false;
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed" << std::endl;
+    }
+    return;
+  }
+  if (MODE_SET != (MODE_SET & gps->set)) {
+    if (noModeSetCntr >= 0) {
+      noModeSetCntr++;
+    }
+    if (noModeSetCntr == 10) {
+      // TODO: Trigger event here
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: No mode could be "
+                      "read for 10 consecutive reads"
+                   << std::endl;
+      noModeSetCntr = -1;
+    }
+    return;
+  } else {
+    noModeSetCntr = 0;
+  }
+  sif::info << "-- Q7STestTask: GPS socket read test --" << std::endl;
+#if LIBGPS_VERSION_MINOR <= 17
+  time_t timeRaw = gps->fix.time;
+#else
+  time_t timeRaw = gps->fix.time.tv_sec;
+#endif
+  std::tm* time = gmtime(&timeRaw);
+  sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
+  sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
+  sif::info << "Satellites used: " << gps->satellites_used << std::endl;
+  sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
+  sif::info << "Latitude: " << gps->fix.latitude << std::endl;
+  sif::info << "Longitude: " << gps->fix.longitude << std::endl;
+}
+
 void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
   auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
   if (fsHandler == nullptr) {

bsp_q7s/boardtest/Q7STestTask.h

@@ -1,6 +1,8 @@
 #ifndef BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
 #define BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
 
+#include <libgpsmm.h>
+
 #include "test/testtasks/TestTask.h"
 
 class CoreController;
@@ -14,14 +16,22 @@ class Q7STestTask : public TestTask {
  private:
   bool doTestSdCard = false;
   bool doTestScratchApi = false;
-  bool doTestGps = false;
+  bool doTestGpsShm = false;
+  bool doTestGpsSocket = false;
+  bool doTestProtHandler = false;
   bool doTestXadc = false;
 
+  bool gpsNotOpenSwitch = false;
+  bool gpsReadFailedSwitch = false;
+  int32_t noModeSetCntr = 0;
+  gpsmm* gpsmmShmPtr = nullptr;
+
   CoreController* coreController = nullptr;
   ReturnValue_t performOneShotAction() override;
   ReturnValue_t performPeriodicAction() override;
 
-  void testGpsDaemon();
+  void testGpsDaemonShm();
+  void testGpsDaemonSocket();
 
   void testSdCard();
   void fileTests();

bsp_q7s/core/CMakeLists.txt

@@ -1,8 +1,6 @@
 target_sources(${OBSW_NAME} PRIVATE
     CoreController.cpp
-    obsw.cpp
     InitMission.cpp
-    ObjectFactory.cpp
 )
 
 target_sources(${SIMPLE_OBSW_NAME} PRIVATE

bsp_q7s/core/InitMission.cpp

@@ -1,10 +1,10 @@
-#include "InitMission.h"
+#include "bsp_q7s/core/InitMission.h"
 
 #include <iostream>
 #include <vector>
 
 #include "OBSWConfig.h"
-#include "ObjectFactory.h"
+#include "bsp_q7s/core/ObjectFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/platform.h"
@@ -311,6 +311,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 #endif
 
+#if OBSW_ADD_GOMSPACE_PCDU == 1
   FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
       "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstGompaceCan(gomSpacePstTask);
@@ -320,6 +321,7 @@ void initmission::createPstTasks(TaskFactory& factory,
     }
   }
   taskVec.push_back(gomSpacePstTask);
+#endif
 }
 
 void initmission::createPusTasks(TaskFactory& factory,

bsp_q7s/core/ParameterHandler.cpp

@@ -1,5 +0,0 @@
-#include "ParameterHandler.h"
-
-ParameterHandler::ParameterHandler(std::string mountPrefix) : mountPrefix(mountPrefix) {}
-
-void ParameterHandler::setMountPrefix(std::string prefix) { mountPrefix = prefix; }

bsp_q7s/core/ParameterHandler.h

@@ -1,20 +0,0 @@
-#ifndef BSP_Q7S_CORE_PARAMETERHANDLER_H_
-#define BSP_Q7S_CORE_PARAMETERHANDLER_H_
-
-#include <nlohmann/json.hpp>
-#include <string>
-
-class ParameterHandler {
- public:
-  ParameterHandler(std::string mountPrefix);
-
-  void setMountPrefix(std::string prefix);
-
-  void setUpDummyParameter();
-
- private:
-  std::string mountPrefix;
-  DummyParameter dummyParam;
-};
-
-#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */

bsp_q7s/em/CMakeLists.txt

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

bsp_q7s/em/emObjectFactory.cpp

@@ -1,5 +1,3 @@
-#include "ObjectFactory.h"
-
 #include <mission/system/fdir/GomspacePowerFdir.h>
 #include <mission/system/fdir/SyrlinksFdir.h>
 
@@ -10,6 +8,7 @@
 #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"
@@ -47,11 +46,9 @@
 #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"
@@ -99,7 +96,6 @@
 #include "mission/tmtc/CCSDSHandler.h"
 #include "mission/tmtc/VirtualChannel.h"
 #include "mission/utility/TmFunnel.h"
-
 ResetArgs resetArgsGnss0;
 ResetArgs resetArgsGnss1;
 
@@ -114,7 +110,6 @@ void Factory::setStaticFrameworkObjectIds() {
 
   DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
   //  DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
-
 #if OBSW_TM_TO_PTME == 1
   TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
 #else
@@ -150,7 +145,6 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
 #endif
-
   createHeaterComponents();
   createSolarArrayDeploymentComponents();
   createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
@@ -187,7 +181,6 @@ void ObjectFactory::produce(void* args) {
   bpxHandler->setDebugMode(true);
 #endif
 #endif
-
   new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
 
 #if OBSW_ADD_STAR_TRACKER == 1
@@ -202,16 +195,13 @@ void ObjectFactory::produce(void* args) {
   starTracker->setPowerSwitcher(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 */
-
   new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
 }
 
@@ -438,7 +428,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #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);
@@ -455,7 +444,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #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);
@@ -487,7 +475,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #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,
@@ -506,7 +493,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #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,
@@ -524,7 +510,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #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,
@@ -678,7 +663,6 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
                        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(),
@@ -763,7 +747,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
   rwHandler1->setStartUpImmediately();
   rwHandler1->setDebugMode(true);
 #endif
-
   auto rwHandler2 =
       new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2);
   rw2SpiCookie->setCallbackArgs(rwHandler2);
@@ -771,7 +754,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
   rwHandler2->setStartUpImmediately();
   rwHandler2->setDebugMode(true);
 #endif
-
   auto rwHandler3 =
       new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3);
   rw3SpiCookie->setCallbackArgs(rwHandler3);
@@ -779,7 +761,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
   rwHandler3->setStartUpImmediately();
   rwHandler3->setDebugMode(true);
 #endif
-
   auto rwHandler4 =
       new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4);
   rw4SpiCookie->setCallbackArgs(rwHandler4);
@@ -787,7 +768,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
   rwHandler4->setStartUpImmediately();
   rwHandler4->setDebugMode(true);
 #endif
-
 #endif /* OBSW_ADD_RW == 1 */
 }
 

bsp_q7s/fm/CMakeLists.txt

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

bsp_q7s/fm/fmObjectFactory.cpp

@@ -0,0 +1,972 @@
+#include <mission/system/fdir/GomspacePowerFdir.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 "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 "fsfw_hal/linux/i2c/I2cCookie.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();
+
+  LinuxLibgpioIF* gpioComIF = nullptr;
+  UartComIF* uartComIF = nullptr;
+  SpiComIF* spiComIF = nullptr;
+  I2cComIF* i2cComIF = nullptr;
+  PowerSwitchIF* pwrSwitcher = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
+  createTmpComponents();
+  new CoreController(objects::CORE_CONTROLLER);
+
+  gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPcduComponents(gpioComIF, &pwrSwitcher);
+  createRadSensorComponent(gpioComIF);
+  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+
+#if OBSW_ADD_ACS_BOARD == 1
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+#endif
+  createHeaterComponents();
+  createSolarArrayDeploymentComponents();
+  createPlPcduComponents(gpioComIF, spiComIF, pwrSwitcher);
+#if OBSW_ADD_SYRLINKS == 1
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
+  createPayloadComponents(gpioComIF);
+
+#if OBSW_ADD_MGT == 1
+  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
+#endif
+  createReactionWheelComponents(gpioComIF);
+
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  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
+#endif
+  new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  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);
+
+#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 */
+  new PlocUpdater(objects::PLOC_UPDATER);
+  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
+}
+
+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/main.cpp

@@ -1,7 +1,7 @@
 #include "q7sConfig.h"
 
 #if Q7S_SIMPLE_MODE == 0
-#include "core/obsw.h"
+#include "obsw.h"
 #else
 #include "simple/simple.h"
 #endif

bsp_q7s/obsw.cpp

@@ -3,9 +3,9 @@
 #include <filesystem>
 #include <iostream>
 
-#include "InitMission.h"
 #include "OBSWConfig.h"
 #include "commonConfig.h"
+#include "core/InitMission.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
 #include "watchdog/definitions.h"

bsp_te0720_1cfa/OBSWConfig.h.in

@@ -6,17 +6,9 @@
 #ifndef FSFWCONFIG_OBSWCONFIG_H_
 #define FSFWCONFIG_OBSWCONFIG_H_
 
-#cmakedefine RASPBERRY_PI
-#cmakedefine XIPHOS_Q7S
-#cmakedefine BEAGLEBONEBLACK
-#cmakedefine EGSE
-#cmakedefine TE0720_1CFA
-
 #include "commonConfig.h"
 #include "OBSWVersion.h"
-                             
+    
-#define Q7S_EM                                      0
-
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
@@ -71,6 +63,7 @@
 #define OBSW_TM_TO_PTME                             0
 // Set to 1 if telecommands are received via the PDEC IP Core
 #define OBSW_TC_FROM_PDEC                           0
+
 #define OBSW_ENABLE_TIMERS                          1
 #define OBSW_ADD_MGT                                0
 #define OBSW_ADD_BPX_BATTERY_HANDLER                0
@@ -93,7 +86,13 @@
 #define OBSW_PRINT_CORE_HK                          0
 #define OBSW_INITIALIZE_SWITCHES                    0
 
-#endif
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
 
 /*******************************************************************/
 /** All of the following flags should be disabled for mission code */
@@ -148,9 +147,9 @@
 
 #define OBSW_DEBUG_PDEC_HANDLER                     0
 
-#ifdef TE0720_1CFA
 #define OBSW_DEBUG_PLOC_SUPERVISOR                  1
 #define OBSW_DEBUG_PLOC_MPSOC                       1
+
 #else 
 #define OBSW_DEBUG_PLOC_SUPERVISOR                  1
 #define OBSW_DEBUG_PLOC_MPSOC                       1
@@ -195,12 +194,6 @@
 #cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
 #cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
 
-#ifdef RASPBERRY_PI
-#include "rpiConfig.h"
-#elif defined(XIPHOS_Q7S)
-#include "q7sConfig.h"
-#endif
-
 #ifdef __cplusplus
 
 #include "objects/systemObjectList.h"

cmake/PreProjectConfig.cmake

@@ -1,3 +1,6 @@
+function(obsw_module_config)
+endfunction()
+
 function(pre_source_hw_os_config)
 
 # FreeRTOS

cmake/scripts/Host/make-debug-cfg.sh

@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="make"
-os_fsfw="host"
-builddir="build-Debug-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x

cmake/scripts/Host/make-release-cfg.sh

@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="make"
-os_fsfw="host"
-builddir="build-Release-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x

cmake/scripts/Host/ninja-debug-cfg.sh

@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="ninja"
-os_fsfw="host"
-builddir="build-Debug-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x

cmake/scripts/Linux/make-debug-cfg.sh

@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="make"
-os_fsfw="linux"
-builddir="build-Debug-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x

cmake/scripts/Linux/make-release-cfg.sh

@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="Unix Makefiles"
-os_fsfw="linux"
-builddir="build-Release-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x

cmake/scripts/Linux/ninja-debug-cfg.sh

@@ -1,33 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="ninja"
-os_fsfw="linux"
-builddir="build-Debug-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x
-

cmake/scripts/Q7S/make-debug-cfg.sh

@@ -1,34 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-os_fsfw="linux"
-tgt_bsp="arm/q7s"
-build_dir="build-Debug-Q7S"
-build_generator="make"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-	-l"${build_dir}"
-# set +x
-

cmake/scripts/Q7S/make-release-cfg.sh

@@ -1,33 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-os_fsfw="linux"
-tgt_bsp="arm/q7s"
-build_dir="build-Release-Q7S"
-build_generator="make"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
-	-l"${build_dir}"
-# set +x

cmake/scripts/Q7S/ninja-debug-cfg.sh

@@ -1,34 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-os_fsfw="linux"
-tgt_bsp="arm/q7s"
-build_dir="build-Debug-Q7S"
-build_generator="ninja"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
-	-l "${build_dir}"
-# set +x
-

cmake/scripts/Q7S/ninja-release-cfg.sh

@@ -1,34 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-os_fsfw="linux"
-tgt_bsp="arm/q7s"
-build_dir="build-Release-Q7S"
-build_generator="ninja"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
-	-l"${build_dir}"
-# set +x
-

cmake/scripts/Q7S/q7s-env.sh

@@ -1,7 +0,0 @@
-#!/bin/bash -i
-export PATH=$PATH:"$HOME/EIVE/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
-export CROSS_COMPILE="arm-linux-gnueabihf"
-
-export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
-export CONSOLE_PREFIX="[Q7S ENV]"
-/bin/bash

cmake/scripts/host/host-make-debug.sh

@@ -0,0 +1,37 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+build_generator="make"
+os_fsfw="host"
+builddir="cmake-build-debug"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x

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

@@ -0,0 +1,37 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+build_generator="Unix Makefiles"
+os_fsfw="host"
+builddir="cmake-build-release"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x

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

@@ -0,0 +1,38 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+build_generator="ninja"
+os_fsfw="host"
+builddir="cmake-build-debug"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
+

cmake/scripts/linux/host-make-debug.sh

@@ -0,0 +1,37 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+build_generator="make"
+os_fsfw="linux"
+builddir="cmake-build-debug"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x

cmake/scripts/linux/host-make-release.sh

@@ -0,0 +1,37 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+build_generator="Unix Makefiles"
+os_fsfw="linux"
+builddir="cmake-build-release"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x

cmake/scripts/linux/host-ninja-debug.sh

@@ -0,0 +1,38 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+build_generator="ninja"
+os_fsfw="linux"
+builddir="cmake-build-debug"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
+

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

@@ -0,0 +1,48 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [ -z "${EIVE_OBSW_ROOT}" ]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
+    build_defs="EIVE_Q7S_EM=ON"
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/q7s"
+build_dir="cmake-build-debug-q7s"
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
+    build_dir="${build_dir}-em"
+fi
+
+build_generator="make"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+	-l"${build_dir}" -d "${build_defs}"
+set +x
+
+cd ${init_dir}

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

@@ -0,0 +1,48 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [[ -z ${EIVE_OBSW_ROOT} ]]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+if [[ -z "${EIVE_Q7S_EM}" ]]; then
+    build_defs="EIVE_Q7S_EM=ON"
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/q7s"
+build_dir="cmake-build-release-q7s"
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
+    build_dir="${build_dir}-em"
+fi
+build_generator="make"
+
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
+	-l"${build_dir}" -d "${build_defs}"
+set +x
+
+cd ${init_dir}

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

@@ -0,0 +1,48 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [[ -z ${EIVE_OBSW_ROOT} ]]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+if [[ -z "${EIVE_Q7S_EM}" ]]; then
+    build_defs="EIVE_Q7S_EM=ON"
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/q7s"
+build_dir="cmake-build-debug-q7s"
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
+    build_dir="${build_dir}-em"
+fi
+
+build_generator="ninja"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+	-l "${build_dir}" -d "${build_defs}"
+set +x
+
+cd ${init_dir}

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

@@ -0,0 +1,48 @@
+#!/bin/bash
+cfg_script_name="cmake-build-cfg.py"
+init_dir=$(pwd)
+if [[ -z ${EIVE_OBSW_ROOT} ]]; then
+    counter=0
+    while [ ${counter} -lt 5 ]
+    do
+        cd ..
+        if [ -f ${cfg_script_name} ];then
+            break
+        fi
+        counter=$((counter=counter + 1))
+    done
+
+    if [ "${counter}" -ge 5 ];then
+        echo "${cfg_script_name} not found in upper directories!"
+        exit 1
+    fi
+else
+    cfg_script_name="${EIVE_OBSW_ROOT}/cmake/scripts/${cfg_script_name}"
+fi
+
+if [[ -z "${EIVE_Q7S_EM}" ]]; then
+    build_defs="EIVE_Q7S_EM=ON"
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/q7s"
+build_dir="cmake-build-release-q7s"
+if [ ! -z "${EIVE_Q7S_EM}" ]; then
+    build_dir="${build_dir}-em"
+fi
+
+build_generator="ninja"
+if [ "${OS}" = "Windows_NT" ]; then
+    python="py"
+# Could be other OS but this works for now.
+else
+    python="python3"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
+	-l"${build_dir}" -d "${build_defs}"
+set +x
+
+cd ${init_dir}

common/config/commonConfig.h.in

@@ -4,6 +4,12 @@
 #include <cstdint>
 #include "fsfw/version.h"
 
+#cmakedefine RASPBERRY_PI
+#cmakedefine XIPHOS_Q7S
+#cmakedefine BEAGLEBONEBLACK
+#cmakedefine EGSE
+#cmakedefine TE0720_1CFA
+
 /* These defines should be disabled for mission code but are useful for
 debugging. */
 #define OBSW_VERBOSE_LEVEL                  1

common/config/commonObjects.h

@@ -48,35 +48,46 @@ enum commonObjects: uint32_t {
      * 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_1_N_LOC_XBYFZM_PT_XB = 0x44120033,
-    SUS_10 = 0x44120042,
+    SUS_7_R_LOC_XBYBZM_PT_XB = 0x44120039,
-    SUS_11 = 0x44120043,
+
+    SUS_2_N_LOC_XFYBZB_PT_YB = 0x44120034,
+    SUS_8_R_LOC_XBYBZB_PT_YB = 0x44120040,
+
+    SUS_3_N_LOC_XFYBZF_PT_YF = 0x44120035,
+    SUS_9_R_LOC_XBYBZB_PT_YF = 0x44120041,
+
+    SUS_4_N_LOC_XMYFZF_PT_ZF = 0x44120036,
+    SUS_10_N_LOC_XMYBZF_PT_ZF = 0x44120042,
+
+    SUS_5_N_LOC_XFYMZB_PT_ZB = 0x44120037,
+    SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043,
 
     GPS_CONTROLLER = 0x44130045,
 

fsfw

@@ -1 +1 @@
-Subproject commit 19bd26d9983d97c8daf010649e9142afac7e2650
+Subproject commit d72b212fa629029924d9862e3e862d0388911f8e

generators/bsp_q7s_events.csv

@@ -80,6 +80,7 @@
 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
 11302;0x2c26;SWITCHING_Q7S_DENIED;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
 11401;0x2c89;GPIO_PULL_LOW_FAILED;LOW;;mission\devices\HeaterHandler.h
 11402;0x2c8a;SWITCH_ALREADY_ON;LOW;;mission\devices\HeaterHandler.h
@@ -94,7 +95,7 @@
 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
 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
 11604;0x2d54;MPSOC_HANDLER_CRC_FAILURE;LOW;PLOC reply has invalid crc;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
+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
 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
 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
 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
@@ -109,7 +110,7 @@
 11902;0x2e7e;BOOTING_BOOTLOADER_FAILED;LOW;Failed to boot star tracker into bootloader mode;linux\devices\startracker\StarTrackerHandler.h
 12001;0x2ee1;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;linux\devices\ploc\PlocSupervisorHandler.h
 12002;0x2ee2;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;linux\devices\ploc\PlocSupervisorHandler.h
-12003;0x2ee3;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;linux\devices\ploc\PlocSupervisorHandler.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
 12004;0x2ee4;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;linux\devices\ploc\PlocSupervisorHandler.h
 12005;0x2ee5;SUPV_MPSOC_SHUWDOWN_BUILD_FAILED;LOW;Failed to build the command to shutdown the MPSoC;linux\devices\ploc\PlocSupervisorHandler.h
 12100;0x2f44;SANITIZATION_FAILED;LOW;;bsp_q7s\memory\SdCardManager.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
@@ -47,22 +47,22 @@
 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

generators/bsp_q7s_returnvalues.csv

@@ -54,6 +54,8 @@
 0x4603; HGIO_GpioTypeFailure;;3;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO
 0x4604; HGIO_GpioInvalidInstance;;4;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO
 0x4605; HGIO_GpioDuplicateDetected;;5;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO
+0x4606; HGIO_GpioInitFailed;;6;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO
+0x4607; HGIO_GpioGetValueFailed;;7;fsfw\hal\src\fsfw_hal\linux\gpio\LinuxLibgpioIF.h;HAL_GPIO
 0x4300; HSPI_HalTimeoutRetval;;0;fsfw\hal\src\fsfw_hal\stm32h7\spi\spiDefinitions.h;HAL_SPI
 0x4301; HSPI_HalBusyRetval;;1;fsfw\hal\src\fsfw_hal\stm32h7\spi\spiDefinitions.h;HAL_SPI
 0x4302; HSPI_HalErrorRetval;;2;fsfw\hal\src\fsfw_hal\stm32h7\spi\spiDefinitions.h;HAL_SPI

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 198 translations.
+ * @brief    Auto-generated event translation file. Contains 199 translations.
  * @details
- * Generated on: 2022-04-30 09:34:28
+ * Generated on: 2022-05-06 19:43:59
  */
 #include "translateEvents.h"
 
@@ -87,6 +87,7 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 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 *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
@@ -101,7 +102,7 @@ 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";
@@ -366,6 +367,8 @@ const char *translateEvents(Event event) {
       return SWITCH_HAS_CHANGED_STRING;
     case (11302):
       return SWITCHING_Q7S_DENIED_STRING;
+    case (11303):
+      return FDIR_REACTION_IGNORED_STRING;
     case (11400):
       return GPIO_PULL_HIGH_FAILED_STRING;
     case (11401):
@@ -395,7 +398,7 @@ 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):

generators/fsfwgen

@@ -1 +1 @@
-Subproject commit 5ad9fb94af3312d29863527106396395f7b808a5
+Subproject commit 169ad98cdeebe3ccfd1b78938934496a20b6a294

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 116 translations.
- * Generated on: 2022-04-24 12:09:01
+ * Generated on: 2022-05-06 19:43:55
  */
 #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";
@@ -55,22 +55,22 @@ 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";
@@ -138,29 +138,29 @@ 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:
@@ -224,37 +224,37 @@ 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:

generators/system/eive-system.yml

@@ -0,0 +1,464 @@
+# nml -> normal
+# brd -> board
+# ss -> subsystem
+# ass -> assembly
+# ctrl -> controller
+# dh -> device handler
+# dft -> default
+# All uppermost system components are automatically subsystems
+system:
+  eps:
+    pcdu:
+      id: 0x442000a1
+    acu:
+      id: 0x44250003
+    pdu1:
+      id: 0x44250001
+    pdu2:
+      id: 0x44250002
+  tcs:
+    tcs-ctrl:
+    tcs-brd-ass:
+      id: 0x73000003
+  acs:
+    acs-brd-ass:
+      id: 0x73000001
+    sus-brd-ass:
+      id: 0x73000002
+    acs-ctrl:
+    rw:
+    mgt:
+    str:
+  payload:
+    scex-dh:
+    ploc-ss:
+    cam-switcher:
+    pl-pcdu-dh:
+  com:
+    syrlinks-dh:
+
+
+modes:
+  # If nothing is specified for a particular mode, use default configuration
+  default:
+    system:
+      # The power system is/should always be on. We can't even turn it off
+      eps: nml
+        pcdu: nml
+        acu: nml
+        pdu1: nml
+        pdu2: nml
+      tcs: nml
+        tcs-brd-ass: nml
+        tcs-ctrl: nml
+      payload: off
+        scex: off
+        ploc-ss: off
+        cam-ss: off
+        pl-pcdu-dh: off
+      com: nml
+        syrlinks-dh: nml
+      acs:
+        mgt: nml
+        acs-brd-ass: nml
+        sus-brd-ass: nml
+  detumble:
+    system:
+      acs: detumble
+        acs-ctrl: detumble
+        # Requires MGM and Gyros
+        rw: off
+        str: off
+  safe:
+    system:
+      acs: safe
+        acs-ctrl: safe
+        rw: off
+        str: off
+    submodes:
+      cold: 1
+      system:
+        # Inherit rest of mode table from default submode
+        tcs:
+          tcs-ctrl: heat
+  idle:
+    system:
+      acs: idle
+        acs-ctrl: idle
+        rw: nml
+        str: off
+    submodes:
+      charge: 1
+      system:
+        # Inherit rest of mode table from default submode
+        acs:
+          rw: off
+  target-gs:
+    system:
+      acs: target-pt
+        acs-ctrl: target-pt
+        rw: nml
+        str: nml
+  target-gs-pl-dac:
+    system:
+      acs: target-pt
+        acs-ctrl: target-pt
+        rw: nml
+        str: nml
+      payload: dac
+        cam-switcher: off
+        scex: off
+        ploc-ss: nml
+        pl-pcdu-dh: on
+  target-gs-pl-cam:
+    system:
+      acs: target-pt
+        acs-ctrl: target-pt
+        rw: nml
+        str: nml
+      payload: cam
+        cam-switcher: on
+        scex: off
+        ploc-ss: nml
+          submode: dac-off
+        pl-pcdu-dh: on
+  target-gs-pl-data:
+    system:
+      acs: target-pt
+        acs-ctrl: target-pt
+        rw: nml
+        str: nml
+      payload: pl-data
+        cam-switcher: off
+        scex: off
+        ploc-ss: nml
+          submode: dac-off
+        pl-pcdu-ss: on
+  earth-obsv:
+    acs: target-pt
+      acs-ctrl: target-pt
+      rw: nml
+      str: nml
+    payload: earth-obsv
+      cam-switcher: on
+      scex: off
+      ploc-ss: off
+      pl-pcdu-ss: off
+  scex:
+    acs: target-pt
+      acs-ctrl: target-pt
+      rw: nml
+      str: nml
+    payload: scex
+      cam-switcher: off
+      scex: on
+      ploc-ss: off
+      pl-pcdu-ss: off
+
+sequences:
+  default:
+  acs:
+    off:
+      fallback: none
+      seq-id: off
+      target:
+        name: off-target
+        tab-id: 0x61000000
+        modes: ignore
+      trans:
+        0:
+          name: off-trans
+          tab-id: 0x61000001
+          modes:
+            acs-ctrl: off
+            acs-brd-ass: off
+            sus-brd-ass: off
+            rw: off
+            mgt: off
+            str: off
+    detumble:
+      seq-id: 1
+      target:
+        name: detumble-target
+        tab-id: 0x61000100
+        modes:
+          acs-ctrl: detumble
+          mgt: nml
+          sus-brd-ass: nml
+          acs-brd-ass: nml
+          rw: ignore
+          str: ignore
+        trans:
+          0:
+            name: detumble-trans-0
+            tab-id: 0x61000101
+            modes:
+              acs-ctrl: ignore
+              mgt: nml
+              rw: off
+              str: off
+              sus-brd-ass: nml
+              acs-brd-ass: nml
+          1:
+            name: detumble-trans-1
+            tab-id: 0x61000102
+            modes:
+              acs-ctrl: detumble
+              mgt: ignore
+              acs-brd-ass: ignore
+              sus-brd-ass: ignore
+              rw: ignore
+              str: ignore
+    safe:
+      seq-id: 2
+      target:
+        name: safe-target
+        tab-id: 0x61000200
+        modes:
+          acs-ctrl: safe
+          mgt: nml
+          acs-brd-ass: nml
+          sus-brd-ass: nml
+          rw: ignore
+          str: ignore
+      trans:
+        0:
+          name: safe-trans-1
+          tab-id: 0x61000201
+          modes:
+            acs-ctrl: ignore
+            mgt: nml
+            acs-brd-ass: nml
+            sus-brd-ass: nml
+            rw: off
+            str: off
+        1:
+          name: safe-trans-2
+          tab-id: 0x61000202
+          modes:
+            acs-ctrl: safe
+            mgt: ignore
+            acs-brd-ass: ignore
+            sus-brd-ass: ignore
+            rw: ignore
+            str: ignore
+    idle:
+      seq-id: 3
+      target:
+        name: idle-target
+        tab-id: 0x61000300
+        modes:
+          acs-ctrl: idle
+          mgt: nml
+          acs-brd-ass: nml
+          sus-brd-ass: nml
+          rw: nml
+          str: ignore
+      trans:
+        0:
+          name: idle-trans-0
+          tab-id: 0x61000301
+          modes:
+            acs-ctrl: ignore
+            mgt: nml
+            acs-brd-ass: nml
+            sus-brd-ass: nml
+            rw: nml
+            str: off
+        1:
+          name: idle-trans-1
+          tab-id: 0x61000302
+          modes:
+            acs-ctrl: idle
+            mgt: ignore
+            acs-brd-ass: ignore
+            sus-brd-ass: ignore
+            rw: ignore
+            str: ignore
+    idle-charge:
+      derive: idle
+      seq-id: 4
+      target:
+        name: idle-charge-target
+        tab-id: 0x61000400
+        modes:
+          acs-ctrl: idle
+            submode: charge
+      trans:
+        0:
+          name: idle-charge-trans-0
+          tab-id: 0x61000401
+          modes:
+            rw: off
+        1:
+          name: idle-charge-trans-1
+          tab-id: 0x61000402
+          modes:
+            acs-ctrl: idle
+              submode: charge
+    target-pt:
+      seq-id: 5
+      target:
+        name: target-pt-target
+        tab-id: 0x61000500
+        modes:
+          acs-ctrl: target-pt
+          mgt: nml
+          acs-brd-ass: nml
+          sus-brd-ass: nml
+          rw: nml
+          str: nml
+      trans:
+        0:
+          name: target-pt-trans-0
+          tab-id: 0x61000501
+          modes:
+            acs-ctrl: ignore
+            mgt: nml
+            acs-brd-ass: nml
+            sus-brd-ass: nml
+            rw: nml
+            str: nml
+        1:
+          name: target-pt-trans-1
+          tab-id: 0x61000502
+          modes:
+            acs-ctrl: target-pt
+            mgt: ignore
+            acs-brd-ass: ignore
+            sus-brd-ass: ignore
+            rw: ignore
+            str: ignore
+  payload:
+    off:
+      seq-id: 0
+      target:
+        name: off-target
+        tab-id: 0x70000000
+        modes: ignore
+      trans:
+        0:
+          name: off-trans-0
+          tab-id: 0x70000001
+          modes:
+            ploc-switcher: off
+            cam-switcher: off
+            scex-dh: off
+            ploc-ss: off
+            pl-pcdu-dh: off
+    dac:
+      seq-id: 1
+      target:
+        name: target-dac
+        tab-id: 0x70000100
+        modes:
+          ploc-switcher: on
+          cam-switcher: off
+          scex-dh: off
+          ploc-ss: dac
+          pl-pcdu-dh: nml
+            submode: all-on
+      trans:
+        0:
+          name: dac-trans-0
+          tab-id: 0x70000101
+          modes:
+            ploc-switcher: on
+            cam-switcher: off
+            scex-dh: off
+            ploc-ss: on
+              submode: dac-on
+            pl-pcdu-dh: ignore
+    cam:
+      seq-id: 2
+      target:
+        name: target-cam
+        tab-id: 0x70000200
+        modes:
+          ploc-switcher: on
+          cam-switcher: on
+          scex-dh: off
+          ploc-ss: on
+            submode: dac-off
+          pl-pcdu-dh: nml
+            submode: all-on
+      trans:
+        0:
+          name: cam-trans-0
+          tab-id: 0x70000201
+          modes:
+            ploc-switcher: on
+            cam-switcher: off
+            scex-dh: off
+            ploc-ss: on
+              submode: dac-off
+            pl-pcdu-dh: ignore
+    pl-data:
+      seq-id: 3
+      target:
+        name: target-pl-data
+        tab-id: 0x70000300
+        modes:
+          ploc-switcher: on
+          cam-switcher: off
+          scex-dh: off
+          ploc-ss: on
+            submode: dac-off
+          pl-pcdu-dh: nml
+            submode: all-on
+    earth-obsv:
+      seq-id: 4
+      target:
+        name: target-earth-obsv
+        tab-id: 0x70000400
+        modes:
+          ploc-switcher: on
+          cam-switcher: on
+          scex-dh: off
+          ploc-ss: on
+            submode: dac-off
+          pl-pcdu-dh: off
+      trans:
+        0:
+          name: trans-earth-obsv-0
+          tab-id: 0x70000401
+          modes:
+            ploc-switcher: on
+            cam-switcher: on
+            scex-dh: off
+            ploc-ss: on
+              submode: dac-off
+            pl-pcdu-dh: off
+    scex:
+      seq-id: 4
+      target: scex
+        name: target-scex
+        tab-id: 0x70000500
+        modes:
+          ploc-switcher: off
+          cam-switcher: off
+          scex-dh: on
+          ploc-ss: off
+          pl-pcdu-dh: off
+      trans:
+        0:
+          name: trans-scex-0
+          tab-id: 0x70000501
+          modes:
+            ploc-switcher: off
+            cam-switcher: off
+            scex-dh: on
+            ploc-ss: off
+            pl-pcdu-dh: off
+  system:
+    detumble:
+      seq-id: 0
+      target:
+        name: target-detumble
+        tab-id: 0x73000000
+        modes:
+          acs: detumble
+          tcs: nml
+          com: nml
+          payload: ignore
+          eps: nml

linux/ObjectFactory.cpp

@@ -70,85 +70,97 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   SpiCookie* spiCookie =
       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_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,
                             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_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,
                             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_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,
                             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_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,
                             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_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,
                             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_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,
                             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_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,
                             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_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,
                             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_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,
                             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_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,
                             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_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,
                             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_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 +175,13 @@ 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);
@@ -250,11 +265,22 @@ 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 = {
+  std::array<object_id_t, NUMBER_RTDS> rtdIds = {objects::RTD_0_IC3_PLOC_HEATSPREADER,
-      objects::RTD_IC_3,  objects::RTD_IC_4,  objects::RTD_IC_5,  objects::RTD_IC_6,
+                                                 objects::RTD_1_IC4_PLOC_MISSIONBOARD,
-      objects::RTD_IC_7,  objects::RTD_IC_8,  objects::RTD_IC_9,  objects::RTD_IC_10,
+                                                 objects::RTD_2_IC5_4K_CAMERA,
-      objects::RTD_IC_11, objects::RTD_IC_12, objects::RTD_IC_13, objects::RTD_IC_14,
+                                                 objects::RTD_3_IC6_DAC_HEATSPREADER,
-      objects::RTD_IC_15, objects::RTD_IC_16, objects::RTD_IC_17, objects::RTD_IC_18};
+                                                 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};
   std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
   std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
   RtdFdir* rtdFdir = nullptr;

linux/boardtest/LibgpiodTest.cpp

@@ -19,18 +19,18 @@ LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, Gpi
 LibgpiodTest::~LibgpiodTest() {}
 
 ReturnValue_t LibgpiodTest::performPeriodicAction() {
-  int gpioState;
+  gpio::Levels gpioState;
   ReturnValue_t result;
 
   switch (testCase) {
     case (TestCases::READ): {
-      result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
+      result = gpioInterface->readGpio(gpioIds::TEST_ID_0, gpioState);
       if (result != RETURN_OK) {
         sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
         return RETURN_FAILED;
       } else {
-        sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState
+        sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = "
-                   << std::endl;
+                   << static_cast<int>(gpioState) << std::endl;
       }
       break;
     }
@@ -38,19 +38,19 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
       break;
     }
     case (TestCases::BLINK): {
-      result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
+      result = gpioInterface->readGpio(gpioIds::TEST_ID_0, gpioState);
       if (result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio " << std::endl;
         return RETURN_FAILED;
       }
-      if (gpioState == 1) {
+      if (gpioState == gpio::Levels::HIGH) {
         result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
         if (result != HasReturnvaluesIF::RETURN_OK) {
           sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO low!"
                        << std::endl;
           return HasReturnvaluesIF::RETURN_FAILED;
         }
-      } else if (gpioState == 0) {
+      } else if (gpioState == gpio::Levels::LOW) {
         result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
         if (result != HasReturnvaluesIF::RETURN_OK) {
           sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO high!"
@@ -72,7 +72,7 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
 }
 
 ReturnValue_t LibgpiodTest::performOneShotAction() {
-  int gpioState;
+  gpio::Levels gpioState;
   ReturnValue_t result;
 
   switch (testCase) {
@@ -93,8 +93,8 @@ ReturnValue_t LibgpiodTest::performOneShotAction() {
                      << std::endl;
         return HasReturnvaluesIF::RETURN_OK;
       }
-      result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
+      result = gpioInterface->readGpio(gpioIds::TEST_ID_1, gpioState);
-      if (result == HasReturnvaluesIF::RETURN_OK and gpioState == 1) {
+      if (result == HasReturnvaluesIF::RETURN_OK and gpioState == gpio::Levels::HIGH) {
         sif::info << "LibgpiodTest::performOneShotAction: "
                      "GPIO state read successfully and is high"
                   << std::endl;
@@ -110,8 +110,8 @@ ReturnValue_t LibgpiodTest::performOneShotAction() {
                      "GPIO pulled low successfully for loopback test"
                   << std::endl;
       }
-      result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
+      result = gpioInterface->readGpio(gpioIds::TEST_ID_1, gpioState);
-      if (result == HasReturnvaluesIF::RETURN_OK and gpioState == 0) {
+      if (result == HasReturnvaluesIF::RETURN_OK and gpioState == gpio::Levels::LOW) {
         sif::info << "LibgpiodTest::performOneShotAction: "
                      "GPIO state read successfully and is low"
                   << std::endl;

linux/devices/GPSHyperionLinuxController.cpp

@@ -24,7 +24,10 @@ GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, obj
   timeUpdateCd.resetTimer();
 }
 
-GPSHyperionLinuxController::~GPSHyperionLinuxController() {}
+GPSHyperionLinuxController::~GPSHyperionLinuxController() {
+  gps_stream(&gps, WATCH_DISABLE, nullptr);
+  gps_close(&gps);
+}
 
 void GPSHyperionLinuxController::performControlOperation() {
 #ifdef FSFW_OSAL_LINUX
@@ -99,6 +102,27 @@ ReturnValue_t GPSHyperionLinuxController::initialize() {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
+  auto openError = [&](const char *type, int error) {
+    if (gpsNotOpenSwitch) {
+      // Opening failed
+#if FSFW_VERBOSE_LEVEL >= 1
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM " << type
+                   << " failed | Error " << error << " | " << gps_errstr(error) << std::endl;
+#endif
+      gpsNotOpenSwitch = false;
+    }
+  };
+  if (readMode == ReadModes::SOCKET) {
+    int retval = gps_open("localhost", DEFAULT_GPSD_PORT, &gps);
+    if (retval != 0) {
+      openError("Socket", retval);
+    }
+  } else if (readMode == ReadModes::SHM) {
+    int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
+    if (retval != 0) {
+      openError("SHM", retval);
+    }
+  }
   return result;
 }
 
@@ -107,41 +131,29 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m
 }
 
 #ifdef FSFW_OSAL_LINUX
-void GPSHyperionLinuxController::readGpsDataFromGpsd() {
-  gpsmm gpsmm("localhost", DEFAULT_GPSD_PORT);
-  // The data from the device will generally be read all at once. Therefore, we
-  // can set all field here
-  if (not gpsmm.is_open()) {
-    if (gpsNotOpenSwitch) {
-      // Opening failed
-#if FSFW_VERBOSE_LEVEL >= 1
-      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed | "
-                   << "Error " << errno << " | " << gps_errstr(errno) << std::endl;
-#endif
 
-      gpsNotOpenSwitch = false;
+void GPSHyperionLinuxController::readGpsDataFromGpsd() {
+  auto readError = [&](int error) {
+    if (gpsReadFailedSwitch) {
+      gpsReadFailedSwitch = false;
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
+                      "Error "
+                   << error << " | " << gps_errstr(error) << std::endl;
     }
-    return;
+  };
-  }
+  currentClientBuf = gps_data(&gps);
-  // Stopwatch watch;
+  if (readMode == ReadModes::SOCKET) {
-  gps_data_t *gps = nullptr;
+    gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
-  gps = gpsmm.stream(WATCH_ENABLE | WATCH_JSON);
+    // Exit if no data is seen in 2 seconds (should not happen)
-  if (gps == nullptr) {
+    if (not gps_waiting(&gps, 2000000)) {
-    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd:: Setting GPSD watch "
-                    "policy failed"
-                 << std::endl;
-  }
-  while (gpsmm.waiting(2000)) {
-    gps = gpsmm.read();
-    if (gps == nullptr) {
-      if (gpsReadFailedSwitch) {
-        gpsReadFailedSwitch = false;
-        sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed"
-                     << std::endl;
-      }
       return;
     }
-    if (MODE_SET != (MODE_SET & gps->set)) {
+    int result = gps_read(&gps);
+    if (result == -1) {
+      readError(result);
+      return;
+    }
+    if (MODE_SET != (MODE_SET & gps.set)) {
       if (noModeSetCntr >= 0) {
         noModeSetCntr++;
       }
@@ -152,24 +164,31 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
                      << std::endl;
         noModeSetCntr = -1;
       }
+    }
+    noModeSetCntr = 0;
+  } else if (readMode == ReadModes::SHM) {
+    int result = gps_read(&gps);
+    if (result == -1) {
+      readError(result);
       return;
-    } else {
-      noModeSetCntr = 0;
     }
   }
-  gps = gpsmm.stream(WATCH_DISABLE);
+  handleGpsRead();
+}
+
+ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
   PoolReadGuard pg(&gpsSet);
   if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
     sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading dataset failed" << std::endl;
 #endif
-    return;
+    return RETURN_FAILED;
   }
 
   bool validFix = false;
   static_cast<void>(validFix);
   // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
-  int newFixMode = gps->fix.mode;
+  int newFixMode = gps.fix.mode;
   if (newFixMode == 2 or newFixMode == 3) {
     validFix = true;
   }
@@ -177,7 +196,7 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     triggerEvent(GpsHyperion::GPS_FIX_CHANGE, gpsSet.fixMode.value, newFixMode);
   }
   gpsSet.fixMode.value = newFixMode;
-  if (gps->fix.mode == 0 or gps->fix.mode == 1) {
+  if (gps.fix.mode == 0 or gps.fix.mode == 1) {
     if (modeCommanded and maxTimeToReachFix.hasTimedOut()) {
       // We are supposed to be on and functioning, but not fix was found
       if (mode == MODE_ON or mode == MODE_NORMAL) {
@@ -186,51 +205,51 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
       modeCommanded = false;
     }
     gpsSet.setValidity(false, true);
-  } else if (gps->satellites_used > 0) {
+  } else if (gps.satellites_used > 0) {
     gpsSet.setValidity(true, true);
   }
 
-  gpsSet.satInUse.value = gps->satellites_used;
+  gpsSet.satInUse.value = gps.satellites_used;
-  gpsSet.satInView.value = gps->satellites_visible;
+  gpsSet.satInView.value = gps.satellites_visible;
 
-  if (std::isfinite(gps->fix.latitude)) {
+  if (std::isfinite(gps.fix.latitude)) {
     // Negative latitude -> South direction
-    gpsSet.latitude.value = gps->fix.latitude;
+    gpsSet.latitude.value = gps.fix.latitude;
   } else {
     gpsSet.latitude.setValid(false);
   }
 
-  if (std::isfinite(gps->fix.longitude)) {
+  if (std::isfinite(gps.fix.longitude)) {
     // Negative longitude -> West direction
-    gpsSet.longitude.value = gps->fix.longitude;
+    gpsSet.longitude.value = gps.fix.longitude;
   } else {
     gpsSet.longitude.setValid(false);
   }
 
-  if (std::isfinite(gps->fix.altitude)) {
+  if (std::isfinite(gps.fix.altitude)) {
-    gpsSet.altitude.value = gps->fix.altitude;
+    gpsSet.altitude.value = gps.fix.altitude;
   } else {
     gpsSet.altitude.setValid(false);
   }
 
-  if (std::isfinite(gps->fix.speed)) {
+  if (std::isfinite(gps.fix.speed)) {
-    gpsSet.speed.value = gps->fix.speed;
+    gpsSet.speed.value = gps.fix.speed;
   } else {
     gpsSet.speed.setValid(false);
   }
 
 #if LIBGPS_VERSION_MINOR <= 17
-  gpsSet.unixSeconds.value = gps->fix.time;
+  gpsSet.unixSeconds.value = gps.fix.time;
 #else
-  gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
+  gpsSet.unixSeconds.value = gps.fix.time.tv_sec;
 #endif
   timeval time = {};
   time.tv_sec = gpsSet.unixSeconds.value;
 #if LIBGPS_VERSION_MINOR <= 17
-  double fractionalPart = gps->fix.time - std::floor(gps->fix.time);
+  double fractionalPart = gps.fix.time - std::floor(gps.fix.time);
   time.tv_usec = fractionalPart * 1000.0 * 1000.0;
 #else
-  time.tv_usec = gps->fix.time.tv_nsec / 1000;
+  time.tv_usec = gps.fix.time.tv_nsec / 1000;
 #endif
   std::time_t t = std::time(nullptr);
   if (time.tv_sec == t) {
@@ -271,26 +290,28 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   if (debugHyperionGps) {
     sif::info << "-- Hyperion GPS Data --" << std::endl;
 #if LIBGPS_VERSION_MINOR <= 17
-    time_t timeRaw = gps->fix.time;
+    time_t timeRaw = gps.fix.time;
 #else
-    time_t timeRaw = gps->fix.time.tv_sec;
+    time_t timeRaw = gps.fix.time.tv_sec;
 #endif
     std::tm *time = gmtime(&timeRaw);
     std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
-    std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
+    std::cout << "Visible satellites: " << gps.satellites_visible << std::endl;
-    std::cout << "Satellites used: " << gps->satellites_used << std::endl;
+    std::cout << "Satellites used: " << gps.satellites_used << std::endl;
-    std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
+    std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps.fix.mode << std::endl;
-    std::cout << "Latitude: " << gps->fix.latitude << std::endl;
+    std::cout << "Latitude: " << gps.fix.latitude << std::endl;
-    std::cout << "Longitude: " << gps->fix.longitude << std::endl;
+    std::cout << "Longitude: " << gps.fix.longitude << std::endl;
 #if LIBGPS_VERSION_MINOR <= 17
-    std::cout << "Altitude(MSL): " << gps->fix.altitude << std::endl;
+    std::cout << "Altitude(MSL): " << gps.fix.altitude << std::endl;
 #else
-    std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+    std::cout << "Altitude(MSL): " << gps.fix.altMSL << std::endl;
 #endif
-    std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
+    std::cout << "Speed(m/s): " << gps.fix.speed << std::endl;
     std::time_t t = std::time(nullptr);
     std::tm tm = *std::gmtime(&t);
     std::cout << "C Time: " << std::put_time(&tm, "%c") << std::endl;
   }
+  return RETURN_OK;
 }
+
 #endif

linux/devices/GPSHyperionLinuxController.h

@@ -24,6 +24,8 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
  public:
   static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
 
+  enum ReadModes { SHM = 0, SOCKET = 1 };
+
   GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                              bool debugHyperionGps = false);
   virtual ~GPSHyperionLinuxController();
@@ -47,8 +49,13 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
 
+  ReturnValue_t handleGpsRead();
+
  private:
   GpsPrimaryDataset gpsSet;
+  gps_data_t gps = {};
+  const char* currentClientBuf = nullptr;
+  ReadModes readMode = ReadModes::SOCKET;
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
   bool modeCommanded = true;
   bool timeInit = true;

linux/fsfwconfig/FSFWConfig.h.in

@@ -76,9 +76,4 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 #define FSFW_HAL_I2C_WIRETAPPING                0
 #define FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV   0
 
-#define FSFW_HAL_L3GD20_GYRO_DEBUG              0
-#define FSFW_HAL_RM3100_MGM_DEBUG               0
-#define FSFW_HAL_LIS3MDL_MGM_DEBUG              0
-#define FSFW_HAL_ADIS1650X_GYRO_DEBUG           0
-
 #endif /* CONFIG_FSFWCONFIG_H_ */

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,

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 198 translations.
+ * @brief    Auto-generated event translation file. Contains 199 translations.
  * @details
- * Generated on: 2022-04-30 09:34:28
+ * Generated on: 2022-05-06 19:43:59
  */
 #include "translateEvents.h"
 
@@ -87,6 +87,7 @@ const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 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 *SWITCH_ALREADY_ON_STRING = "SWITCH_ALREADY_ON";
@@ -101,7 +102,7 @@ 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";
@@ -366,6 +367,8 @@ const char *translateEvents(Event event) {
       return SWITCH_HAS_CHANGED_STRING;
     case (11302):
       return SWITCHING_Q7S_DENIED_STRING;
+    case (11303):
+      return FDIR_REACTION_IGNORED_STRING;
     case (11400):
       return GPIO_PULL_HIGH_FAILED_STRING;
     case (11401):
@@ -395,7 +398,7 @@ 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):

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 116 translations.
- * Generated on: 2022-04-24 12:09:01
+ * Generated on: 2022-05-06 19:43:55
  */
 #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";
@@ -55,22 +55,22 @@ 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";
@@ -138,29 +138,29 @@ 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:
@@ -224,37 +224,37 @@ 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:

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -44,22 +44,30 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 #endif
 #if OBSW_ADD_RTD_DEVICES == 1
-  thisSequence->addSlot(objects::RTD_IC_3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0,
-  thisSequence->addSlot(objects::RTD_IC_4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_5, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0,
-  thisSequence->addSlot(objects::RTD_IC_6, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_7, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0,
-  thisSequence->addSlot(objects::RTD_IC_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_9, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0,
-  thisSequence->addSlot(objects::RTD_IC_10, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_11, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0,
-  thisSequence->addSlot(objects::RTD_IC_12, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_13, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0,
-  thisSequence->addSlot(objects::RTD_IC_14, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+                        DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_15, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_16, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_17, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-  thisSequence->addSlot(objects::RTD_IC_18, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 #endif /* OBSW_ADD_RTD_DEVICES */
 
 #if OBSW_ADD_TMP_DEVICES == 1
@@ -67,22 +75,26 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
 #endif
 #if OBSW_ADD_RTD_DEVICES == 1
-  thisSequence->addSlot(objects::RTD_IC_3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0.2,
-  thisSequence->addSlot(objects::RTD_IC_4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+                        DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_5, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0.2,
-  thisSequence->addSlot(objects::RTD_IC_6, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+                        DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_7, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_8, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0.2,
-  thisSequence->addSlot(objects::RTD_IC_9, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+                        DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_10, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_11, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_12, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_13, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_14, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_15, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_16, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_17, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_18, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0.2,
+                        DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0.2, DeviceHandlerIF::SEND_WRITE);
 #endif /* OBSW_ADD_RTD_DEVICES */
 
 #if OBSW_ADD_TMP_DEVICES == 1
@@ -90,22 +102,26 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
 #endif
 #if OBSW_ADD_RTD_DEVICES == 1
-  thisSequence->addSlot(objects::RTD_IC_3, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0.4,
-  thisSequence->addSlot(objects::RTD_IC_4, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                        DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_5, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0.4,
-  thisSequence->addSlot(objects::RTD_IC_6, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                        DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_7, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_8, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0.4,
-  thisSequence->addSlot(objects::RTD_IC_9, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                        DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_10, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_11, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_12, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_13, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_14, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_15, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_16, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_17, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0.4, DeviceHandlerIF::GET_WRITE);
-  thisSequence->addSlot(objects::RTD_IC_18, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0.4,
+                        DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0.4, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0.4, DeviceHandlerIF::GET_WRITE);
 #endif /* OBSW_ADD_RTD_DEVICES */
 
 #if OBSW_ADD_TMP_DEVICES == 1
@@ -113,22 +129,26 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
 #endif
 #if OBSW_ADD_RTD_DEVICES == 1
-  thisSequence->addSlot(objects::RTD_IC_3, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0.6,
-  thisSequence->addSlot(objects::RTD_IC_4, length * 0.6, DeviceHandlerIF::SEND_READ);
+                        DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_5, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0.6,
-  thisSequence->addSlot(objects::RTD_IC_6, length * 0.6, DeviceHandlerIF::SEND_READ);
+                        DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_7, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_8, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0.6,
-  thisSequence->addSlot(objects::RTD_IC_9, length * 0.6, DeviceHandlerIF::SEND_READ);
+                        DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_10, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_11, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_12, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_13, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_14, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_15, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_16, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_17, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0.6, DeviceHandlerIF::SEND_READ);
-  thisSequence->addSlot(objects::RTD_IC_18, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0.6,
+                        DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0.6, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0.6, DeviceHandlerIF::SEND_READ);
 #endif /* OBSW_ADD_RTD_DEVICES */
 
 #if OBSW_ADD_TMP_DEVICES == 1
@@ -136,22 +156,26 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
   thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 #if OBSW_ADD_RTD_DEVICES == 1
-  thisSequence->addSlot(objects::RTD_IC_3, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_0_IC3_PLOC_HEATSPREADER, length * 0.8,
-  thisSequence->addSlot(objects::RTD_IC_4, length * 0.8, DeviceHandlerIF::GET_READ);
+                        DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_5, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_1_IC4_PLOC_MISSIONBOARD, length * 0.8,
-  thisSequence->addSlot(objects::RTD_IC_6, length * 0.8, DeviceHandlerIF::GET_READ);
+                        DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_7, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_2_IC5_4K_CAMERA, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_8, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_3_IC6_DAC_HEATSPREADER, length * 0.8,
-  thisSequence->addSlot(objects::RTD_IC_9, length * 0.8, DeviceHandlerIF::GET_READ);
+                        DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_10, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_4_IC7_STARTRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_11, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_5_IC8_RW1_MX_MY, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_12, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_6_IC9_DRO, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_13, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_7_IC10_SCEX, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_14, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_8_IC11_X8, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_15, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_9_IC12_HPA, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_16, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_10_IC13_PL_TX, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_17, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_11_IC14_MPA, length * 0.8, DeviceHandlerIF::GET_READ);
-  thisSequence->addSlot(objects::RTD_IC_18, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_12_IC15_ACU, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_13_IC16_PLPCDU_HEATSPREADER, length * 0.8,
+                        DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_14_IC17_TCS_BOARD, length * 0.8, DeviceHandlerIF::GET_READ);
+  thisSequence->addSlot(objects::RTD_15_IC18_IMTQ, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif /* OBSW_ADD_RTD_DEVICES */
 
 #if OBSW_ADD_RAD_SENSORS == 1
@@ -180,153 +204,251 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 
   if (addSus0) {
     /* Write setup */
-    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
-    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-    thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
-    thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
   if (addSus1) {
-    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
-    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
-    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
   if (addSus2) {
-    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
-    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-    thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
-    thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
   if (addSus3) {
-    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
-    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-    thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
-    thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
   if (addSus4) {
-    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
-    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-    thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
-    thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
   if (addSus5) {
-    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
-    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-    thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
-    thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (addSus6) {
-    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
-    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-    thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
-    thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (addSus7) {
-    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
-    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-    thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
-    thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (addSus8) {
-    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
-    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-    thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
-    thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (addSus9) {
-    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-    thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
-    thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
+                          DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (addSus10) {
-    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
-    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
+                          DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-    thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
-    thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 
   if (addSus11) {
-    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_WRITE);
+                          DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
-    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_READ);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
+                          DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-    thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_WRITE);
+                          DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
-    thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_READ);
+                          DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
+                          DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.4,
+                          DeviceHandlerIF::GET_READ);
   }
 #endif /* OBSW_ADD_SUN_SENSORS == 1 */
 
@@ -507,8 +629,6 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
 
 ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
   uint32_t length = thisSequence->getPeriodMs();
-#ifndef TE0720_1CFA
-#if Q7S_EM != 1
   // PCDU handlers receives two messages and both must be handled
   thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
 
@@ -540,8 +660,6 @@ ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
     sif::error << "GomSpace PST initialization failed" << std::endl;
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-#endif /* Q7S_EM == 0 */
-#endif
   static_cast<void>(length);
   return HasReturnvaluesIF::RETURN_OK;
 }

linux/obc/PapbVcInterface.cpp

@@ -42,17 +42,17 @@ void PapbVcInterface::startPacketTransfer() { *vcBaseReg = CONFIG_START; }
 void PapbVcInterface::endPacketTransfer() { *vcBaseReg = CONFIG_END; }
 
 ReturnValue_t PapbVcInterface::pollPapbBusySignal() {
-  int papbBusyState = 0;
+  gpio::Levels papbBusyState = gpio::Levels::LOW;
   ReturnValue_t result = RETURN_OK;
 
   /** Check if PAPB interface is ready to receive data */
-  result = gpioComIF->readGpio(papbBusyId, &papbBusyState);
+  result = gpioComIF->readGpio(papbBusyId, papbBusyState);
   if (result != RETURN_OK) {
     sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal"
                  << std::endl;
     return RETURN_FAILED;
   }
-  if (!papbBusyState) {
+  if (papbBusyState == gpio::Levels::LOW) {
     sif::warning << "PapbVcInterface::pollPapbBusySignal: PAPB busy" << std::endl;
     return PAPB_BUSY;
   }
@@ -62,9 +62,9 @@ ReturnValue_t PapbVcInterface::pollPapbBusySignal() {
 
 void PapbVcInterface::isVcInterfaceBufferEmpty() {
   ReturnValue_t result = RETURN_OK;
-  int papbEmptyState = 1;
+  gpio::Levels papbEmptyState = gpio::Levels::HIGH;
 
-  result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState);
+  result = gpioComIF->readGpio(papbEmptyId, papbEmptyState);
 
   if (result != RETURN_OK) {
     sif::warning << "PapbVcInterface::isVcInterfaceBufferEmpty: Failed to read papb empty signal"
@@ -72,7 +72,7 @@ void PapbVcInterface::isVcInterfaceBufferEmpty() {
     return;
   }
 
-  if (papbEmptyState == 1) {
+  if (papbEmptyState == gpio::Levels::HIGH) {
     sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is empty" << std::endl;
   } else {
     sif::debug << "PapbVcInterface::isVcInterfaceBufferEmpty: Buffer is not empty" << std::endl;

misc/eclipse/.cproject

@@ -143,7 +143,7 @@
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.base.451747644" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.base">
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.base.1935224860" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
-							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Debug-Host}" command="cmake" id="cdt.managedbuild.target.gnu.builder.base.1977029024" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
+							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/cmake-build-debug}" command="cmake" id="cdt.managedbuild.target.gnu.builder.base.1977029024" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.archiver.base.1958098629" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1405808772" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.44677510" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
@@ -215,10 +215,10 @@
 							<tool id="cdt.managedbuild.tool.gnu.archiver.base.977464664" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.1522927967" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.include.paths.1753272978" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.compiler.option.preprocessor.def.209901553" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@@ -227,10 +227,10 @@
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.c.compiler.base.623389075" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.c.compiler.option.include.paths.407728215" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive_obsw}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.c.compiler.option.preprocessor.def.symbols.841213070" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@@ -589,7 +589,7 @@
 		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-debug">
 				<macros>
-					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="${HOME}/Xilinx/eive-compile-rootfs"/>
+					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"/>
 					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
 				</macros>
 				<externalSettings/>
@@ -603,7 +603,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1439714522" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1064018737" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
@@ -680,7 +680,7 @@
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1721137382" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.2014131279" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.363832829" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
-							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Debug-Q7S}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1895725167" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
+							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/cmake-build-debug-q7s}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1895725167" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
 							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.2035413172" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
 								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.1527860624" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.1772224733" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
@@ -758,7 +758,7 @@
 		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-release">
 				<macros>
-					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_TEXT" value="${HOME}/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
+					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_TEXT" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"/>
 					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
 				</macros>
 				<externalSettings/>
@@ -1179,7 +1179,7 @@
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.138952870" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.69065720" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.1773865512" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
-							<builder arguments="--build . --target eive-watchdog -j" buildPath="${workspace_loc:/eive-obsw/build-Debug-Watchdog}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.890124449" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
+							<builder arguments="--build . --target eive-watchdog -j" buildPath="${workspace_loc:/eive-obsw/cmake-build-debug-q7s}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.890124449" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
 							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.964799144" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
 								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.295289472" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.111941431" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
@@ -1345,7 +1345,7 @@
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1135900144" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.2092395820" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.381962613" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
-							<builder arguments="--build . --target eive-watchdog -j" buildPath="${workspace_loc:/eive-obsw/build-Release-Watchdog}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1784164529" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
+							<builder arguments="--build . --target eive-watchdog -j" buildPath="${workspace_loc:/eive-obsw/cmake-build-release-q7s}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1784164529" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
 							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.926630835" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
 								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.243911424" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.473023042" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
@@ -1482,12 +1482,252 @@
 			</storageModule>
 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
 		</cconfiguration>
+		<cconfiguration id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561" moduleId="org.eclipse.cdt.core.settings" name="eive-q7s-debug-em">
+				<macros>
+					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"/>
+					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
+				</macros>
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561" name="eive-q7s-debug-em" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
+					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561." name="/" resourcePath="">
+						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1640701365" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
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+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.command.prefix.1062059664" name="Prefix" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.command.prefix" value="arm-linux-gnueabihf-" valueType="string"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.command.suffix.1867175220" name="Suffix" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.command.suffix"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.command.c.842471178" name="C compiler" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.command.c" value="gcc" valueType="string"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.command.cpp.832270214" name="C++ compiler" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.command.cpp" value="g++" valueType="string"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.command.ar.1394665208" name="Archiver" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.command.ar" value="ar" valueType="string"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.command.objcopy.1631195348" name="Hex/Bin converter" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.command.objcopy" value="objcopy" valueType="string"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.command.objdump.1511320647" name="Listing generator" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.command.objdump" value="objdump" valueType="string"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.command.size.363688892" name="Size command" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.command.size" value="size" valueType="string"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.command.make.341053282" name="Build command" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.command.make" value="make" valueType="string"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.command.rm.416254613" name="Remove command" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.command.rm" value="rm" valueType="string"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.toolchain.useglobalpath.477868517" name="Use global path" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.toolchain.useglobalpath"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.toolchain.path.1586567135" name="Path" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.toolchain.path"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.createflash.809797385" name="Create flash image" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.createflash" value="true" valueType="boolean"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.createlisting.1959365399" name="Create extended listing" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.createlisting"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.printsize.1392869600" name="Print size" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.printsize" value="true" valueType="boolean"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.family.1571196982" name="Arm family (-mcpu)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.family" value="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.mcpu.cortex-m3" valueType="enumerated"/>
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+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.instructionset.1125806320" name="Instruction set" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.instructionset" value="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.instructionset.thumb" valueType="enumerated"/>
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+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.endianness.1234447963" name="Endianness" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.endianness"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.fpu.abi.1736425635" name="Float ABI" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.fpu.abi"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.fpu.unit.1460067331" name="FPU Type" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.fpu.unit"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.unalignedaccess.510021756" name="Unaligned access" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.unalignedaccess"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.mcmse.1608610765" name="TrustZone (-mcmse)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.arm.target.mcmse"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.aarch64.target.family.299022697" name="AArch64 family" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.aarch64.target.family"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.aarch64.target.feature.crc.203220242" name="Feature crc" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.aarch64.target.feature.crc"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.aarch64.target.feature.crypto.1667261315" name="Feature crypto" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.aarch64.target.feature.crypto"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.aarch64.target.feature.fp.1673623600" name="Feature fp" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.aarch64.target.feature.fp"/>
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+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.aarch64.target.cmodel.1138056479" name="Code model" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.aarch64.target.cmodel"/>
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+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.messagelength.1069412790" name="Message length (-fmessage-length=0)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.messagelength"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.signedchar.1677199615" name="'char' is signed (-fsigned-char)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.signedchar"/>
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+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.noinlinefunctions.1743056719" name="Do not inline functions (-fno-inline-functions)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.noinlinefunctions"/>
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+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.other.348159834" name="Other optimization flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.optimization.other"/>
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+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.warnings.uninitialized.1817471578" name="Warn on uninitialized variables (-Wuninitialised)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.warnings.uninitialized"/>
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+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.warnings.missingdeclaration.1594157079" name="Warn on undeclared global function (-Wmissing-declaration)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.warnings.missingdeclaration"/>
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+							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/cmake-build-debug-q7s-em}" command="cmake" enableCleanBuild="false" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1029428617" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
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+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
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+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/common/config}&quot;"/>
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+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
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 		<configuration configurationName="eive-q7s-simple">
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 		</configuration>
 		<configuration configurationName="eive-rpi-release-win"/>
 		<configuration configurationName="q7s-watchdog-debug"/>
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 		<configuration configurationName="Default">
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+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.2044466190;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1551006500">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1535302916;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.96000231">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
@@ -1574,25 +1847,13 @@
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.364559455;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.364559455.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.1970346305;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.2096585345">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.539225324;cdt.managedbuild.tool.gnu.cpp.compiler.input.1848997248">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075.;cdt.managedbuild.tool.gnu.c.compiler.base.623389075;cdt.managedbuild.tool.gnu.c.compiler.input.1382191457">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.190921171.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.193772074;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.2081570054">
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.758550634;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.758550634.;cdt.managedbuild.tool.gnu.c.compiler.base.1695077973;cdt.managedbuild.tool.gnu.c.compiler.input.509259725">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.397223006;cdt.managedbuild.tool.gnu.c.compiler.input.1482659499">
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1171630561.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.1477130926;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.779990384">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1031020513;cdt.managedbuild.toolchain.gnu.mingw.base.1031020513.519944638;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.438317679;cdt.managedbuild.tool.gnu.c.compiler.input.336445831">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689.1939781894.;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.2002501811;ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.1316209993">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.646655988;cdt.managedbuild.tool.gnu.cpp.compiler.input.1437856797">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851;cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.1595165802;ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1925043110">

misc/eclipse/host/eive-linux-host-debug-cmake.launch

@@ -18,7 +18,7 @@
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
     <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build-Debug-Host/eive-obsw"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="cmake-build-debug/eive-obsw"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive-obsw"/>
     <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473"/>

misc/eclipse/host/eive-unittest.launch

@@ -4,7 +4,6 @@
     <listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
     <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
     <booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
     <stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
     <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
     <booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
@@ -18,16 +17,15 @@
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
     <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="fsfw/build-Unittest/fsfw-tests"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="cmake-build-debug/eive-unittest"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive-obsw"/>
     <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value=""/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.775472168"/>
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
         <listEntry value="/eive-obsw"/>
     </listAttribute>
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
         <listEntry value="4"/>
     </listAttribute>
-    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
     <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
 </launchConfiguration>

scripts/q7s-cp.py

@@ -11,16 +11,27 @@ def main():
     print(f"Running command: {cmd}")
     result = os.system(cmd)
     if result != 0:
-        print("")
+        prompt_ssh_key_removal()
-        print("Removing problematic SSH key and trying again..")
-        remove_ssh_key_cmd = (
-            'ssh-keygen -f "${HOME}/.ssh/known_hosts" -R "[localhost]:1535"'
-        )
-        os.system(remove_ssh_key_cmd)
         print(f'Running command "{cmd}"')
         result = os.system(cmd)
 
 
+def prompt_ssh_key_removal():
+    do_remove_key = input("Do you want to remove problematic keys on localhost ([Y]/n)?: ")
+    if not do_remove_key.lower() in ["y", "yes", "1", ""]:
+        sys.exit(1)
+    port = 0
+    while True:
+        port = input("Enter port to remove: ")
+        if not port.isdecimal():
+            print("Invalid port detected")
+        else:
+            break
+    cmd = f'ssh-keygen -f "${{HOME}}/.ssh/known_hosts" -R "[localhost]:${port}"'
+    print(f"Removing problematic SSH key with command {cmd}..")
+    os.system(cmd)
+
+
 def handle_args():
     help_string = (
         "This script copies files to the Q7S as long as port forwarding is active.\n"
@@ -58,8 +69,7 @@ def handle_args():
     )
     # Positional argument(s)
     parser.add_argument(
-        "source", help="Source files to copy or target files to copy back to host",
+        "source", help="Source files to copy or target files to copy back to host"
-         nargs="+"
     )
     return parser.parse_args()
 
@@ -72,10 +82,6 @@ def build_cmd(args):
     address = ""
     port_args = ""
     target = args.target
-    if args.invert and len(args.source) > 1:
-        print("Multiple source files not allowed for inverse copying")
-        sys.exit(1)
-    source_files = " ".join(args.source)
     if args.flatsat:
         address = "eive@flatsat.eive.absatvirt.lw"
     else:
@@ -92,9 +98,9 @@ def build_cmd(args):
         else:
             target = args.target
     if args.invert:
-        cmd += f"{port_args} {address}:{source_files} {target}"
+        cmd += f"{port_args} {address}:{args.source} {target}"
     else:
-        cmd += f"{port_args} {source_files} {address}:{target}"
+        cmd += f"{port_args} {args.source} {address}:{target}"
     return cmd
 
 

scripts/q7s-env-em.sh

@@ -0,0 +1,22 @@
+#!/bin/bash -i
+# This script is intended to be copied outside of the source directory on the
+# same folder level as the eive-obsw folder. This allows to tweak it to
+# custom cross-compiler and sysroot path setups
+
+# Adapt the following two entries to your need
+CROSS_COMPILE_BIN_PATH="$HOME/EIVE/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
+export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
+
+export PATH=$PATH:${CROSS_COMPILE_BIN_PATH}
+export CROSS_COMPILE="arm-linux-gnueabihf"
+export EIVE_Q7S_EM=1
+
+if [[ -d "eive-obsw" ]]; then
+	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"
+	export EIVE_OBSW_ROOT="$(pwd)/eive-obsw"
+	echo "Adding $(pwd)/eive-obsw/cmake/scripts/q7s helper script path to PATH"
+	export PATH=$PATH:"$(pwd)/eive-obsw/cmake/scripts/q7s"
+	cd "eive-obsw"
+fi
+export CONSOLE_PREFIX="[Q7S ENV]"
+/bin/bash

scripts/q7s-env.sh

@@ -0,0 +1,22 @@
+#!/bin/bash -i
+# This script is intended to be copied outside of the source directory on the
+# same folder level as the eive-obsw folder. This allows to tweak it to
+# custom cross-compiler and sysroot path setups
+
+# Adapt the following two entries to your need
+CROSS_COMPILE_BIN_PATH="$HOME/EIVE/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"
+export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
+
+export PATH=$PATH:${CROSS_COMPILE_BIN_PATH}
+export CROSS_COMPILE="arm-linux-gnueabihf"
+# export EIVE_Q7S_EM=1
+
+if [[ -d "eive-obsw" ]]; then
+	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"
+	export EIVE_OBSW_ROOT="$(pwd)/eive-obsw"
+	echo "Adding $(pwd)/eive-obsw/cmake/scripts/q7s helper script path to PATH"
+	export PATH=$PATH:"$(pwd)/eive-obsw/cmake/scripts/q7s"
+	cd "eive-obsw"
+fi
+export CONSOLE_PREFIX="[Q7S ENV]"
+/bin/bash

scripts/win-q7s-env-em.sh

@@ -0,0 +1,58 @@
+#!/bin/sh
+# Run with: source win-q7s-env.sh [OPTIONS]
+function help () {
+	echo "source win-q7s-env.sh [options] -t|--toolchain=<toolchain path> -s|--sysroot=<sysroot path>"
+}
+
+TOOLCHAIN_PATH="/c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+SYSROOT="/c/Users/${USER}/eive-software/eive-compile-rootfs"
+export EIVE_Q7S_EM=1
+
+for i in "$@"; do
+  case $i in
+    -t=*|--toolchain=*)
+      TOOLCHAIN_PATH="${i#*=}"
+      shift
+      ;;
+    -s=*|--sysroot=*)
+      SYSROOT="${i#*=}"
+      shift
+      ;;
+	-h|--help)
+	  help
+	  shift
+      ;;
+    -*|--*)
+      echo "Unknown option $i"
+	  help
+      return
+      ;;
+    *)
+      ;;
+  esac
+done
+
+if [ -d "$TOOLCHAIN_PATH" ]; then
+	export PATH=$PATH:"/c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+	export CROSS_COMPILE="arm-linux-gnueabihf"
+	echo "Set toolchain path to /c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
+else 
+	echo "Toolchain path $TOOLCHAIN_PATH does not exist"
+	return
+fi
+
+if [ -d "$SYSROOT" ]; then
+	export ZYNQ_7020_SYSROOT=$SYSROOT
+	echo "Set sysroot path to $SYSROOT"
+else 
+	echo "Sysroot path $SYSROOT does not exist"
+	return
+fi
+
+if [ -d "eive-obsw" ]; then
+	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"
+	export EIVE_OBSW_ROOT="$(pwd)/eive-obsw"
+	echo "Adding $(pwd)/eive-obsw/cmake/scripts/q7s helper script path to PATH"
+	export PATH=$PATH:"$(pwd)/eive-obsw/cmake/scripts/q7s"
+	cd "eive-obsw"
+fi

scripts/win-q7s-env.sh

@@ -6,6 +6,7 @@ function help () {
 
 TOOLCHAIN_PATH="/c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
 SYSROOT="/c/Users/${USER}/eive-software/eive-compile-rootfs"
+# export EIVE_Q7S_EM=1
 
 for i in "$@"; do
   case $i in
@@ -47,3 +48,11 @@ else
 	echo "Sysroot path $SYSROOT does not exist"
 	return
 fi
+
+if [ -d "eive-obsw" ]; then
+	echo "Detected EIVE OBSW root directory at $(pwd)/eive-obsw. Setting to EIVE_OBSW_ROOT"
+	export EIVE_OBSW_ROOT="$(pwd)/eive-obsw"
+	echo "Adding $(pwd)/eive-obsw/cmake/scripts/q7s helper script path to PATH"
+	export PATH=$PATH:"$(pwd)/eive-obsw/cmake/scripts/q7s"
+	cd "eive-obsw"
+fi