Merge branch 'develop' into mueller/disable-warning-in-csp-lib

CHANGELOG.md

@@ -0,0 +1,26 @@
+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/)
+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]
+
+# [v1.11.0]
+
+## Changed
+
+- 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`
+
+# [v1.10.0]
+
+For all releases equal or prior to v1.10.0,
+see [milestones](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)

CMakeLists.txt

@@ -16,7 +16,10 @@ set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
 option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
-
+option(EIVE_HARDCODED_TOOLCHAIN_FILE "\
+For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
+if a different toolchain file is set externally" ON
+)
 option(EIVE_SYSROOT_MAGIC "Perform sysroot magic which might not be necessary" OFF)
 option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
 
@@ -41,7 +44,7 @@ include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
 
 # Check whether the user has already installed Catch2 first. This has to come before
-# the project call. We could also exlcude doing this when the Q7S primary OBSW is built..
+# the project call. We could also exclude doing this when the Q7S primary OBSW is built..
 find_package(Catch2 3 CONFIG QUIET)
 
 # Project Name
@@ -99,10 +102,14 @@ include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
 pre_source_hw_os_config()
 
 if(TGT_BSP)
+    set(LIBGPS_VERSION_MAJOR 3)
+    # I assume a newer version than 3.17 will be installed on other Linux board than the Q7S
+    set(LIBGPS_VERSION_MINOR 20)
     if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
         OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse" 
         OR TGT_BSP MATCHES "arm/te0720-1cfa"
     )
+        find_library(${LIB_GPS} gps)
         set(FSFW_CONFIG_PATH "linux/fsfwconfig")
         if(NOT BUILD_Q7S_SIMPLE_MODE)
             set(EIVE_ADD_LINUX_FILES TRUE)
@@ -133,6 +140,8 @@ if(TGT_BSP)
     if(TGT_BSP MATCHES "arm/q7s")
         # Used by configure file
         set(XIPHOS_Q7S ON)
+        set(LIBGPS_VERSION_MAJOR 3)
+        set(LIBGPS_VERSION_MINOR 17)
     endif()
     
     if(TGT_BSP MATCHES "arm/te0720-1cfa")
@@ -154,8 +163,6 @@ elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
     configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
 endif()
 
-
-
 configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
 
 # Set common config path for FSFW
@@ -243,8 +250,13 @@ else()
 endif()
 set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})
 
-#watchdog
+# Watchdog
-add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
+if(TGT_BSP MATCHES "arm/q7s")
+    add_executable(${WATCHDOG_NAME})
+else()
+    add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
+endif()
+
 add_subdirectory(${WATCHDOG_PATH}) 
 target_link_libraries(${WATCHDOG_NAME} PUBLIC
     ${LIB_CXX_FS}
@@ -310,8 +322,8 @@ target_link_libraries(${OBSW_NAME} PRIVATE
 
 if(TGT_BSP MATCHES "arm/q7s")
     target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_ARCSEC}
         ${LIB_GPS}
+        ${LIB_ARCSEC}
     )
 endif()
 
@@ -369,7 +381,7 @@ endif()
 
 
 
-if(${CMAKE_CROSSCOMPILING})
+if(CMAKE_CROSSCOMPILING)
 	include (${CMAKE_SCRIPT_PATH}/HardwareOsPostConfig.cmake)
 	post_source_hw_os_config()
 endif()
@@ -391,6 +403,8 @@ else()
     endif()
 endif()
 
+install(TARGETS ${OBSW_NAME} RUNTIME DESTINATION bin)
+
 string(CONCAT POST_BUILD_COMMENT
     "Build directory: ${CMAKE_BINARY_DIR}\n"
     "Target OSAL: ${FSFW_OSAL}\n"
@@ -405,6 +419,5 @@ add_custom_command(
    COMMENT ${POST_BUILD_COMMENT}
 )
 
-
 include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
 set_build_type()

README.md

@@ -163,23 +163,26 @@ automatically.
 
 The EIVE OBSW is the default target if no target is specified.
 
+**Debug**
+
 ```sh
 mkdir build-Debug-Q7S && cd build-Debug-Q7S
 cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```
 
-### Q7S Watchdog
+**Release**
-
-To build the EIVE watchdog, the corresponding target must be specified in the build command.
-The configure steps do not need to be repeated if the folder has already been configured.
 
 ```sh
-mkdir build-Debug-Watchdog && cd build-Debug-Watchdog
+mkdir build-Release-Q7S && cd build-Release-Q7S
-cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
+cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Release ..
-cmake --build . --target eive-watchdog -j
+cmake --build . -j
 ```
 
+### Q7S Watchdog
+
+The watchdog will be built along side the primary OBSW binary.
+
 ### Hosted
 
 You can also use the FSFW OSAL `host` to build on Windows or for generic OSes.

automation/Dockerfile

@@ -8,13 +8,13 @@ RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov
 
 # Q7S root filesystem, required for cross-compilation.
 RUN mkdir -p /usr/rootfs; \
-curl https://buggy.irs.uni-stuttgart.de/eive/tools/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz \
+curl https://buggy.irs.uni-stuttgart.de/eive/tools/eive-compile-rootfs-v0.1.0-7-gae69838.tar.xz \
-    | tar -xz -C /usr/rootfs
+    | tar -xJ -C /usr/rootfs
 
 # 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/cortexa9hf-neon-xiphos-linux-gnueabi"
+ENV ZYNQ_7020_SYSROOT="/usr/rootfs/eive-compile-rootfs"
 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:d3'
+            image 'eive-obsw-ci:d4'
             args '--sysctl fs.mqueue.msg_max=100'
         }
     }

bsp_q7s/boardconfig/busConf.h

@@ -8,7 +8,7 @@ static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
 
 static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";
 
-static constexpr char UART_GNSS_DEV[] = "/dev/ul-gps";
+static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
 static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul-plmpsoc";
 static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul-plsv";
 static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul-syrlinks";

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -246,7 +246,11 @@ void Q7STestTask::testGpsDaemon() {
     sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
   }
   sif::info << "-- Q7STestTask: GPS shared memory 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;
@@ -254,7 +258,11 @@ void Q7STestTask::testGpsDaemon() {
   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;
+#if LIBGPS_VERSION_MINOR <= 17
+  sif::info << "Altitude(MSL): " << gps->fix.altitude << std::endl;
+#else
   sif::info << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+#endif
   sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
 }
 

bsp_q7s/core/CoreController.cpp

@@ -8,7 +8,7 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/version.h"
-#include "watchdogConf.h"
+#include "watchdog/definitions.h"
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTmTcBridge.h"
 #else
@@ -29,7 +29,10 @@ xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
 
 CoreController::CoreController(object_id_t objectId)
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT, 5), opDivider(5), hkSet(this) {
+    : ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
+      opDivider5(5),
+      opDivider10(10),
+      hkSet(this) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   try {
     result = initWatchdogFifo();
@@ -75,6 +78,8 @@ void CoreController::performControlOperation() {
   sdStateMachine();
   performMountedSdCardOperations();
   readHkData();
+  opDivider5.checkAndIncrement();
+  opDivider10.checkAndIncrement();
 }
 
 ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@@ -141,7 +146,7 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
   }
   // Add script folder to path
   char *currentEnvPath = getenv("PATH");
-  std::string updatedEnvPath = std::string(currentEnvPath) + ":/home/root/scripts";
+  std::string updatedEnvPath = std::string(currentEnvPath) + ":/home/root/scripts:/usr/local/bin";
   setenv("PATH", updatedEnvPath.c_str(), true);
   updateProtInfo();
   initPrint();
@@ -1200,7 +1205,7 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
 
 void CoreController::performWatchdogControlOperation() {
   // Only perform each fifth iteration
-  if (watchdogFifoFd != 0 and opDivider.checkAndIncrement()) {
+  if (watchdogFifoFd != 0 and opDivider5.check()) {
     if (watchdogFifoFd == RETRY_FIFO_OPEN) {
       // Open FIFO write only and non-blocking
       watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
@@ -1692,14 +1697,22 @@ void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::C
 }
 
 ReturnValue_t CoreController::timeFileHandler() {
-  if (gpsFix == GpsHyperion::FixMode::FIX_2D or gpsFix == GpsHyperion::FixMode::FIX_3D) {
+  // Always set time. We could only set it if it is updated by GPS, but then the backup time would
+  // become obsolete on GPS problems.
+  if (opDivider10.check()) {
     // It is assumed that the system time is set from the GPS time
     timeval currentTime = {};
     ReturnValue_t result = Clock::getClock_timeval(&currentTime);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
-    std::ofstream timeFile(currMntPrefix + TIME_FILE);
+    std::string fileName = currMntPrefix + TIME_FILE;
+    std::ofstream timeFile(fileName);
+    if (not timeFile.good()) {
+      sif::error << "CoreController::timeFileHandler: Error opening time file: " << strerror(errno)
+                 << std::endl;
+      return RETURN_FAILED;
+    }
     timeFile << "UNIX SECONDS: " << currentTime.tv_sec << std::endl;
   }
   return RETURN_OK;

bsp_q7s/core/CoreController.h

@@ -48,7 +48,7 @@ class CoreController : public ExtendedControllerBase {
   static xsc::Chip CURRENT_CHIP;
   static xsc::Copy CURRENT_COPY;
 
-  static constexpr char CHIP_PROT_SCRIPT[] = "/home/root/scripts/get-chip-prot-status.sh";
+  static constexpr char CHIP_PROT_SCRIPT[] = "get-chip-prot-status.sh";
   static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
   static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
   static constexpr char CONF_FOLDER[] = "conf";
@@ -188,7 +188,8 @@ class CoreController : public ExtendedControllerBase {
    * Index 3: Chip 1 Copy 1
    */
   std::array<bool, 4> protArray;
-  PeriodicOperationDivider opDivider;
+  PeriodicOperationDivider opDivider5;
+  PeriodicOperationDivider opDivider10;
 
   core::HkSet hkSet;
 

bsp_q7s/core/ObjectFactory.cpp

@@ -164,11 +164,9 @@ void ObjectFactory::produce(void* args) {
                                      pcdu::Switches::PDU1_CH3_MGT_5V);
   imtqHandler->setPowerSwitcher(pwrSwitcher);
   static_cast<void>(imtqHandler);
-#if OBSW_DEBUG_IMTQ == 1
+#if OBSW_TEST_IMTQ == 1
   imtqHandler->setStartUpImmediately();
   imtqHandler->setToGoToNormal(true);
-#else
-  (void)imtqHandler;
 #endif
 #endif
   createReactionWheelComponents(gpioComIF);
@@ -177,12 +175,8 @@ void ObjectFactory::produce(void* args) {
   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);
-#if OBSW_TEST_BPX_BATT == 1
-  bpxHandler->setToGoToNormalMode(true);
   bpxHandler->setStartUpImmediately();
-#else
+  bpxHandler->setToGoToNormalMode(true);
-  static_cast<void>(bpxHandler);
-#endif
 #endif
 
   new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);

bsp_q7s/core/obsw.cpp

@@ -8,7 +8,7 @@
 #include "OBSWVersion.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
-#include "watchdogConf.h"
+#include "watchdog/definitions.h"
 
 static int OBSW_ALREADY_RUNNING = -2;
 

bsp_te0720_1cfa/InitMission.cpp

@@ -82,7 +82,7 @@ void initmission::initTasks() {
 
   std::vector<PeriodicTaskIF*> pstTasks;
   FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
-      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstUart(pst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;

bsp_te0720_1cfa/ObjectFactory.cpp

@@ -44,16 +44,15 @@ void ObjectFactory::produce(void* args) {
   ObjectFactory::produceGenericObjects();
 
 #if OBSW_ADD_PLOC_MPSOC == 1
-  UartCookie* mpsocUartCookie =
+  UartCookie* mpsocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART,
-      new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART, UartModes::NON_CANONICAL,
+                                               uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
-                     uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
   mpsocUartCookie->setNoFixedSizeReply();
   PlocMPSoCHelper* plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
   new UartComIF(objects::UART_COM_IF);
   auto dummyGpioIF = new DummyGpioIF();
-  PlocMPSoCHandler* plocMPSoCHandler =
+  PlocMPSoCHandler* plocMPSoCHandler = new PlocMPSoCHandler(
-      new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie,
+      objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie, plocMpsocHelper,
-                           plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF));
+      Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF), objects::PLOC_SUPERVISOR_HANDLER);
   plocMPSoCHandler->setStartUpImmediately();
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 

cmake/HardwareOsPostConfig.cmake

@@ -42,6 +42,7 @@ add_compile_options(
 )
 
 set(STRIPPED_OBSW_NAME ${OBSW_BIN_NAME}-stripped)
+set(STRIPPED_WATCHDOG_NAME eive-watchdog-stripped)
 
 add_custom_command(
 	TARGET ${OBSW_NAME}
@@ -51,4 +52,12 @@ add_custom_command(
 	COMMENT "Generating stripped executable ${STRIPPED_OBSW_NAME}.."
 )
 
+add_custom_command(
+    TARGET ${WATCHDOG_NAME}
+    POST_BUILD
+    COMMAND ${CMAKE_STRIP} --strip-all eive-watchdog -o ${STRIPPED_WATCHDOG_NAME}
+    BYPRODUCTS ${STRIPPED_WATCHDOG_NAME}
+    COMMENT "Generating stripped executable ${STRIPPED_WATCHDOG_NAME}.."
+)
+
 endfunction()

cmake/PreProjectConfig.cmake

@@ -11,7 +11,7 @@ endif()
 
 
 # Disable compiler checks for cross-compiling.
-if(FSFW_OSAL MATCHES linux AND TGT_BSP)
+if(FSFW_OSAL MATCHES linux AND TGT_BSP AND EIVE_HARDCODED_TOOLCHAIN_FILE)
 	if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/te0720-1cfa")
 		set(CMAKE_TOOLCHAIN_FILE 
 			"${CMAKE_SCRIPT_PATH}/Zynq7020CrossCompileConfig.cmake"

cmake/scripts/Q7S/q7s-env.sh

@@ -2,6 +2,6 @@
 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="$HOME/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"
+export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
 export CONSOLE_PREFIX="[Q7S ENV]"
 /bin/bash

cmake/scripts/Q7S/win-q7s-env.sh

@@ -5,7 +5,7 @@ function help () {
 }
 
 TOOLCHAIN_PATH="/c/Xilinx/Vitis/2019.2/gnu/aarch32/nt/gcc-arm-linux-gnueabi/bin"
-SYSROOT="/c/Users/${USER}/eive-software/cortexa9hf-neon-xiphos-linux-gnueabi"
+SYSROOT="/c/Users/${USER}/eive-software/eive-compile-rootfs"
 
 for i in "$@"; do
   case $i in
@@ -46,4 +46,4 @@ if [ -d "$SYSROOT" ]; then
 else 
 	echo "Sysroot path $SYSROOT does not exist"
 	return
-fi
+fi

fsfw

@@ -1 +1 @@
-Subproject commit e949368b062e8703c35d2043ece8d7258cd2608b
+Subproject commit 613dbe9592c30d9acf4cdb95d81d9f216f07374b

linux/devices/GPSHyperionLinuxController.cpp

@@ -1,6 +1,7 @@
 #include "GPSHyperionLinuxController.h"
 
 #include "OBSWConfig.h"
+#include "fsfw/FSFW.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/timemanager/Clock.h"
 #include "linux/utility/utility.h"
@@ -17,7 +18,6 @@ GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, obj
                                                        bool debugHyperionGps)
     : ExtendedControllerBase(objectId, objects::NO_OBJECT),
       gpsSet(this),
-      myGpsmm(GPSD_SHARED_MEMORY, nullptr),
       debugHyperionGps(debugHyperionGps) {
   timeUpdateCd.resetTimer();
 }
@@ -36,6 +36,7 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
                                                            uint32_t *msToReachTheMode) {
   if (not modeCommanded) {
     if (mode == MODE_ON or mode == MODE_OFF) {
+      gpsNotOpenSwitch = true;
       // 5h time to reach fix
       *msToReachTheMode = MAX_SECONDS_TO_REACH_FIX;
       maxTimeToReachFix.resetTimer();
@@ -105,18 +106,28 @@ ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *m
 
 #ifdef FSFW_OSAL_LINUX
 void GPSHyperionLinuxController::readGpsDataFromGpsd() {
+  gpsmm myGpsmm(GPSD_SHARED_MEMORY, nullptr);
   // The data from the device will generally be read all at once. Therefore, we
   // can set all field here
   if (not myGpsmm.is_open()) {
-    // Opening failed
+    if(gpsNotOpenSwitch) {
-#if FSFW_VERBOSE_LEVEL >= 1
+      // Opening failed
-    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed" << std::endl;
+  #if FSFW_VERBOSE_LEVEL >= 1
-#endif
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed | " <<
+          "Error " << errno << " | " << gps_errstr(errno) << std::endl;
+  #endif
+
+      gpsNotOpenSwitch = false;
+    }
+    return;
   }
   gps_data_t *gps = nullptr;
   gps = myGpsmm.read();
   if (gps == nullptr) {
-    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" << std::endl;
+    if(gpsReadFailedSwitch) {
+      gpsReadFailedSwitch = false;
+      sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" << std::endl;
+    }
     return;
   }
   PoolReadGuard pg(&gpsSet);
@@ -180,10 +191,19 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     gpsSet.speed.setValid(false);
   }
 
+#if LIBGPS_VERSION_MINOR <= 17
+  gpsSet.unixSeconds.value = gps->fix.time;
+#else
   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);
+  time.tv_usec = fractionalPart * 1000.0 * 1000.0;
+#else
   time.tv_usec = gps->fix.time.tv_nsec / 1000;
+#endif
   std::time_t t = std::time(nullptr);
   if (time.tv_sec == t) {
     timeIsConstantCounter++;
@@ -222,7 +242,11 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   gpsSet.seconds = timeOfDay.second;
   if (debugHyperionGps) {
     sif::info << "-- Hyperion GPS Data --" << 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);
     std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
     std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
@@ -230,7 +254,11 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
     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 << "Longitude: " << gps->fix.longitude << std::endl;
+#if LIBGPS_VERSION_MINOR <= 17
+    std::cout << "Altitude(MSL): " << gps->fix.altitude << std::endl;
+#else
     std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+#endif
     std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
     std::time_t t = std::time(nullptr);
     std::tm tm = *std::gmtime(&t);

linux/devices/GPSHyperionLinuxController.h

@@ -52,7 +52,8 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
   bool modeCommanded = true;
   bool timeInit = true;
-  gpsmm myGpsmm;
+  bool gpsNotOpenSwitch = true;
+  bool gpsReadFailedSwitch = true;
   bool debugHyperionGps = false;
   uint32_t timeIsConstantCounter = 0;
   Countdown timeUpdateCd = Countdown(60);

linux/devices/devicedefinitions/PlocMPSoCDefinitions.h

@@ -26,6 +26,9 @@ static const DeviceCommandId_t TC_REPLAY_WRITE_SEQUENCE = 13;
 static const DeviceCommandId_t TC_DOWNLINK_PWR_ON = 14;
 static const DeviceCommandId_t TC_DOWNLINK_PWR_OFF = 15;
 static const DeviceCommandId_t TC_MODE_REPLAY = 16;
+static const DeviceCommandId_t TC_CAM_CMD_SEND = 17;
+static const DeviceCommandId_t TC_MODE_IDLE = 18;
+static const DeviceCommandId_t TM_CAM_CMD_RPT = 19;
 
 // Will reset the sequence count of the OBSW
 static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
@@ -33,6 +36,7 @@ static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
 static const uint16_t SIZE_ACK_REPORT = 14;
 static const uint16_t SIZE_EXE_REPORT = 14;
 static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
+static const uint16_t SIZE_TM_CAM_CMD_RPT = 18;
 
 /**
  * SpacePacket apids of PLOC telecommands and telemetry.
@@ -49,18 +53,23 @@ static const uint16_t TC_FLASHFOPEN = 0x119;
 static const uint16_t TC_FLASHFCLOSE = 0x11A;
 static const uint16_t TC_FLASHDELETE = 0x11C;
 static const uint16_t TC_MODE_REPLAY = 0x11F;
+static const uint16_t TC_MODE_IDLE = 0x11E;
 static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
+static const uint16_t TC_CAM_CMD_SEND = 0x12C;
 static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
 static const uint16_t ACK_SUCCESS = 0x400;
 static const uint16_t ACK_FAILURE = 0x401;
 static const uint16_t EXE_SUCCESS = 0x402;
 static const uint16_t EXE_FAILURE = 0x403;
+static const uint16_t TM_CAM_CMD_RPT = 0x407;
 }  // namespace apid
 
 /** Offset from first byte in space packet to first byte of data field */
 static const uint8_t DATA_FIELD_OFFSET = 6;
 static const size_t MEM_READ_RPT_LEN_OFFSET = 10;
 static const char NULL_TERMINATOR = '\0';
+static const uint8_t MIN_SPACE_PACKET_LENGTH = 7;
+static const uint8_t SPACE_PACKET_HEADER_SIZE = 6;
 
 /**
  * The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
@@ -117,11 +126,11 @@ class TcBase : public SpacePacket, public MPSoCReturnValuesIF {
   virtual ReturnValue_t createPacket(const uint8_t* commandData, size_t commandDataLen) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     result = initPacket(commandData, commandDataLen);
-    if (result != HasReturnvaluesIF::HasReturnvaluesIF::RETURN_OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     result = addCrc();
-    if (result != HasReturnvaluesIF::HasReturnvaluesIF::RETURN_OK) {
+    if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
     return result;
@@ -615,6 +624,45 @@ class TcModeReplay : public TcBase {
   }
 };
 
+/**
+ * @brief   Class to build mode idle command
+ */
+class TcModeIdle : public TcBase {
+ public:
+  TcModeIdle(uint16_t sequenceCount) : TcBase(apid::TC_MODE_IDLE, sequenceCount) {}
+
+  ReturnValue_t createPacket() {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    result = addCrc();
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    this->setPacketDataLength(static_cast<uint16_t>(CRC_SIZE - 1));
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+};
+
+class TcCamcmdSend : public TcBase {
+public:
+  TcCamcmdSend(uint16_t sequenceCount) : TcBase(apid::TC_CAM_CMD_SEND, sequenceCount) {}
+
+protected:
+    ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
+      if (commandDataLen > MAX_DATA_LENGTH) {
+        return INVALID_LENGTH;
+      }
+      std::memcpy(this->getPacketData(), commandData, commandDataLen);
+      *(this->getPacketData() + commandDataLen) = CARRIAGE_RETURN;
+      uint16_t trueLength = commandDataLen + sizeof(CARRIAGE_RETURN) + CRC_SIZE;
+      this->setPacketDataLength(trueLength - 1);
+      return HasReturnvaluesIF::RETURN_OK;
+    }
+private:
+    static const uint8_t MAX_DATA_LENGTH = 10;
+    static const uint8_t CARRIAGE_RETURN = 0xD;
+
+};
+
 }  // namespace mpsoc
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_ */

linux/devices/ploc/PlocMPSoCHandler.cpp

@@ -133,6 +133,7 @@ ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueI
 }
 
 void PlocMPSoCHandler::doStartUp() {
+#ifdef XIPHOS_Q7S
   switch (powerState) {
     case PowerState::OFF:
       commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
@@ -145,6 +146,9 @@ void PlocMPSoCHandler::doStartUp() {
     default:
       break;
   }
+#else
+  setMode(_MODE_TO_ON);
+#endif /* XIPHOS_Q7S */
 }
 
 void PlocMPSoCHandler::doShutDown() {
@@ -211,6 +215,14 @@ ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t device
       result = prepareTcModeReplay();
       break;
     }
+    case (mpsoc::TC_MODE_IDLE): {
+      result = prepareTcModeIdle();
+      break;
+    }
+    case (mpsoc::TC_CAM_CMD_SEND): {
+      result = prepareTcCamCmdSend(commandData, commandDataLen);
+      break;
+    }
     default:
       sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented"
                  << std::endl;
@@ -238,16 +250,21 @@ void PlocMPSoCHandler::fillCommandAndReplyMap() {
   this->insertInCommandMap(mpsoc::TC_DOWNLINK_PWR_OFF);
   this->insertInCommandMap(mpsoc::TC_REPLAY_WRITE_SEQUENCE);
   this->insertInCommandMap(mpsoc::TC_MODE_REPLAY);
-  this->insertInReplyMap(mpsoc::ACK_REPORT, 1, nullptr, mpsoc::SIZE_ACK_REPORT);
+  this->insertInCommandMap(mpsoc::TC_MODE_IDLE);
+  this->insertInCommandMap(mpsoc::TC_CAM_CMD_SEND);
+  this->insertInReplyMap(mpsoc::ACK_REPORT, 3, nullptr, mpsoc::SIZE_ACK_REPORT);
   this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
   this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
+   this->insertInReplyMap(mpsoc::TM_CAM_CMD_RPT, 2, nullptr, SpacePacket::PACKET_MAX_SIZE);
 }
 
 ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                              DeviceCommandId_t* foundId, size_t* foundLen) {
   ReturnValue_t result = RETURN_OK;
 
-  uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;
+  SpacePacket spacePacket;
+  std::memcpy(spacePacket.getWholeData(), start, remainingSize);
+  uint16_t apid = spacePacket.getAPID();
 
   switch (apid) {
     case (mpsoc::apid::ACK_SUCCESS):
@@ -262,6 +279,11 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain
       *foundLen = tmMemReadReport.rememberRequestedSize;
       *foundId = mpsoc::TM_MEMORY_READ_REPORT;
       break;
+    case (mpsoc::apid::TM_CAM_CMD_RPT):
+      *foundLen = spacePacket.getFullSize();
+      tmCamCmdRpt.rememberSpacePacketSize = *foundLen;
+      *foundId = mpsoc::TM_CAM_CMD_RPT;
+      break;
     case (mpsoc::apid::EXE_SUCCESS):
       *foundLen = mpsoc::SIZE_EXE_REPORT;
       *foundId = mpsoc::EXE_REPORT;
@@ -276,6 +298,7 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain
       return MPSoCReturnValuesIF::INVALID_APID;
     }
   }
+
   sequenceCount++;
   uint16_t recvSeqCnt = (*(start + 2) << 8 | *(start + 3)) & PACKET_SEQUENCE_COUNT_MASK;
   if (recvSeqCnt != sequenceCount) {
@@ -297,6 +320,10 @@ ReturnValue_t PlocMPSoCHandler::interpretDeviceReply(DeviceCommandId_t id, const
       result = handleMemoryReadReport(packet);
       break;
     }
+    case (mpsoc::TM_CAM_CMD_RPT): {
+      result = handleCamCmdRpt(packet);
+      break;
+    }
     case (mpsoc::EXE_REPORT): {
       result = handleExecutionReport(packet);
       break;
@@ -463,6 +490,37 @@ ReturnValue_t PlocMPSoCHandler::prepareTcModeReplay() {
   return RETURN_OK;
 }
 
+ReturnValue_t PlocMPSoCHandler::prepareTcModeIdle() {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcModeIdle tcModeIdle(sequenceCount);
+  result = tcModeIdle.createPacket();
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  memcpy(commandBuffer, tcModeIdle.getWholeData(), tcModeIdle.getFullSize());
+  rawPacket = commandBuffer;
+  rawPacketLen = tcModeIdle.getFullSize();
+  nextReplyId = mpsoc::ACK_REPORT;
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocMPSoCHandler::prepareTcCamCmdSend(const uint8_t* commandData,
+                                                    size_t commandDataLen) {
+  ReturnValue_t result = RETURN_OK;
+  sequenceCount++;
+  mpsoc::TcCamcmdSend tcCamCmdSend(sequenceCount);
+  result = tcCamCmdSend.createPacket(commandData, commandDataLen);
+  if (result != RETURN_OK) {
+    sequenceCount--;
+    return result;
+  }
+  copyToCommandBuffer(&tcCamCmdSend);
+  nextReplyId = mpsoc::TM_CAM_CMD_RPT;
+  return RETURN_OK;
+}
+
 void PlocMPSoCHandler::copyToCommandBuffer(mpsoc::TcBase* tc) {
   if (tc == nullptr) {
     sif::debug << "PlocMPSoCHandler::copyToCommandBuffer: Invalid TC" << std::endl;
@@ -586,6 +644,25 @@ ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) {
   return result;
 }
 
+ReturnValue_t PlocMPSoCHandler::handleCamCmdRpt(const uint8_t* data) {
+  ReturnValue_t result = RETURN_OK;
+  SpacePacket packet;
+  std::memcpy(packet.getWholeData(), data, tmCamCmdRpt.rememberSpacePacketSize);
+  result = verifyPacket(data, tmCamCmdRpt.rememberSpacePacketSize);
+  if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
+    sif::warning << "PlocMPSoCHandler::handleCamCmdRpt: CRC failure" << std::endl;
+  }
+  const uint8_t* dataFieldPtr = data + mpsoc::SPACE_PACKET_HEADER_SIZE;
+  std::string camCmdRptMsg(reinterpret_cast<const char*>(
+      dataFieldPtr), tmCamCmdRpt.rememberSpacePacketSize - mpsoc::SPACE_PACKET_HEADER_SIZE - 3);
+  uint8_t ackValue = *(packet.getPacketData() + packet.getPacketDataLength() - 2);
+  sif::info << "CamCmdRpt message: " << camCmdRptMsg << std::endl;
+  sif::info << "CamCmdRpt Ack value: 0x" << std::hex << static_cast<unsigned int>(ackValue)
+            << std::endl;
+  handleDeviceTM(packet.getPacketData(), packet.getPacketDataLength() - 1, mpsoc::TM_CAM_CMD_RPT);
+  return result;
+}
+
 ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
                                                       uint8_t expectedReplies, bool useAlternateId,
                                                       DeviceCommandId_t alternateReplyID) {
@@ -602,6 +679,7 @@ ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator
     case mpsoc::TC_DOWNLINK_PWR_OFF:
     case mpsoc::TC_REPLAY_WRITE_SEQUENCE:
     case mpsoc::TC_MODE_REPLAY:
+    case mpsoc::TC_MODE_IDLE:
       enabledReplies = 2;
       break;
     case mpsoc::TC_MEM_READ: {
@@ -611,6 +689,18 @@ ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator
       if (result != RETURN_OK) {
         sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
                    << mpsoc::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
+        return result;
+      }
+      break;
+    }
+    case mpsoc::TC_CAM_CMD_SEND: {
+      enabledReplies = 3;
+      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
+                                                        mpsoc::TM_CAM_CMD_RPT);
+      if (result != RETURN_OK) {
+        sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
+                   << mpsoc::TM_CAM_CMD_RPT << " not in replyMap" << std::endl;
+        return result;
       }
       break;
     }
@@ -690,6 +780,11 @@ size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
         replyLen = tmMemReadReport.rememberRequestedSize;
         break;
       }
+      case mpsoc::TM_CAM_CMD_RPT:
+        // Read acknowledgment, camera and execution report in one go because length of camera
+        // report is not fixed
+        replyLen = SpacePacket::PACKET_MAX_SIZE;
+        break;
       default: {
         replyLen = iter->second.replyLen;
         break;

linux/devices/ploc/PlocMPSoCHandler.h

@@ -4,6 +4,7 @@
 #include <string>
 
 #include "PlocMPSoCHelper.h"
+#include "fsfw/tmtcpacket/SpacePacket.h"
 #include "fsfw/action/CommandActionHelper.h"
 #include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
@@ -126,14 +127,26 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   // Used to block incoming commands when MPSoC helper class is currently executing a command
   bool plocMPSoCHelperExecuting = false;
 
-  class TmMemReadReport {
+  struct TmMemReadReport {
-   public:
     static const uint8_t FIX_SIZE = 14;
     size_t rememberRequestedSize = 0;
   };
 
   TmMemReadReport tmMemReadReport;
 
+  struct TmCamCmdRpt {
+    size_t rememberSpacePacketSize = 0;
+  };
+
+  TmCamCmdRpt tmCamCmdRpt;
+
+  struct TelemetryBuffer {
+    uint16_t length = 0;
+    uint8_t buffer[SpacePacket::PACKET_MAX_SIZE];
+  };
+
+  TelemetryBuffer tmBuffer;
+
   enum class PowerState { OFF, BOOTING, SHUTDOWN, ON };
 
   PowerState powerState = PowerState::OFF;
@@ -151,7 +164,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   ReturnValue_t prepareTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
   ReturnValue_t prepareTcDownlinkPwrOff();
   ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
-
+  ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
+  ReturnValue_t prepareTcModeIdle();
   /**
    * @brief   Copies space packet into command buffer
    */
@@ -194,6 +208,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
    */
   ReturnValue_t handleMemoryReadReport(const uint8_t* data);
 
+  ReturnValue_t handleCamCmdRpt(const uint8_t* data);
+
   /**
    * @brief   Depending on the current active command, this function sets the reply id of the
    *          next reply after a successful acknowledgment report has been received. This is

linux/fsfwconfig/OBSWConfig.h.in

@@ -127,6 +127,8 @@ debugging. */
 #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_LIBGPIOD                          0
 #define OBSW_TEST_PLOC_HANDLER                      0
@@ -143,9 +145,8 @@ debugging. */
 #define OBSW_DEBUG_GPS                              0
 #define OBSW_DEBUG_ACU                              0
 #define OBSW_DEBUG_SYRLINKS                         0
-#define OBSW_DEBUG_IMTQ                             0
 #define OBSW_DEBUG_RW                               0
-#define OBSW_DEBUG_PDEC_HANDLER	                    0
+#define OBSW_DEBUG_PDEC_HANDLER                     0
 
 #ifdef TE0720_1CFA
 #define OBSW_DEBUG_PLOC_SUPERVISOR                  1
@@ -191,6 +192,9 @@ debugging. */
 /*******************************************************************/
 #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)

misc/eclipse/.cproject

@@ -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="${HOME}/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
+					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_PATH_DIR" value="${HOME}/Xilinx/eive-compile-rootfs"/>
 					<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="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851.1707795689" name="eive-q7s-debug" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
+				<configuration artifactName="${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">
 					<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"/>
@@ -687,6 +687,7 @@
 									<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/build-Debug-Q7S/fsfw}&quot;"/>
 								</option>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.1331264991" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
 							</tool>
@@ -698,6 +699,7 @@
 									<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;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1143219558" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@@ -714,6 +716,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${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/build-Debug-Q7S/fsfw}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1199844227" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@@ -745,7 +748,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -755,8 +758,8 @@
 		<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" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
 					<stringMacro name="Q7S_SYSROOT_UNIX" type="VALUE_TEXT" value="${HOME}/Xilinx/cortexa9hf-neon-xiphos-linux-gnueabi"/>
+					<stringMacro name="Q7S_SYSROOT" type="VALUE_TEXT" value="C:\Xilinx\cortexa9hf-neon-xiphos-linux-gnueabi"/>
 				</macros>
 				<externalSettings/>
 				<extensions>
@@ -909,7 +912,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-Host|build-Watchdog-Debug" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>

misc/eclipse/.project

@@ -7,7 +7,7 @@
 	<buildSpec>
 		<buildCommand>
 			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
-			<triggers>clean,full,incremental,</triggers>
+			<triggers>full,incremental,</triggers>
 			<arguments>
 			</arguments>
 		</buildCommand>

mission/devices/IMTQHandler.cpp

@@ -10,7 +10,6 @@
 IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
                          power::Switch_t pwrSwitcher)
     : DeviceHandlerBase(objectId, comIF, comCookie),
-      switcher(pwrSwitcher),
       engHkDataset(this),
       calMtmMeasurementSet(this),
       rawMtmMeasurementSet(this),
@@ -19,7 +18,8 @@ IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comC
       posYselfTestDataset(this),
       negYselfTestDataset(this),
       posZselfTestDataset(this),
-      negZselfTestDataset(this) {
+      negZselfTestDataset(this),
+      switcher(pwrSwitcher) {
   if (comCookie == NULL) {
     sif::error << "IMTQHandler: Invalid com cookie" << std::endl;
   }

mission/devices/PCDUHandler.cpp

@@ -81,12 +81,16 @@ ReturnValue_t PCDUHandler::initialize() {
 
 void PCDUHandler::initializeSwitchStates() {
   using namespace pcdu;
-  for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
+  try {
-    if (idx < PDU::CHANNELS_LEN) {
+    for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
-      switchStates[idx] = INIT_SWITCHES_PDU1[idx];
+      if (idx < PDU::CHANNELS_LEN) {
-    } else {
+        switchStates[idx] = INIT_SWITCHES_PDU1.at(idx);
-      switchStates[idx] = INIT_SWITCHES_PDU2[idx];
+      } else {
+        switchStates[idx] = INIT_SWITCHES_PDU2.at(idx - PDU::CHANNELS_LEN);
+      }
     }
+  } catch (const std::out_of_range& err) {
+    sif::error << "PCDUHandler::initializeSwitchStates: " << err.what() << std::endl;
   }
 }
 

scripts/q7s-cp.py

@@ -92,7 +92,7 @@ def build_cmd(args):
         else:
             target = args.target
     if args.invert:
-        cmd += f"{port_args} {address}:{args.source} {target}"
+        cmd += f"{port_args} {address}:{source_files} {target}"
     else:
         cmd += f"{port_args} {source_files} {address}:{target}"
     return cmd

tmtc

@@ -1 +1 @@
-Subproject commit 8a30f669f075c284494d7c1c6618e42e2aec8f15
+Subproject commit 45470f8c05ef214eb41940878ef0bfabf36a4891

watchdog/CMakeLists.txt

@@ -6,3 +6,5 @@ target_sources(${WATCHDOG_NAME} PRIVATE
 target_include_directories(${WATCHDOG_NAME} PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}
 )
+
+install(TARGETS ${WATCHDOG_NAME} RUNTIME DESTINATION bin)

watchdog/Watchdog.cpp

@@ -1,5 +1,5 @@
 #include "Watchdog.h"
-#include "watchdogConf.h"
+#include "definitions.h"
 
 #include <errno.h>
 #include <sys/types.h>

watchdog/definitions.h

@@ -1,6 +1,8 @@
 #ifndef WATCHDOG_DEFINITIONS_H_
 #define WATCHDOG_DEFINITIONS_H_
 
+#include <watchdogConf.h>
+
 namespace watchdog {
 
 // Suspend watchdog operations temporarily

watchdog/watchdogConf.h.in

@@ -1,8 +1,6 @@
 #include <cstdint>
 #include <string>
 
-#include "watchdog/definitions.h"
-
 #define WATCHDOG_VERBOSE_LEVEL              1
 /**
  * This flag instructs the watchdog to create a special file in /tmp if the OBSW is running