Merge remote-tracking branch 'origin/develop' into mueller/master

README.md

@@ -607,6 +607,9 @@ gpioget <gpiogroup> <offset>
 Example to get state:
 gpioget gpiochip7 14
 
+Both the MIOs and EMIOs can be accessed via the zynq_gpio instance which
+comprises 118 pins (54 MIOs and 64 EMIOs).
+
 ## Xilinx UARTLIE
 
 Get info about ttyUL* devices
@@ -687,5 +690,4 @@ After that, an update can be merged by running
 git merge upstream/master
 ```
 
-Alternatively, changes from other upstreams (forks) and branches can be merged like that in
+Alternatively, changes from other upstreams (forks) and branches can be merged like that in the same way.
-the same way.

bsp_q7s/CMakeLists.txt

@@ -12,4 +12,5 @@ else()
     add_subdirectory(gpio)
     add_subdirectory(core)
     add_subdirectory(memory)
+    add_subdirectory(spiCallbacks)
 endif()

bsp_q7s/core/ObjectFactory.cpp

@@ -10,6 +10,7 @@
 
 #include "bsp_q7s/gpio/gpioCallbacks.h"
 #include "bsp_q7s/core/CoreController.h"
+#include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
 
 #include <linux/devices/HeaterHandler.h>
 #include <linux/devices/SolarArrayDeploymentHandler.h>
@@ -32,11 +33,13 @@
 #include <mission/devices/MGMHandlerRM3100.h>
 #include <mission/devices/PlocHandler.h>
 #include <mission/devices/RadiationSensorHandler.h>
+#include <mission/devices/RwHandler.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
 #include <mission/devices/devicedefinitions/PlocDefinitions.h>
 #include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
 #include <mission/devices/devicedefinitions/Max31865Definitions.h>
+#include <mission/devices/devicedefinitions/RwDefinitions.h>
 #include <mission/utility/TmFunnel.h>
 #include <linux/obc/CCSDSIPCoreBridge.h>
 
@@ -519,8 +522,6 @@ void ObjectFactory::produce(void* args){
     Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0);
     Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0);
     Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0);
-    rtdIc17->setStartUpImmediately();
-//    rtdIc4->setStartUpImmediately();
 
     (void) rtdIc3;
     (void) rtdIc4;
@@ -536,7 +537,7 @@ void ObjectFactory::produce(void* args){
     (void) rtdIc14;
     (void) rtdIc15;
     (void) rtdIc16;
-//    (void) rtdIc17;
+    (void) rtdIc17;
     (void) rtdIc18;
 
 #endif /* Q7S_ADD_RTD_DEVICES == 1 */
@@ -545,12 +546,76 @@ void ObjectFactory::produce(void* args){
             std::string("/dev/i2c-0"));
     new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
 
-    UartCookie* plocUartCookie = new UartCookie(objects::PLOC_HANDLER, std::string("/dev/ttyUL3"),
+    UartCookie* plocUartCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
             UartModes::NON_CANONICAL, 115200, PLOC::MAX_REPLY_SIZE);
-    PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF,
+    new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie);
-            plocUartCookie);
+
-//    plocHandler->setStartUpImmediately();
+    GpioCookie* gpioCookieRw = new GpioCookie;
-    (void) plocHandler;
+    GpioCallback* csRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT,
+            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+    gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
+    GpioCallback* csRw2 = new GpioCallback(std::string("Chip select reaction wheel 2"), gpio::OUT,
+            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+    gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
+    GpioCallback* csRw3 = new GpioCallback(std::string("Chip select reaction wheel 3"), gpio::OUT,
+            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+    gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
+    GpioCallback* csRw4 = new GpioCallback(std::string("Chip select reaction wheel 4"), gpio::OUT,
+            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+    gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
+
+	GpiodRegular* enRw1 = new GpiodRegular(std::string("gpiochip5"), 7,
+				std::string("Enable reaction wheel 1"), gpio::OUT, 0);
+	gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
+	GpiodRegular* enRw2 = new GpiodRegular(std::string("gpiochip5"), 3,
+				std::string("Enable reaction wheel 2"), gpio::OUT, 0);
+	gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
+	GpiodRegular* enRw3 = new GpiodRegular(std::string("gpiochip5"), 11,
+				std::string("Enable reaction wheel 3"), gpio::OUT, 0);
+	gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
+	GpiodRegular* enRw4 = new GpiodRegular(std::string("gpiochip5"), 6,
+				std::string("Enable reaction wheel 4"), gpio::OUT, 0);
+	gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
+
+	/**
+	 * This GPIO is only internally connected to the SPI MUX module and responsible to disconnect
+	 * the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
+	 * Per default the PS SPI is selected (EMIO = 0).
+	 */
+	GpiodRegular* spiMux = new GpiodRegular(std::string("gpiochip11"), 54,
+                std::string("EMIO 0 SPI Mux"), gpio::OUT, 0);
+    gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
+
+	gpioComIF->addGpios(gpioCookieRw);
+
+    auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, "/dev/spidev3.0",
+            RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
+            nullptr);
+    auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, "/dev/spidev3.0",
+            RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
+            nullptr);
+    auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, "/dev/spidev3.0",
+            RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
+            nullptr);
+    auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, "/dev/spidev3.0",
+            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);
+
+    auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
+			gpioIds::EN_RW2);
+    rw2SpiCookie->setCallbackArgs(rwHandler2);
+
+    auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
+			gpioIds::EN_RW3);
+    rw3SpiCookie->setCallbackArgs(rwHandler3);
+
+    auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
+			gpioIds::EN_RW4);
+    rw4SpiCookie->setCallbackArgs(rwHandler4);
 
 #endif /* TE0720 == 0 */
 

bsp_q7s/gpio/gpioCallbacks.cpp

@@ -45,11 +45,13 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
     GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("gpiochip7"), 18,
             std::string("SPI Mux Bit 6"), gpio::OUT, 0);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6);
+    GpiodRegular* enRwDecoder = new GpiodRegular(std::string("gpiochip5"), 17,
+            std::string("EN_RW_CS"), gpio::OUT, 1);
+    spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
 
     result = gpioComInterface->addGpios(spiMuxGpios);
     if (result != HasReturnvaluesIF::RETURN_OK) {
-        sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF"
+        sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
-                << std::endl;
         return;
     }
 }
@@ -218,6 +220,26 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value
             selectY6();
             break;
         }
+        case(gpioIds::CS_RW1): {
+            enableRwDecoder();
+            selectY0();
+            break;
+        }
+        case(gpioIds::CS_RW2): {
+            enableRwDecoder();
+            selectY1();
+            break;
+        }
+        case(gpioIds::CS_RW3): {
+            enableRwDecoder();
+            selectY2();
+            break;
+        }
+        case(gpioIds::CS_RW4): {
+            enableRwDecoder();
+            selectY3();
+            break;
+        }
         default:
             sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
         }
@@ -251,6 +273,13 @@ void enableDecoderInterfaceBoardIc2() {
     gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
 }
 
+void enableRwDecoder() {
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
+    gpioComInterface->pullHigh(gpioIds::EN_RW_CS);
+}
+
 void selectY0() {
     gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
     gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
@@ -303,6 +332,7 @@ void disableAllDecoder() {
     gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
     gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
     gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
+    gpioComInterface->pullLow(gpioIds::EN_RW_CS);
 }
 
 }

bsp_q7s/gpio/gpioCallbacks.h

@@ -43,6 +43,11 @@ namespace gpioCallbacks {
      */
     void enableDecoderInterfaceBoardIc2();
 
+    /**
+     * @brief   Enables the reaction wheel chip select decoder (IC3).
+     */
+    void enableRwDecoder();
+
     /**
      * @brief   This function disables all decoder.
      */

bsp_q7s/spi/Q7sSpiComIF.cpp

@@ -0,0 +1,9 @@
+#include <bsp_q7s/spi/Q7sSpiComIF.h>
+
+Q7sSpiComIF::Q7sSpiComIF(object_id_t objectId, GpioIF* gpioComIF) :
+        SpiComIF(objectId, gpioComIF) {
+}
+
+Q7sSpiComIF::~Q7sSpiComIF() {
+}
+

bsp_q7s/spi/Q7sSpiComIF.h

@@ -0,0 +1,33 @@
+#ifndef BSP_Q7S_SPI_Q7SSPICOMIF_H_
+#define BSP_Q7S_SPI_Q7SSPICOMIF_H_
+
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+
+
+/**
+ * @brief   This additional communication interface is required because the SPI busses behind the
+ *          devices "/dev/spi2.0" and "dev/spidev3.0" are multiplexed to one SPI interface.
+ *          This was necessary because the processing system spi (/dev/spi2.0) does not support
+ *          frequencies lower than 650 kHz. To reach lower frequencies also the CPU frequency must
+ *          be reduced which leads to other effects compromising kernel drivers.
+ *          The nano avionics reaction wheels require a spi frequency between 150 kHz and 300 kHz
+ *          why an additional AXI SPI core has been implemented in the programmable logic. However,
+ *          the spi frequency of the AXI SPI core is not configurable during runtime. Therefore,
+ *          this communication interface multiplexes either the hard-wired SPI or the AXI SPI to
+ *          the SPI interface. The multiplexing is performed via a GPIO connected to a VHDL
+ *          module responsible for switching between the to SPI peripherals.
+ */
+class Q7sSpiComIF: public SpiComIF {
+public:
+    /**
+     * @brief   Constructor
+     *
+     * @param objectId
+     * @param gpioComIF
+     * @param gpioSwitchId  The gpio ID of the GPIO connected to the SPI mux module in the PL.
+     */
+    Q7sSpiComIF(object_id_t objectId, GpioIF* gpioComIF, gpioId_t gpioSwitchId);
+    virtual ~Q7sSpiComIF();
+};
+
+#endif /* BSP_Q7S_SPI_Q7SSPICOMIF_H_ */

bsp_q7s/spiCallbacks/CMakeLists.txt

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

bsp_q7s/spiCallbacks/rwSpiCallback.cpp

@@ -0,0 +1,236 @@
+#include <bsp_q7s/spiCallbacks/rwSpiCallback.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <mission/devices/RwHandler.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
+#include <fsfw_hal/linux/UnixFileGuard.h>
+#include "devices/gpioIds.h"
+
+namespace rwSpiCallback {
+
+ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData,
+        size_t sendLen, void* args) {
+
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+
+    RwHandler* handler = reinterpret_cast<RwHandler*>(args);
+    if(handler == nullptr) {
+        sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid"
+                << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    uint8_t writeBuffer[2];
+    uint8_t writeSize = 0;
+
+    int fileDescriptor = 0;
+    std::string device = cookie->getSpiDevice();
+    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback: ");
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
+        return SpiComIF::OPENING_FILE_FAILED;
+    }
+    spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+    uint32_t spiSpeed = 0;
+    cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+    comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+
+    gpioId_t gpioId = cookie->getChipSelectPin();
+    GpioIF* gpioIF =  comIf->getGpioInterface();
+    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+    uint32_t timeoutMs = 0;
+    MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+    if(mutex == nullptr or gpioIF == nullptr) {
+        sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    result = mutex->lockMutex(timeoutType, timeoutMs);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
+        return result;
+    }
+
+    /** Disconnect PS SPI peripheral and select AXI SPI core */
+    if(gpioIF->pullHigh(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio high" << std::endl;
+    }
+
+    /** Sending frame start sign */
+    writeBuffer[0] = 0x7E;
+    writeSize = 1;
+
+    // Pull SPI CS low. For now, no support for active high given
+    if(gpioId != gpio::NO_GPIO) {
+        if(gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
+            sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
+        }
+    }
+
+    if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
+        sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
+        closeSpi(gpioId, gpioIF, mutex);
+        return RwHandler::SPI_WRITE_FAILURE;
+    }
+
+    /** Encoding and sending command */
+    size_t idx = 0;
+    while(idx < sendLen) {
+        switch(*(sendData + idx)) {
+        case 0x7E:
+            writeBuffer[0] = 0x7D;
+            writeBuffer[1] = 0x5E;
+            writeSize = 2;
+            break;
+        case 0x7D:
+            writeBuffer[0] = 0x7D;
+            writeBuffer[1] = 0x5D;
+            writeSize = 2;
+            break;
+        default:
+            writeBuffer[0] = *(sendData + idx);
+            writeSize = 1;
+            break;
+        }
+        if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
+            sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
+            closeSpi(gpioId, gpioIF, mutex);
+            return RwHandler::SPI_WRITE_FAILURE;
+        }
+        idx++;
+    }
+
+    /** Sending frame end sign */
+    writeBuffer[0] = 0x7E;
+    writeSize = 1;
+
+    if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
+        sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
+        closeSpi(gpioId, gpioIF, mutex);
+        return RwHandler::SPI_WRITE_FAILURE;
+    }
+
+    uint8_t* rxBuf = nullptr;
+    result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        closeSpi(gpioId, gpioIF, mutex);
+        return result;
+    }
+
+    size_t replyBufferSize = cookie->getMaxBufferSize();
+
+    /** There must be a delay of 20 ms after sending the command */
+    usleep(RwDefinitions::SPI_REPLY_DELAY);
+
+    /**
+     * The reaction wheel responds with empty frames while preparing the reply data.
+     * However, receiving more than 5 empty frames will be interpreted as an error.
+     */
+    uint8_t byteRead = 0;
+    for (int idx = 0; idx < 10; idx++) {
+        if(read(fileDescriptor, &byteRead, 1) != 1) {
+            sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
+            closeSpi(gpioId, gpioIF, mutex);
+            return RwHandler::SPI_READ_FAILURE;
+        }
+
+        if (byteRead != 0x7E) {
+            break;
+        }
+
+        if (idx == 9) {
+            sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
+            closeSpi(gpioId, gpioIF, mutex);
+            return RwHandler::NO_REPLY;
+        }
+    }
+
+    size_t decodedFrameLen = 0;
+    while(decodedFrameLen < replyBufferSize) {
+
+        /** First byte already read in */
+        if (decodedFrameLen != 0) {
+            byteRead = 0;
+            if(read(fileDescriptor, &byteRead, 1) != 1) {
+                sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
+                result = RwHandler::SPI_READ_FAILURE;
+                break;
+            }
+        }
+
+        if (byteRead == 0x7E) {
+            /** Reached end of frame */
+            break;
+        }
+        else if (byteRead == 0x7D) {
+            if(read(fileDescriptor, &byteRead, 1) != 1) {
+                sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
+                result = RwHandler::SPI_READ_FAILURE;
+                break;
+            }
+            if (byteRead == 0x5E) {
+                *(rxBuf + decodedFrameLen) = 0x7E;
+                decodedFrameLen++;
+                continue;
+            }
+            else if (byteRead == 0x5D) {
+                *(rxBuf + decodedFrameLen) = 0x7D;
+                decodedFrameLen++;
+                continue;
+            }
+            else {
+                sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
+                closeSpi(gpioId, gpioIF, mutex);
+                result = RwHandler::INVALID_SUBSTITUTE;
+                break;
+            }
+        }
+        else {
+            *(rxBuf + decodedFrameLen) = byteRead;
+            decodedFrameLen++;
+            continue;
+        }
+
+        /**
+         * There might be the unlikely case that each byte in a get-telemetry reply has been
+         * replaced by its substitute. Than the next byte must correspond to the end sign 0x7E.
+         * Otherwise there might be something wrong.
+         */
+        if (decodedFrameLen == replyBufferSize) {
+            if(read(fileDescriptor, &byteRead, 1) != 1) {
+                sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
+                result = RwHandler::SPI_READ_FAILURE;
+                break;
+            }
+            if (byteRead != 0x7E) {
+                sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
+                decodedFrameLen--;
+                result = RwHandler::MISSING_END_SIGN;
+                break;
+            }
+        }
+        result = HasReturnvaluesIF::RETURN_OK;
+    }
+
+    cookie->assignTransferSize(decodedFrameLen);
+
+    closeSpi(gpioId, gpioIF, mutex);
+
+    return result;
+}
+
+void closeSpi (gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+    if(gpioId != gpio::NO_GPIO) {
+        if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
+            sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
+        }
+    }
+    if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;;
+    }
+
+    /** Route SPI interface again to PS SPI peripheral */
+    if(gpioIF->pullLow(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio low" << std::endl;
+    }
+}
+}

bsp_q7s/spiCallbacks/rwSpiCallback.h

@@ -0,0 +1,44 @@
+#ifndef BSP_Q7S_RW_SPI_CALLBACK_H_
+#define BSP_Q7S_RW_SPI_CALLBACK_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+
+
+namespace rwSpiCallback {
+
+/**
+ * @brief   This is the callback function to send commands to the nano avionics reaction wheels and
+ *          receive the replies.
+ *
+ * @details The data to sent are additionally encoded according to the HDLC framing defined in the
+ *          datasheet of the reaction wheels:
+ *          https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
+ *          Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622
+ *          Each command entails exactly one reply which will also be read in and decoded by this
+ *          function.
+ *          Because the reaction wheels require a spi clock frequency of maximum 300 kHZ and minimum
+ *          150 kHz which is not supported by the processing system SPI peripheral an AXI SPI core
+ *          has been implemented in the programmable logic. This AXI SPI core works with a fixed
+ *          frequency of 250 kHz.
+ *          To allow the parallel usage of the same physical SPI bus, a VHDL module has been
+ *          implemented which is able to disconnect the hard-wired SPI peripheral of the PS and
+ *          route the AXI SPI to the SPI lines.
+ *          To switch between the to SPI peripherals, an EMIO is used which will also be controlled
+ *          by this function.
+ */
+ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData,
+        size_t sendLen, void* args);
+
+/**
+ * @brief   This function closes a spi session. Pulls the chip select to high an releases the
+ *          mutex.
+ * @param gpioId    Gpio ID of chip select
+ * @param gpioIF    Pointer to gpio interface to drive the chip select
+ * @param mutex     The spi mutex
+ */
+void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
+
+}
+#endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */

common/config/commonClassIds.h

@@ -13,6 +13,7 @@ enum commonClassIds: uint8_t {
 	HEATER_HANDLER, //HEATER
 	SYRLINKS_HANDLER, //SYRLINKS
 	IMTQ_HANDLER, //IMTQ
+	RW_HANDLER, //Reaction Wheels
 	PLOC_HANDLER, //PLOC
 	SUS_HANDLER, //SUSS
 	CCSDS_IP_CORE_BRIDGE, // IP Core interface

common/config/commonObjects.h

@@ -71,7 +71,12 @@ enum commonObjects: uint32_t {
     SUS_13 = 0x44120044,
 
     GPS0_HANDLER = 0x44130045,
-    GPS1_HANDLER = 0x44130146
+    GPS1_HANDLER = 0x44130146,
+
+    RW1 = 0x44210001,
+    RW2 = 0x44210002,
+    RW3 = 0x44210003,
+    RW4 = 0x44210004
 };
 }
 

common/config/commonSubsystemIds.h

@@ -13,6 +13,7 @@ enum: uint8_t {
 	SA_DEPL_HANDLER = 110,
 	PLOC_HANDLER = 111,
 	IMTQ_HANDLER = 112,
+	RW_HANDLER = 113,
 	COMMON_SUBSYSTEM_ID_END
 };
 }

common/config/spiConf.h

@@ -26,6 +26,9 @@ static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
 static constexpr uint32_t DEFAULT_ADIS16507_SPEED = 976'000;
 static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
 
+static constexpr uint32_t RW_SPEED = 300000;
+static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
+
 }
 
 #endif /* COMMON_CONFIG_SPICONF_H_ */

fsfw_hal

@@ -1 +1 @@
-Subproject commit 0f0fc0c2a69494de78856d956b679d9ee6ec339f
+Subproject commit 8ff09c95a69f1f43fec6104d6cce1e788b2b870d

generators/bsp_q7s_events.csv

@@ -81,3 +81,12 @@
 11102;ACK_FAILURE;LOW; ;../../mission/devices/PlocHandler.h
 11103;EXE_FAILURE;LOW; ;../../mission/devices/PlocHandler.h
 11104;CRC_FAILURE_EVENT;LOW; ;../../mission/devices/PlocHandler.h
+11201;SELF_TEST_I2C_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
+11202;SELF_TEST_SPI_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
+11203;SELF_TEST_ADC_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
+11204;SELF_TEST_PWM_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
+11205;SELF_TEST_TC_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
+11206;SELF_TEST_MTM_RANGE_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
+11207;SELF_TEST_COIL_CURRENT_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h
+11208;INVALID_ERROR_BYTE;LOW; ;../../mission/devices/IMTQHandler.h
+11301;ERROR_STATE;HIGH; ;../../mission/devices/RwHandler.h

generators/bsp_q7s_objects.csv

@@ -1,52 +1,74 @@
 0x00005060;P60DOCK_TEST_TASK
-0x44000001;P60DOCK_HANDLER
+0x43000003;CORE_CONTROLLER
-0x44000002;PDU1_HANDLER
+0x43100002;ACS_CONTROLLER
-0x44000003;PDU2_HANDLER
+0x43400001;THERMAL_CONTROLLER
-0x44000004;ACU_HANDLER
+0x44120006;MGM_0_LIS3_HANDLER
-0x44000005;TMP1075_HANDLER_1
+0x44120010;GYRO_0_ADIS_HANDLER
-0x44000006;TMP1075_HANDLER_2
+0x44120032;SUS_1
-0x44000007;MGM_0_LIS3_HANDLER
+0x44120033;SUS_2
-0x44000008;MGM_1_RM3100_HANDLER
+0x44120034;SUS_3
-0x44000009;MGM_2_LIS3_HANDLER
+0x44120035;SUS_4
-0x44000010;MGM_3_RM3100_HANDLER
+0x44120036;SUS_5
-0x44000011;GYRO_0_ADIS_HANDLER
+0x44120037;SUS_6
-0x44000012;GYRO_1_L3G_HANDLER
+0x44120038;SUS_7
-0x44000013;GYRO_2_L3G_HANDLER
+0x44120039;SUS_8
-0x44000014;IMTQ_HANDLER
+0x44120040;SUS_9
-0x44000015;PLOC_HANDLER
+0x44120041;SUS_10
-0x44000016;SUS_1
+0x44120042;SUS_11
-0x44000017;SUS_2
+0x44120043;SUS_12
-0x44000018;SUS_3
+0x44120044;SUS_13
-0x44000019;SUS_4
+0x44120107;MGM_1_RM3100_HANDLER
-0x4400001A;SUS_5
+0x44120111;GYRO_1_L3G_HANDLER
-0x4400001B;SUS_6
+0x44120208;MGM_2_LIS3_HANDLER
-0x4400001C;SUS_7
+0x44120212;GYRO_2_ADIS_HANDLER
-0x4400001D;SUS_8
+0x44120309;MGM_3_RM3100_HANDLER
-0x4400001E;SUS_9
+0x44120313;GYRO_3_L3G_HANDLER
-0x4400001F;SUS_10
+0x44130045;GPS0_HANDLER
-0x44000021;SUS_11
+0x44130146;GPS1_HANDLER
-0x44000022;SUS_12
+0x44140014;IMTQ_HANDLER
-0x44000023;SUS_13
+0x442000A1;PCDU_HANDLER
-0x44001000;PCDU_HANDLER
+0x44210001;RW1
-0x44001001;SOLAR_ARRAY_DEPL_HANDLER
+0x44210002;RW2
-0x44001002;SYRLINKS_HK_HANDLER
+0x44210003;RW3
-0x47000001;GPIO_IF
+0x44210004;RW4
-0x49000001;ARDUINO_COM_IF
+0x44250000;P60DOCK_HANDLER
-0x49000002;CSP_COM_IF
+0x44250001;PDU1_HANDLER
-0x49000003;I2C_COM_IF
+0x44250002;PDU2_HANDLER
-0x49000004;UART_COM_IF
+0x44250003;ACU_HANDLER
-0x49000005;SPI_COM_IF
+0x443200A5;RAD_SENSOR
+0x44330015;PLOC_HANDLER
+0x444100A2;SOLAR_ARRAY_DEPL_HANDLER
+0x444100A4;HEATER_HANDLER
+0x44420004;TMP1075_HANDLER_1
+0x44420005;TMP1075_HANDLER_2
+0x44420016;RTD_IC3
+0x44420017;RTD_IC4
+0x44420018;RTD_IC5
+0x44420019;RTD_IC6
+0x44420020;RTD_IC7
+0x44420021;RTD_IC8
+0x44420022;RTD_IC9
+0x44420023;RTD_IC10
+0x44420024;RTD_IC11
+0x44420025;RTD_IC12
+0x44420026;RTD_IC13
+0x44420027;RTD_IC14
+0x44420028;RTD_IC15
+0x44420029;RTD_IC16
+0x44420030;RTD_IC17
+0x44420031;RTD_IC18
+0x445300A3;SYRLINKS_HK_HANDLER
+0x49000000;ARDUINO_COM_IF
+0x49010005;GPIO_IF
+0x49020004;SPI_COM_IF
+0x49030003;UART_COM_IF
+0x49040002;I2C_COM_IF
+0x49050001;CSP_COM_IF
 0x50000100;CCSDS_PACKET_DISTRIBUTOR
 0x50000200;PUS_PACKET_DISTRIBUTOR
 0x50000300;UDP_BRIDGE
 0x50000400;UDP_POLLING_TASK
-0x51000300;PUS_SERVICE_3
-0x51000400;PUS_SERVICE_5
 0x51000500;PUS_SERVICE_6
-0x51000800;PUS_SERVICE_8
-0x51002300;PUS_SERVICE_23
-0x51020100;PUS_SERVICE_201
-0x52000002;TM_FUNNEL
 0x53000000;FSFW_OBJECTS_START
 0x53000001;PUS_SERVICE_1_VERIFICATION
 0x53000002;PUS_SERVICE_2_DEVICE_ACCESS
@@ -67,27 +89,12 @@
 0x534f0300;IPC_STORE
 0x53500010;TIME_STAMPER
 0x53ffffff;FSFW_OBJECTS_END
-0x54000003;HEATER_HANDLER
-0x54000004;RTD_IC3
-0x54000005;RTD_IC4
-0x54000006;RTD_IC5
-0x54000007;RTD_IC6
-0x54000008;RTD_IC7
-0x54000009;RTD_IC8
-0x5400000A;RTD_IC9
-0x5400000B;RTD_IC10
-0x5400000C;RTD_IC11
-0x5400000D;RTD_IC12
-0x5400000E;RTD_IC13
-0x5400000F;RTD_IC14
 0x54000010;SPI_TEST
-0x5400001F;RTD_IC15
+0x54000020;UART_TEST
-0x5400002F;RTD_IC16
-0x5400003F;RTD_IC17
-0x5400004F;RTD_IC18
-0x54000050;RAD_SENSOR
 0x5400AFFE;DUMMY_HANDLER
 0x5400CAFE;DUMMY_INTERFACE
 0x54123456;LIBGPIOD_TEST
 0x54694269;TEST_TASK
+0x73000100;TM_FUNNEL
+0x73500000;CCSDS_IP_CORE_BRIDGE
 0xFFFFFFFF;NO_OBJECT

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 83 translations.
+ * @brief    Auto-generated event translation file. Contains 92 translations.
  * @details
- * Generated on: 2021-06-08 17:09:32
+ * Generated on: 2021-06-29 16:20:09
  */
 #include "translateEvents.h"
 
@@ -88,6 +88,15 @@ 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 *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
+const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
+const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
+const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
+const char *SELF_TEST_PWM_FAILURE_STRING = "SELF_TEST_PWM_FAILURE";
+const char *SELF_TEST_TC_FAILURE_STRING = "SELF_TEST_TC_FAILURE";
+const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
+const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
+const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
+const char *ERROR_STATE_STRING = "ERROR_STATE";
 
 const char * translateEvents(Event event) {
 	switch( (event & 0xffff) ) {
@@ -257,6 +266,24 @@ const char * translateEvents(Event event) {
 		return EXE_FAILURE_STRING;
 	case(11104):
 		return CRC_FAILURE_EVENT_STRING;
+	case(11201):
+		return SELF_TEST_I2C_FAILURE_STRING;
+	case(11202):
+		return SELF_TEST_SPI_FAILURE_STRING;
+	case(11203):
+		return SELF_TEST_ADC_FAILURE_STRING;
+	case(11204):
+		return SELF_TEST_PWM_FAILURE_STRING;
+	case(11205):
+		return SELF_TEST_TC_FAILURE_STRING;
+	case(11206):
+		return SELF_TEST_MTM_RANGE_FAILURE_STRING;
+	case(11207):
+		return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
+	case(11208):
+		return INVALID_ERROR_BYTE_STRING;
+	case(11301):
+		return ERROR_STATE_STRING;
 	default:
 		return "UNKNOWN_EVENT";
 	}

generators/objects/translateObjects.cpp

@@ -1,27 +1,17 @@
 /**
  * @brief	Auto-generated object translation file.
  * @details
- * Contains 93 translations.
+ * Contains 100 translations.
- * Generated on: 2021-05-18 16:48:46
+ * Generated on: 2021-06-29 16:19:57
  */
 #include "translateObjects.h"
 
 const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
-const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
+const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
-const char *PDU1_HANDLER_STRING = "PDU1_HANDLER";
+const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
-const char *PDU2_HANDLER_STRING = "PDU2_HANDLER";
+const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
-const char *ACU_HANDLER_STRING = "ACU_HANDLER";
-const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1";
-const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2";
 const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
-const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
-const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
-const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
 const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
-const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
-const char *GYRO_2_L3G_HANDLER_STRING = "GYRO_2_L3G_HANDLER";
-const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
-const char *PLOC_HANDLER_STRING = "PLOC_HANDLER";
 const char *SUS_1_STRING = "SUS_1";
 const char *SUS_2_STRING = "SUS_2";
 const char *SUS_3_STRING = "SUS_3";
@@ -35,26 +25,58 @@ const char *SUS_10_STRING = "SUS_10";
 const char *SUS_11_STRING = "SUS_11";
 const char *SUS_12_STRING = "SUS_12";
 const char *SUS_13_STRING = "SUS_13";
+const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
+const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
+const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
+const char *GYRO_2_ADIS_HANDLER_STRING = "GYRO_2_ADIS_HANDLER";
+const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
+const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
+const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
+const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
+const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
 const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
+const char *RW1_STRING = "RW1";
+const char *RW2_STRING = "RW2";
+const char *RW3_STRING = "RW3";
+const char *RW4_STRING = "RW4";
+const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
+const char *PDU1_HANDLER_STRING = "PDU1_HANDLER";
+const char *PDU2_HANDLER_STRING = "PDU2_HANDLER";
+const char *ACU_HANDLER_STRING = "ACU_HANDLER";
+const char *RAD_SENSOR_STRING = "RAD_SENSOR";
+const char *PLOC_HANDLER_STRING = "PLOC_HANDLER";
 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_IC3_STRING = "RTD_IC3";
+const char *RTD_IC4_STRING = "RTD_IC4";
+const char *RTD_IC5_STRING = "RTD_IC5";
+const char *RTD_IC6_STRING = "RTD_IC6";
+const char *RTD_IC7_STRING = "RTD_IC7";
+const char *RTD_IC8_STRING = "RTD_IC8";
+const char *RTD_IC9_STRING = "RTD_IC9";
+const char *RTD_IC10_STRING = "RTD_IC10";
+const char *RTD_IC11_STRING = "RTD_IC11";
+const char *RTD_IC12_STRING = "RTD_IC12";
+const char *RTD_IC13_STRING = "RTD_IC13";
+const char *RTD_IC14_STRING = "RTD_IC14";
+const char *RTD_IC15_STRING = "RTD_IC15";
+const char *RTD_IC16_STRING = "RTD_IC16";
+const char *RTD_IC17_STRING = "RTD_IC17";
+const char *RTD_IC18_STRING = "RTD_IC18";
 const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
-const char *GPIO_IF_STRING = "GPIO_IF";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
-const char *CSP_COM_IF_STRING = "CSP_COM_IF";
+const char *GPIO_IF_STRING = "GPIO_IF";
-const char *I2C_COM_IF_STRING = "I2C_COM_IF";
-const char *UART_COM_IF_STRING = "UART_COM_IF";
 const char *SPI_COM_IF_STRING = "SPI_COM_IF";
+const char *UART_COM_IF_STRING = "UART_COM_IF";
+const char *I2C_COM_IF_STRING = "I2C_COM_IF";
+const char *CSP_COM_IF_STRING = "CSP_COM_IF";
 const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
 const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
 const char *UDP_BRIDGE_STRING = "UDP_BRIDGE";
 const char *UDP_POLLING_TASK_STRING = "UDP_POLLING_TASK";
-const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
-const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
 const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
-const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
-const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
-const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
-const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
 const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION";
 const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS";
@@ -75,109 +97,150 @@ const char *TM_STORE_STRING = "TM_STORE";
 const char *IPC_STORE_STRING = "IPC_STORE";
 const char *TIME_STAMPER_STRING = "TIME_STAMPER";
 const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
-const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
-const char *RTD_IC3_STRING = "RTD_IC3";
-const char *RTD_IC4_STRING = "RTD_IC4";
-const char *RTD_IC5_STRING = "RTD_IC5";
-const char *RTD_IC6_STRING = "RTD_IC6";
-const char *RTD_IC7_STRING = "RTD_IC7";
-const char *RTD_IC8_STRING = "RTD_IC8";
-const char *RTD_IC9_STRING = "RTD_IC9";
-const char *RTD_IC10_STRING = "RTD_IC10";
-const char *RTD_IC11_STRING = "RTD_IC11";
-const char *RTD_IC12_STRING = "RTD_IC12";
-const char *RTD_IC13_STRING = "RTD_IC13";
-const char *RTD_IC14_STRING = "RTD_IC14";
 const char *SPI_TEST_STRING = "SPI_TEST";
-const char *RTD_IC15_STRING = "RTD_IC15";
+const char *UART_TEST_STRING = "UART_TEST";
-const char *RTD_IC16_STRING = "RTD_IC16";
-const char *RTD_IC17_STRING = "RTD_IC17";
-const char *RTD_IC18_STRING = "RTD_IC18";
-const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
 const char *TEST_TASK_STRING = "TEST_TASK";
+const char *TM_FUNNEL_STRING = "TM_FUNNEL";
+const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
 const char* translateObject(object_id_t object) {
 	switch( (object & 0xFFFFFFFF) ) {
 	case 0x00005060:
 		return P60DOCK_TEST_TASK_STRING;
-	case 0x44000001:
+	case 0x43000003:
-		return P60DOCK_HANDLER_STRING;
+		return CORE_CONTROLLER_STRING;
-	case 0x44000002:
+	case 0x43100002:
-		return PDU1_HANDLER_STRING;
+		return ACS_CONTROLLER_STRING;
-	case 0x44000003:
+	case 0x43400001:
-		return PDU2_HANDLER_STRING;
+		return THERMAL_CONTROLLER_STRING;
-	case 0x44000004:
+	case 0x44120006:
-		return ACU_HANDLER_STRING;
-	case 0x44000005:
-		return TMP1075_HANDLER_1_STRING;
-	case 0x44000006:
-		return TMP1075_HANDLER_2_STRING;
-	case 0x44000007:
 		return MGM_0_LIS3_HANDLER_STRING;
-	case 0x44000008:
+	case 0x44120010:
-		return MGM_1_RM3100_HANDLER_STRING;
-	case 0x44000009:
-		return MGM_2_LIS3_HANDLER_STRING;
-	case 0x44000010:
-		return MGM_3_RM3100_HANDLER_STRING;
-	case 0x44000011:
 		return GYRO_0_ADIS_HANDLER_STRING;
-	case 0x44000012:
+	case 0x44120032:
-		return GYRO_1_L3G_HANDLER_STRING;
-	case 0x44000013:
-		return GYRO_2_L3G_HANDLER_STRING;
-	case 0x44000014:
-		return IMTQ_HANDLER_STRING;
-	case 0x44000015:
-		return PLOC_HANDLER_STRING;
-	case 0x44000016:
 		return SUS_1_STRING;
-	case 0x44000017:
+	case 0x44120033:
 		return SUS_2_STRING;
-	case 0x44000018:
+	case 0x44120034:
 		return SUS_3_STRING;
-	case 0x44000019:
+	case 0x44120035:
 		return SUS_4_STRING;
-	case 0x4400001A:
+	case 0x44120036:
 		return SUS_5_STRING;
-	case 0x4400001B:
+	case 0x44120037:
 		return SUS_6_STRING;
-	case 0x4400001C:
+	case 0x44120038:
 		return SUS_7_STRING;
-	case 0x4400001D:
+	case 0x44120039:
 		return SUS_8_STRING;
-	case 0x4400001E:
+	case 0x44120040:
 		return SUS_9_STRING;
-	case 0x4400001F:
+	case 0x44120041:
 		return SUS_10_STRING;
-	case 0x44000021:
+	case 0x44120042:
 		return SUS_11_STRING;
-	case 0x44000022:
+	case 0x44120043:
 		return SUS_12_STRING;
-	case 0x44000023:
+	case 0x44120044:
 		return SUS_13_STRING;
-	case 0x44001000:
+	case 0x44120107:
+		return MGM_1_RM3100_HANDLER_STRING;
+	case 0x44120111:
+		return GYRO_1_L3G_HANDLER_STRING;
+	case 0x44120208:
+		return MGM_2_LIS3_HANDLER_STRING;
+	case 0x44120212:
+		return GYRO_2_ADIS_HANDLER_STRING;
+	case 0x44120309:
+		return MGM_3_RM3100_HANDLER_STRING;
+	case 0x44120313:
+		return GYRO_3_L3G_HANDLER_STRING;
+	case 0x44130045:
+		return GPS0_HANDLER_STRING;
+	case 0x44130146:
+		return GPS1_HANDLER_STRING;
+	case 0x44140014:
+		return IMTQ_HANDLER_STRING;
+	case 0x442000A1:
 		return PCDU_HANDLER_STRING;
-	case 0x44001001:
+	case 0x44210001:
+		return RW1_STRING;
+	case 0x44210002:
+		return RW2_STRING;
+	case 0x44210003:
+		return RW3_STRING;
+	case 0x44210004:
+		return RW4_STRING;
+	case 0x44250000:
+		return P60DOCK_HANDLER_STRING;
+	case 0x44250001:
+		return PDU1_HANDLER_STRING;
+	case 0x44250002:
+		return PDU2_HANDLER_STRING;
+	case 0x44250003:
+		return ACU_HANDLER_STRING;
+	case 0x443200A5:
+		return RAD_SENSOR_STRING;
+	case 0x44330015:
+		return PLOC_HANDLER_STRING;
+	case 0x444100A2:
 		return SOLAR_ARRAY_DEPL_HANDLER_STRING;
-	case 0x44001002:
+	case 0x444100A4:
+		return HEATER_HANDLER_STRING;
+	case 0x44420004:
+		return TMP1075_HANDLER_1_STRING;
+	case 0x44420005:
+		return TMP1075_HANDLER_2_STRING;
+	case 0x44420016:
+		return RTD_IC3_STRING;
+	case 0x44420017:
+		return RTD_IC4_STRING;
+	case 0x44420018:
+		return RTD_IC5_STRING;
+	case 0x44420019:
+		return RTD_IC6_STRING;
+	case 0x44420020:
+		return RTD_IC7_STRING;
+	case 0x44420021:
+		return RTD_IC8_STRING;
+	case 0x44420022:
+		return RTD_IC9_STRING;
+	case 0x44420023:
+		return RTD_IC10_STRING;
+	case 0x44420024:
+		return RTD_IC11_STRING;
+	case 0x44420025:
+		return RTD_IC12_STRING;
+	case 0x44420026:
+		return RTD_IC13_STRING;
+	case 0x44420027:
+		return RTD_IC14_STRING;
+	case 0x44420028:
+		return RTD_IC15_STRING;
+	case 0x44420029:
+		return RTD_IC16_STRING;
+	case 0x44420030:
+		return RTD_IC17_STRING;
+	case 0x44420031:
+		return RTD_IC18_STRING;
+	case 0x445300A3:
 		return SYRLINKS_HK_HANDLER_STRING;
-	case 0x47000001:
+	case 0x49000000:
-		return GPIO_IF_STRING;
-	case 0x49000001:
 		return ARDUINO_COM_IF_STRING;
-	case 0x49000002:
+	case 0x49010005:
-		return CSP_COM_IF_STRING;
+		return GPIO_IF_STRING;
-	case 0x49000003:
+	case 0x49020004:
-		return I2C_COM_IF_STRING;
-	case 0x49000004:
-		return UART_COM_IF_STRING;
-	case 0x49000005:
 		return SPI_COM_IF_STRING;
+	case 0x49030003:
+		return UART_COM_IF_STRING;
+	case 0x49040002:
+		return I2C_COM_IF_STRING;
+	case 0x49050001:
+		return CSP_COM_IF_STRING;
 	case 0x50000100:
 		return CCSDS_PACKET_DISTRIBUTOR_STRING;
 	case 0x50000200:
@@ -186,20 +249,8 @@ const char* translateObject(object_id_t object) {
 		return UDP_BRIDGE_STRING;
 	case 0x50000400:
 		return UDP_POLLING_TASK_STRING;
-	case 0x51000300:
-		return PUS_SERVICE_3_STRING;
-	case 0x51000400:
-		return PUS_SERVICE_5_STRING;
 	case 0x51000500:
 		return PUS_SERVICE_6_STRING;
-	case 0x51000800:
-		return PUS_SERVICE_8_STRING;
-	case 0x51002300:
-		return PUS_SERVICE_23_STRING;
-	case 0x51020100:
-		return PUS_SERVICE_201_STRING;
-	case 0x52000002:
-		return TM_FUNNEL_STRING;
 	case 0x53000000:
 		return FSFW_OBJECTS_START_STRING;
 	case 0x53000001:
@@ -240,44 +291,10 @@ const char* translateObject(object_id_t object) {
 		return TIME_STAMPER_STRING;
 	case 0x53ffffff:
 		return FSFW_OBJECTS_END_STRING;
-	case 0x54000003:
-		return HEATER_HANDLER_STRING;
-	case 0x54000004:
-		return RTD_IC3_STRING;
-	case 0x54000005:
-		return RTD_IC4_STRING;
-	case 0x54000006:
-		return RTD_IC5_STRING;
-	case 0x54000007:
-		return RTD_IC6_STRING;
-	case 0x54000008:
-		return RTD_IC7_STRING;
-	case 0x54000009:
-		return RTD_IC8_STRING;
-	case 0x5400000A:
-		return RTD_IC9_STRING;
-	case 0x5400000B:
-		return RTD_IC10_STRING;
-	case 0x5400000C:
-		return RTD_IC11_STRING;
-	case 0x5400000D:
-		return RTD_IC12_STRING;
-	case 0x5400000E:
-		return RTD_IC13_STRING;
-	case 0x5400000F:
-		return RTD_IC14_STRING;
 	case 0x54000010:
 		return SPI_TEST_STRING;
-	case 0x5400001F:
+	case 0x54000020:
-		return RTD_IC15_STRING;
+		return UART_TEST_STRING;
-	case 0x5400002F:
-		return RTD_IC16_STRING;
-	case 0x5400003F:
-		return RTD_IC17_STRING;
-	case 0x5400004F:
-		return RTD_IC18_STRING;
-	case 0x54000050:
-		return RAD_SENSOR_STRING;
 	case 0x5400AFFE:
 		return DUMMY_HANDLER_STRING;
 	case 0x5400CAFE:
@@ -286,6 +303,10 @@ const char* translateObject(object_id_t object) {
 		return LIBGPIOD_TEST_STRING;
 	case 0x54694269:
 		return TEST_TASK_STRING;
+	case 0x73000100:
+		return TM_FUNNEL_STRING;
+	case 0x73500000:
+		return CCSDS_IP_CORE_BRIDGE_STRING;
 	case 0xFFFFFFFF:
 		return NO_OBJECT_STRING;
 	default:

linux/devices/SusHandler.h

@@ -4,7 +4,6 @@
 #include "devicedefinitions/SusDefinitions.h"
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
-#include <fsfw/ipc/MutexGuard.h>
 
 /**
  * @brief	This is the device handler class for the SUS sensor. The sensor is

linux/fsfwconfig/OBSWConfig.h.in

@@ -20,6 +20,7 @@ debugging. */
 #define OBSW_PRINT_MISSED_DEADLINES     1
 #define OBSW_ADD_TEST_CODE              1
 #define OBSW_ADD_TEST_PST               1
+#define OBSW_ADD_GPS	                0
 
 #define TEST_LIBGPIOD                   0
 #define TEST_RADIATION_SENSOR_HANDLER   0
@@ -43,6 +44,7 @@ debugging. */
 #define DEBUG_SUS                       1
 #define DEBUG_RTD                       1
 #define IMTQ_DEBUG                      1
+#define RW_DEBUG                        1
 
 // Leave at one as the BSP is linux. Used by the ADIS16507 device handler
 #define OBSW_ADIS16507_LINUX_COM_IF     1
@@ -50,7 +52,7 @@ debugging. */
 #include "OBSWVersion.h"
 
 /* Can be used to switch device to NORMAL mode immediately */
-#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    0
 
 #ifdef __cplusplus
 

linux/fsfwconfig/devices/addresses.h

@@ -64,7 +64,11 @@ namespace addresses {
         RTD_IC15,
         RTD_IC16,
         RTD_IC17,
-        RTD_IC18
+        RTD_IC18,
+        RW1,
+        RW2,
+        RW3,
+        RW4
     };
 
 	/* Addresses of devices supporting the CSP protocol */

linux/fsfwconfig/devices/gpioIds.h

@@ -68,7 +68,21 @@ namespace gpioIds {
         CS_RAD_SENSOR,
 
         PAPB_BUSY_N,
-        PAPB_EMPTY
+        PAPB_EMPTY,
+
+        EN_RW1,
+        EN_RW2,
+        EN_RW3,
+        EN_RW4,
+
+        CS_RW1,
+        CS_RW2,
+        CS_RW3,
+        CS_RW4,
+
+        EN_RW_CS,
+
+        SPI_MUX
 	};
 }
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 83 translations.
+ * @brief    Auto-generated event translation file. Contains 92 translations.
  * @details
- * Generated on: 2021-06-08 17:09:32
+ * Generated on: 2021-06-29 16:20:09
  */
 #include "translateEvents.h"
 
@@ -88,6 +88,15 @@ 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 *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
+const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE";
+const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE";
+const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE";
+const char *SELF_TEST_PWM_FAILURE_STRING = "SELF_TEST_PWM_FAILURE";
+const char *SELF_TEST_TC_FAILURE_STRING = "SELF_TEST_TC_FAILURE";
+const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE";
+const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE";
+const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE";
+const char *ERROR_STATE_STRING = "ERROR_STATE";
 
 const char * translateEvents(Event event) {
 	switch( (event & 0xffff) ) {
@@ -257,6 +266,24 @@ const char * translateEvents(Event event) {
 		return EXE_FAILURE_STRING;
 	case(11104):
 		return CRC_FAILURE_EVENT_STRING;
+	case(11201):
+		return SELF_TEST_I2C_FAILURE_STRING;
+	case(11202):
+		return SELF_TEST_SPI_FAILURE_STRING;
+	case(11203):
+		return SELF_TEST_ADC_FAILURE_STRING;
+	case(11204):
+		return SELF_TEST_PWM_FAILURE_STRING;
+	case(11205):
+		return SELF_TEST_TC_FAILURE_STRING;
+	case(11206):
+		return SELF_TEST_MTM_RANGE_FAILURE_STRING;
+	case(11207):
+		return SELF_TEST_COIL_CURRENT_FAILURE_STRING;
+	case(11208):
+		return INVALID_ERROR_BYTE_STRING;
+	case(11301):
+		return ERROR_STATE_STRING;
 	default:
 		return "UNKNOWN_EVENT";
 	}

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,27 +1,17 @@
 /**
  * @brief	Auto-generated object translation file.
  * @details
- * Contains 93 translations.
+ * Contains 100 translations.
- * Generated on: 2021-05-18 16:48:46
+ * Generated on: 2021-06-29 16:19:57
  */
 #include "translateObjects.h"
 
 const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK";
-const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
+const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER";
-const char *PDU1_HANDLER_STRING = "PDU1_HANDLER";
+const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER";
-const char *PDU2_HANDLER_STRING = "PDU2_HANDLER";
+const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
-const char *ACU_HANDLER_STRING = "ACU_HANDLER";
-const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1";
-const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2";
 const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER";
-const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
-const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
-const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
 const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER";
-const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
-const char *GYRO_2_L3G_HANDLER_STRING = "GYRO_2_L3G_HANDLER";
-const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
-const char *PLOC_HANDLER_STRING = "PLOC_HANDLER";
 const char *SUS_1_STRING = "SUS_1";
 const char *SUS_2_STRING = "SUS_2";
 const char *SUS_3_STRING = "SUS_3";
@@ -35,26 +25,58 @@ const char *SUS_10_STRING = "SUS_10";
 const char *SUS_11_STRING = "SUS_11";
 const char *SUS_12_STRING = "SUS_12";
 const char *SUS_13_STRING = "SUS_13";
+const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER";
+const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER";
+const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER";
+const char *GYRO_2_ADIS_HANDLER_STRING = "GYRO_2_ADIS_HANDLER";
+const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
+const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
+const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
+const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
+const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
 const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
+const char *RW1_STRING = "RW1";
+const char *RW2_STRING = "RW2";
+const char *RW3_STRING = "RW3";
+const char *RW4_STRING = "RW4";
+const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER";
+const char *PDU1_HANDLER_STRING = "PDU1_HANDLER";
+const char *PDU2_HANDLER_STRING = "PDU2_HANDLER";
+const char *ACU_HANDLER_STRING = "ACU_HANDLER";
+const char *RAD_SENSOR_STRING = "RAD_SENSOR";
+const char *PLOC_HANDLER_STRING = "PLOC_HANDLER";
 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_IC3_STRING = "RTD_IC3";
+const char *RTD_IC4_STRING = "RTD_IC4";
+const char *RTD_IC5_STRING = "RTD_IC5";
+const char *RTD_IC6_STRING = "RTD_IC6";
+const char *RTD_IC7_STRING = "RTD_IC7";
+const char *RTD_IC8_STRING = "RTD_IC8";
+const char *RTD_IC9_STRING = "RTD_IC9";
+const char *RTD_IC10_STRING = "RTD_IC10";
+const char *RTD_IC11_STRING = "RTD_IC11";
+const char *RTD_IC12_STRING = "RTD_IC12";
+const char *RTD_IC13_STRING = "RTD_IC13";
+const char *RTD_IC14_STRING = "RTD_IC14";
+const char *RTD_IC15_STRING = "RTD_IC15";
+const char *RTD_IC16_STRING = "RTD_IC16";
+const char *RTD_IC17_STRING = "RTD_IC17";
+const char *RTD_IC18_STRING = "RTD_IC18";
 const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER";
-const char *GPIO_IF_STRING = "GPIO_IF";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
-const char *CSP_COM_IF_STRING = "CSP_COM_IF";
+const char *GPIO_IF_STRING = "GPIO_IF";
-const char *I2C_COM_IF_STRING = "I2C_COM_IF";
-const char *UART_COM_IF_STRING = "UART_COM_IF";
 const char *SPI_COM_IF_STRING = "SPI_COM_IF";
+const char *UART_COM_IF_STRING = "UART_COM_IF";
+const char *I2C_COM_IF_STRING = "I2C_COM_IF";
+const char *CSP_COM_IF_STRING = "CSP_COM_IF";
 const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
 const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
 const char *UDP_BRIDGE_STRING = "UDP_BRIDGE";
 const char *UDP_POLLING_TASK_STRING = "UDP_POLLING_TASK";
-const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
-const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
 const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
-const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
-const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
-const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
-const char *TM_FUNNEL_STRING = "TM_FUNNEL";
 const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START";
 const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION";
 const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS";
@@ -75,109 +97,150 @@ const char *TM_STORE_STRING = "TM_STORE";
 const char *IPC_STORE_STRING = "IPC_STORE";
 const char *TIME_STAMPER_STRING = "TIME_STAMPER";
 const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
-const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
-const char *RTD_IC3_STRING = "RTD_IC3";
-const char *RTD_IC4_STRING = "RTD_IC4";
-const char *RTD_IC5_STRING = "RTD_IC5";
-const char *RTD_IC6_STRING = "RTD_IC6";
-const char *RTD_IC7_STRING = "RTD_IC7";
-const char *RTD_IC8_STRING = "RTD_IC8";
-const char *RTD_IC9_STRING = "RTD_IC9";
-const char *RTD_IC10_STRING = "RTD_IC10";
-const char *RTD_IC11_STRING = "RTD_IC11";
-const char *RTD_IC12_STRING = "RTD_IC12";
-const char *RTD_IC13_STRING = "RTD_IC13";
-const char *RTD_IC14_STRING = "RTD_IC14";
 const char *SPI_TEST_STRING = "SPI_TEST";
-const char *RTD_IC15_STRING = "RTD_IC15";
+const char *UART_TEST_STRING = "UART_TEST";
-const char *RTD_IC16_STRING = "RTD_IC16";
-const char *RTD_IC17_STRING = "RTD_IC17";
-const char *RTD_IC18_STRING = "RTD_IC18";
-const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST";
 const char *TEST_TASK_STRING = "TEST_TASK";
+const char *TM_FUNNEL_STRING = "TM_FUNNEL";
+const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
 const char* translateObject(object_id_t object) {
 	switch( (object & 0xFFFFFFFF) ) {
 	case 0x00005060:
 		return P60DOCK_TEST_TASK_STRING;
-	case 0x44000001:
+	case 0x43000003:
-		return P60DOCK_HANDLER_STRING;
+		return CORE_CONTROLLER_STRING;
-	case 0x44000002:
+	case 0x43100002:
-		return PDU1_HANDLER_STRING;
+		return ACS_CONTROLLER_STRING;
-	case 0x44000003:
+	case 0x43400001:
-		return PDU2_HANDLER_STRING;
+		return THERMAL_CONTROLLER_STRING;
-	case 0x44000004:
+	case 0x44120006:
-		return ACU_HANDLER_STRING;
-	case 0x44000005:
-		return TMP1075_HANDLER_1_STRING;
-	case 0x44000006:
-		return TMP1075_HANDLER_2_STRING;
-	case 0x44000007:
 		return MGM_0_LIS3_HANDLER_STRING;
-	case 0x44000008:
+	case 0x44120010:
-		return MGM_1_RM3100_HANDLER_STRING;
-	case 0x44000009:
-		return MGM_2_LIS3_HANDLER_STRING;
-	case 0x44000010:
-		return MGM_3_RM3100_HANDLER_STRING;
-	case 0x44000011:
 		return GYRO_0_ADIS_HANDLER_STRING;
-	case 0x44000012:
+	case 0x44120032:
-		return GYRO_1_L3G_HANDLER_STRING;
-	case 0x44000013:
-		return GYRO_2_L3G_HANDLER_STRING;
-	case 0x44000014:
-		return IMTQ_HANDLER_STRING;
-	case 0x44000015:
-		return PLOC_HANDLER_STRING;
-	case 0x44000016:
 		return SUS_1_STRING;
-	case 0x44000017:
+	case 0x44120033:
 		return SUS_2_STRING;
-	case 0x44000018:
+	case 0x44120034:
 		return SUS_3_STRING;
-	case 0x44000019:
+	case 0x44120035:
 		return SUS_4_STRING;
-	case 0x4400001A:
+	case 0x44120036:
 		return SUS_5_STRING;
-	case 0x4400001B:
+	case 0x44120037:
 		return SUS_6_STRING;
-	case 0x4400001C:
+	case 0x44120038:
 		return SUS_7_STRING;
-	case 0x4400001D:
+	case 0x44120039:
 		return SUS_8_STRING;
-	case 0x4400001E:
+	case 0x44120040:
 		return SUS_9_STRING;
-	case 0x4400001F:
+	case 0x44120041:
 		return SUS_10_STRING;
-	case 0x44000021:
+	case 0x44120042:
 		return SUS_11_STRING;
-	case 0x44000022:
+	case 0x44120043:
 		return SUS_12_STRING;
-	case 0x44000023:
+	case 0x44120044:
 		return SUS_13_STRING;
-	case 0x44001000:
+	case 0x44120107:
+		return MGM_1_RM3100_HANDLER_STRING;
+	case 0x44120111:
+		return GYRO_1_L3G_HANDLER_STRING;
+	case 0x44120208:
+		return MGM_2_LIS3_HANDLER_STRING;
+	case 0x44120212:
+		return GYRO_2_ADIS_HANDLER_STRING;
+	case 0x44120309:
+		return MGM_3_RM3100_HANDLER_STRING;
+	case 0x44120313:
+		return GYRO_3_L3G_HANDLER_STRING;
+	case 0x44130045:
+		return GPS0_HANDLER_STRING;
+	case 0x44130146:
+		return GPS1_HANDLER_STRING;
+	case 0x44140014:
+		return IMTQ_HANDLER_STRING;
+	case 0x442000A1:
 		return PCDU_HANDLER_STRING;
-	case 0x44001001:
+	case 0x44210001:
+		return RW1_STRING;
+	case 0x44210002:
+		return RW2_STRING;
+	case 0x44210003:
+		return RW3_STRING;
+	case 0x44210004:
+		return RW4_STRING;
+	case 0x44250000:
+		return P60DOCK_HANDLER_STRING;
+	case 0x44250001:
+		return PDU1_HANDLER_STRING;
+	case 0x44250002:
+		return PDU2_HANDLER_STRING;
+	case 0x44250003:
+		return ACU_HANDLER_STRING;
+	case 0x443200A5:
+		return RAD_SENSOR_STRING;
+	case 0x44330015:
+		return PLOC_HANDLER_STRING;
+	case 0x444100A2:
 		return SOLAR_ARRAY_DEPL_HANDLER_STRING;
-	case 0x44001002:
+	case 0x444100A4:
+		return HEATER_HANDLER_STRING;
+	case 0x44420004:
+		return TMP1075_HANDLER_1_STRING;
+	case 0x44420005:
+		return TMP1075_HANDLER_2_STRING;
+	case 0x44420016:
+		return RTD_IC3_STRING;
+	case 0x44420017:
+		return RTD_IC4_STRING;
+	case 0x44420018:
+		return RTD_IC5_STRING;
+	case 0x44420019:
+		return RTD_IC6_STRING;
+	case 0x44420020:
+		return RTD_IC7_STRING;
+	case 0x44420021:
+		return RTD_IC8_STRING;
+	case 0x44420022:
+		return RTD_IC9_STRING;
+	case 0x44420023:
+		return RTD_IC10_STRING;
+	case 0x44420024:
+		return RTD_IC11_STRING;
+	case 0x44420025:
+		return RTD_IC12_STRING;
+	case 0x44420026:
+		return RTD_IC13_STRING;
+	case 0x44420027:
+		return RTD_IC14_STRING;
+	case 0x44420028:
+		return RTD_IC15_STRING;
+	case 0x44420029:
+		return RTD_IC16_STRING;
+	case 0x44420030:
+		return RTD_IC17_STRING;
+	case 0x44420031:
+		return RTD_IC18_STRING;
+	case 0x445300A3:
 		return SYRLINKS_HK_HANDLER_STRING;
-	case 0x47000001:
+	case 0x49000000:
-		return GPIO_IF_STRING;
-	case 0x49000001:
 		return ARDUINO_COM_IF_STRING;
-	case 0x49000002:
+	case 0x49010005:
-		return CSP_COM_IF_STRING;
+		return GPIO_IF_STRING;
-	case 0x49000003:
+	case 0x49020004:
-		return I2C_COM_IF_STRING;
-	case 0x49000004:
-		return UART_COM_IF_STRING;
-	case 0x49000005:
 		return SPI_COM_IF_STRING;
+	case 0x49030003:
+		return UART_COM_IF_STRING;
+	case 0x49040002:
+		return I2C_COM_IF_STRING;
+	case 0x49050001:
+		return CSP_COM_IF_STRING;
 	case 0x50000100:
 		return CCSDS_PACKET_DISTRIBUTOR_STRING;
 	case 0x50000200:
@@ -186,20 +249,8 @@ const char* translateObject(object_id_t object) {
 		return UDP_BRIDGE_STRING;
 	case 0x50000400:
 		return UDP_POLLING_TASK_STRING;
-	case 0x51000300:
-		return PUS_SERVICE_3_STRING;
-	case 0x51000400:
-		return PUS_SERVICE_5_STRING;
 	case 0x51000500:
 		return PUS_SERVICE_6_STRING;
-	case 0x51000800:
-		return PUS_SERVICE_8_STRING;
-	case 0x51002300:
-		return PUS_SERVICE_23_STRING;
-	case 0x51020100:
-		return PUS_SERVICE_201_STRING;
-	case 0x52000002:
-		return TM_FUNNEL_STRING;
 	case 0x53000000:
 		return FSFW_OBJECTS_START_STRING;
 	case 0x53000001:
@@ -240,44 +291,10 @@ const char* translateObject(object_id_t object) {
 		return TIME_STAMPER_STRING;
 	case 0x53ffffff:
 		return FSFW_OBJECTS_END_STRING;
-	case 0x54000003:
-		return HEATER_HANDLER_STRING;
-	case 0x54000004:
-		return RTD_IC3_STRING;
-	case 0x54000005:
-		return RTD_IC4_STRING;
-	case 0x54000006:
-		return RTD_IC5_STRING;
-	case 0x54000007:
-		return RTD_IC6_STRING;
-	case 0x54000008:
-		return RTD_IC7_STRING;
-	case 0x54000009:
-		return RTD_IC8_STRING;
-	case 0x5400000A:
-		return RTD_IC9_STRING;
-	case 0x5400000B:
-		return RTD_IC10_STRING;
-	case 0x5400000C:
-		return RTD_IC11_STRING;
-	case 0x5400000D:
-		return RTD_IC12_STRING;
-	case 0x5400000E:
-		return RTD_IC13_STRING;
-	case 0x5400000F:
-		return RTD_IC14_STRING;
 	case 0x54000010:
 		return SPI_TEST_STRING;
-	case 0x5400001F:
+	case 0x54000020:
-		return RTD_IC15_STRING;
+		return UART_TEST_STRING;
-	case 0x5400002F:
-		return RTD_IC16_STRING;
-	case 0x5400003F:
-		return RTD_IC17_STRING;
-	case 0x5400004F:
-		return RTD_IC18_STRING;
-	case 0x54000050:
-		return RAD_SENSOR_STRING;
 	case 0x5400AFFE:
 		return DUMMY_HANDLER_STRING;
 	case 0x5400CAFE:
@@ -286,6 +303,10 @@ const char* translateObject(object_id_t object) {
 		return LIBGPIOD_TEST_STRING;
 	case 0x54694269:
 		return TEST_TASK_STRING;
+	case 0x73000100:
+		return TM_FUNNEL_STRING;
+	case 0x73500000:
+		return CCSDS_IP_CORE_BRIDGE_STRING;
 	case 0xFFFFFFFF:
 		return NO_OBJECT_STRING;
 	default:

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -18,16 +18,6 @@ ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence)
     thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
 
-    // Radiation sensor
-    //    thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
-    //    if (length != 3000) {
-    //        sif::warning << "pollingSequenceInitDefault: Frequency changed. Make sure timing critical "
-    //                << "SUS sensors still produce correct values" << std::endl;
-    //    }
     if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
         return HasReturnvaluesIF::RETURN_OK;
     }
@@ -145,6 +135,14 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RTD_IC17, length * 0.8, DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::RTD_IC18, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif /* Q7S_ADD_RTD_DEVICES */
+
+    /* Radiation sensor */
+    thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
+
     /**
      * The sun sensor will be shutdown as soon as the chip select is pulled high. Thus all
      * requests to a sun sensor must be performed consecutively. Another reason for calling multiple
@@ -401,6 +399,30 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     //    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ);
     //    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
 
+    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW1, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW1, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW2, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW3, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW4, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
+
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "SPI PST initialization failed" << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -426,6 +448,7 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
 ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
     // Length of a communication cycle
     uint32_t length = thisSequence->getPeriodMs();
+
     thisSequence->addSlot(objects::PLOC_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,

mission/devices/CMakeLists.txt

@@ -15,6 +15,7 @@ target_sources(${TARGET_NAME} PUBLIC
 	PlocHandler.cpp
 	RadiationSensorHandler.cpp
 	GyroADIS16507Handler.cpp
+	RwHandler.cpp
 )
 
 

mission/devices/RadiationSensorHandler.cpp

@@ -44,7 +44,7 @@ ReturnValue_t RadiationSensorHandler::buildNormalDeviceCommand(
         break;
     }
     default: {
-        sif::debug << "RadiationSensorHandler::buildNormalDeviceCommand: Unknwon communication "
+        sif::debug << "RadiationSensorHandler::buildNormalDeviceCommand: Unknown communication "
                 << "step" << std::endl;
         return HasReturnvaluesIF::RETURN_OK;
     }

mission/devices/RwHandler.cpp

@@ -0,0 +1,514 @@
+#include "RwHandler.h"
+#include "OBSWConfig.h"
+
+#include <fsfw/globalfunctions/CRC.h>
+#include <fsfw/datapool/PoolReadGuard.h>
+
+RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
+		LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio) :
+		DeviceHandlerBase(objectId, comIF, comCookie), gpioComIF(gpioComIF), enableGpio(enableGpio),
+		temperatureSet(this), statusSet(this), lastResetStatusSet(this), tmDataset(this) {
+	if (comCookie == NULL) {
+		sif::error << "RwHandler: Invalid com cookie" << std::endl;
+	}
+	if (gpioComIF == NULL) {
+		sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
+	}
+}
+
+RwHandler::~RwHandler() {
+}
+
+void RwHandler::doStartUp() {
+
+    internalState  = InternalState::GET_RESET_STATUS;
+
+    if(gpioComIF->pullHigh(enableGpio) != RETURN_OK) {
+        sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
+    }
+
+#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
+    setMode(MODE_NORMAL);
+#else
+    setMode(_MODE_TO_ON);
+#endif
+}
+
+void RwHandler::doShutDown() {
+	if(gpioComIF->pullLow(enableGpio) != RETURN_OK) {
+		sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
+	}
+}
+
+ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
+    switch (internalState) {
+    case InternalState::GET_RESET_STATUS:
+        *id = RwDefinitions::GET_LAST_RESET_STATUS;
+        internalState = InternalState::READ_TEMPERATURE;
+        break;
+    case InternalState::CLEAR_RESET_STATUS:
+        *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
+        /** After reset status is cleared, reset status will be polled again for verification */
+        internalState = InternalState::GET_RESET_STATUS;
+        break;
+    case InternalState::READ_TEMPERATURE:
+        *id = RwDefinitions::GET_TEMPERATURE;
+        internalState = InternalState::GET_RW_SATUS;
+        break;
+    case InternalState::GET_RW_SATUS:
+        *id = RwDefinitions::GET_RW_STATUS;
+        internalState = InternalState::GET_RESET_STATUS;
+        break;
+    default:
+        sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid communication step"
+                << std::endl;
+        break;
+    }
+    return buildCommandFromCommand(*id, NULL, 0);
+}
+
+ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
+    return NOTHING_TO_SEND;
+}
+
+ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+        const uint8_t * commandData, size_t commandDataLen) {
+    ReturnValue_t result = RETURN_OK;
+
+    switch (deviceCommand) {
+    case (RwDefinitions::RESET_MCU): {
+        prepareSimpleCommand(deviceCommand);
+        return RETURN_OK;
+    }
+    case (RwDefinitions::GET_LAST_RESET_STATUS): {
+        prepareSimpleCommand(deviceCommand);
+        return RETURN_OK;
+    }
+    case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
+        prepareSimpleCommand(deviceCommand);
+        return RETURN_OK;
+    }
+    case (RwDefinitions::GET_RW_STATUS): {
+        prepareSimpleCommand(deviceCommand);
+        return RETURN_OK;
+    }
+    case (RwDefinitions::INIT_RW_CONTROLLER): {
+        prepareSimpleCommand(deviceCommand);
+        return RETURN_OK;
+    }
+    case (RwDefinitions::SET_SPEED): {
+        if (commandDataLen != 6) {
+            sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
+                    << " invalid length" << std::endl;
+            return SET_SPEED_COMMAND_INVALID_LENGTH;
+        }
+        result = checkSpeedAndRampTime(commandData, commandDataLen);
+        if (result != RETURN_OK) {
+            return result;
+        }
+        prepareSetSpeedCmd(commandData, commandDataLen);
+        return result;
+    }
+    case (RwDefinitions::GET_TEMPERATURE): {
+        prepareSimpleCommand(deviceCommand);
+        return RETURN_OK;
+    }
+    case (RwDefinitions::GET_TM): {
+        prepareSimpleCommand(deviceCommand);
+        return RETURN_OK;
+    }
+    default:
+        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+    }
+    return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+void RwHandler::fillCommandAndReplyMap() {
+	this->insertInCommandMap(RwDefinitions::RESET_MCU);
+	this->insertInCommandAndReplyMap(RwDefinitions::GET_LAST_RESET_STATUS, 1, &lastResetStatusSet,
+			RwDefinitions::SIZE_GET_RESET_STATUS);
+	this->insertInCommandAndReplyMap(RwDefinitions::CLEAR_LAST_RESET_STATUS, 1, nullptr,
+			RwDefinitions::SIZE_CLEAR_RESET_STATUS);
+	this->insertInCommandAndReplyMap(RwDefinitions::GET_RW_STATUS, 1, &statusSet,
+			RwDefinitions::SIZE_GET_RW_STATUS);
+	this->insertInCommandAndReplyMap(RwDefinitions::INIT_RW_CONTROLLER, 1, nullptr,
+			RwDefinitions::SIZE_INIT_RW);
+	this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet,
+			RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
+	this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
+			RwDefinitions::SIZE_SET_SPEED_REPLY);
+	this->insertInCommandAndReplyMap(RwDefinitions::GET_TM, 1, &tmDataset,
+	            RwDefinitions::SIZE_GET_TELEMETRY_REPLY);
+}
+
+ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize,
+        DeviceCommandId_t *foundId, size_t *foundLen) {
+
+    switch (*(start)) {
+    case (static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS)): {
+        *foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
+        *foundId = RwDefinitions::GET_LAST_RESET_STATUS;
+        break;
+    }
+    case (static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS)): {
+        *foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
+        *foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
+        break;
+    }
+    case (static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS)): {
+        *foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
+        *foundId = RwDefinitions::GET_RW_STATUS;
+        break;
+    }
+    case (static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER)): {
+        *foundLen = RwDefinitions::SIZE_INIT_RW;
+        *foundId = RwDefinitions::INIT_RW_CONTROLLER;
+        break;
+    }
+    case (static_cast<uint8_t>(RwDefinitions::SET_SPEED)): {
+        *foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
+        *foundId = RwDefinitions::SET_SPEED;
+        break;
+    }
+    case (static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE)): {
+        *foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
+        *foundId = RwDefinitions::GET_TEMPERATURE;
+        break;
+    }
+    case (static_cast<uint8_t>(RwDefinitions::GET_TM)): {
+//        *foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
+        *foundLen = 91;
+        *foundId = RwDefinitions::GET_TM;
+        break;
+    }
+    default: {
+        sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
+        return RETURN_FAILED;
+        break;
+    }
+    }
+
+    sizeOfReply = *foundLen;
+
+    return RETURN_OK;
+}
+
+ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+
+    /** Check result code */
+    if (*(packet + 1) == RwDefinitions::ERROR) {
+		sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: "
+				<< id << std::endl;
+        return EXECUTION_FAILED;
+    }
+
+    /** Received in little endian byte order */
+    uint16_t replyCrc = *(packet + sizeOfReply - 1) << 8 | *(packet + sizeOfReply - 2) ;
+
+    if (CRC::crc16ccitt(packet, sizeOfReply - 2, 0xFFFF) != replyCrc) {
+        sif::error << "RwHandler::interpretDeviceReply: cRC error" << std::endl;
+        return CRC_ERROR;
+    }
+
+    switch (id) {
+    case (RwDefinitions::GET_LAST_RESET_STATUS): {
+        handleResetStatusReply(packet);
+        break;
+    }
+    case (RwDefinitions::GET_RW_STATUS): {
+        handleGetRwStatusReply(packet);
+        break;
+    }
+    case (RwDefinitions::CLEAR_LAST_RESET_STATUS):
+    case (RwDefinitions::INIT_RW_CONTROLLER):
+    case (RwDefinitions::SET_SPEED):
+        // no reply data expected
+        break;
+    case (RwDefinitions::GET_TEMPERATURE): {
+        handleTemperatureReply(packet);
+        break;
+    }
+    case (RwDefinitions::GET_TM): {
+        handleGetTelemetryReply(packet);
+        break;
+    }
+    default: {
+        sif::debug << "RwHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
+        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
+    }
+    }
+
+    return RETURN_OK;
+}
+
+void RwHandler::setNormalDatapoolEntriesInvalid() {
+
+}
+
+uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+    return 5000;
+}
+
+ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+        LocalDataPoolManager& poolManager) {
+
+    localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>( { 0 }));
+
+    localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>( { 0 }));
+
+    return RETURN_OK;
+}
+
+void RwHandler::prepareSimpleCommand(DeviceCommandId_t id) {
+    commandBuffer[0] = static_cast<uint8_t>(id);
+    uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
+    commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
+    commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
+    rawPacket = commandBuffer;
+    rawPacketLen = 3;
+}
+
+ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_t commandDataLen) {
+    int32_t speed = *commandData << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
+            | *(commandData + 3);
+
+    if ((speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) && (speed != 0)) {
+        sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid speed" << std::endl;
+        return INVALID_SPEED;
+    }
+
+    uint16_t rampTime = *(commandData + 4) << 8 | *(commandData + 5);
+
+    if (rampTime < 10 || rampTime > 10000) {
+        sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time"
+                << std::endl;
+        return INVALID_RAMP_TIME;
+    }
+
+    return RETURN_OK;
+}
+
+void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen) {
+    commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED);
+
+    /** Speed (0.1 RPM) */
+    commandBuffer[1] = *(commandData + 3);
+    commandBuffer[2] = *(commandData + 2);
+    commandBuffer[3] = *(commandData + 1);
+    commandBuffer[4] = *commandData;
+    /** Ramp time (ms) */
+    commandBuffer[5] = *(commandData + 5);
+    commandBuffer[6] = *(commandData + 4);
+
+    uint16_t crc = CRC::crc16ccitt(commandBuffer, 7, 0xFFFF);
+    commandBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
+    commandBuffer[8] = static_cast<uint8_t>(crc >> 8 & 0xFF);
+    rawPacket = commandBuffer;
+    rawPacketLen = 9;
+}
+
+void RwHandler::handleResetStatusReply(const uint8_t* packet) {
+    PoolReadGuard rg(&lastResetStatusSet);
+    uint8_t offset = 2;
+    uint8_t resetStatus = *(packet + offset);
+    if (resetStatus != RwDefinitions::CLEARED) {
+        internalState = InternalState::CLEAR_RESET_STATUS;
+        lastResetStatusSet.lastResetStatus = resetStatus;
+    }
+    lastResetStatusSet.currentResetStatus = resetStatus;
+#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
+    sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
+            << static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
+    sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
+            << static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value) << std::endl;
+#endif
+}
+
+void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
+    PoolReadGuard rg(&statusSet);
+    uint8_t offset = 2;
+    statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+            | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+            | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    statusSet.state = *(packet + offset);
+    offset += 1;
+    statusSet.clcMode = *(packet + offset);
+
+    if (statusSet.state == RwDefinitions::ERROR) {
+        /**
+         * This requires the commanding of the init reaction wheel controller command to recover
+         * form error state which must be handled by the FDIR instance.
+         */
+        triggerEvent(ERROR_STATE);
+        sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state"
+                << std::endl;
+    }
+
+#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
+    sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed
+            << " * 0.1 RPM" << std::endl;
+    sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: "
+            << statusSet.referenceSpeed << " * 0.1 RPM" << std::endl;
+    sif::info << "RwHandler::handleGetRwStatusReply: State is: "
+            << (unsigned int) statusSet.state.value << std::endl;
+    sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: "
+            << (unsigned int) statusSet.clcMode.value << std::endl;
+#endif
+}
+
+void RwHandler::handleTemperatureReply(const uint8_t* packet) {
+    PoolReadGuard rg(&temperatureSet);
+    uint8_t offset = 2;
+    temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+            | *(packet + offset + 1) << 8 | *(packet + offset);
+#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
+    sif::info << "RwHandler::handleTemperatureReply: Temperature: "
+            << temperatureSet.temperatureCelcius << " °C" << std::endl;
+#endif
+}
+
+void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
+    PoolReadGuard rg(&tmDataset);
+    uint8_t offset = 2;
+    tmDataset.lastResetStatus = *(packet + offset);
+    offset += 1;
+    tmDataset.mcuTemperature = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+            | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    offset += 8;
+    tmDataset.rwState = *(packet + offset);
+    offset += 1;
+    tmDataset.rwClcMode = *(packet + offset);
+    offset += 1;
+    tmDataset.rwCurrSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.rwRefSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.numOfInvalidCrcPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.numOfInvalidLenPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.numOfInvalidCmdPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.numOfCmdExecutedReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.numOfCmdReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.uartNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.uartNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.uartNumOfParityErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.uartNumOfNoiseErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.uartNumOfFrameErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.uartNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.uartTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.spiNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.spiNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.spiNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+    offset += 4;
+    tmDataset.spiTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
+                | *(packet + offset + 1) << 8 | *(packet + offset);
+#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
+    sif::info << "RwHandler::handleTemperatureReply: Last reset status: "
+            << static_cast<unsigned int>(tmDataset.lastResetStatus.value) << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: MCU temperature: " << tmDataset.mcuTemperature
+            << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: State: "
+            << static_cast<unsigned int>(tmDataset.rwState.value) << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: CLC mode: "
+            << static_cast<unsigned int>(tmDataset.rwClcMode.value) << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: Current speed: " << tmDataset.rwCurrSpeed
+            << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: Reference speed: " << tmDataset.rwRefSpeed
+            << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: Number of invalid CRC packets: "
+            << tmDataset.numOfInvalidCrcPackets << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: Number of invalid length packets: "
+            << tmDataset.numOfInvalidLenPackets << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: Number of invalid command packets: "
+            << tmDataset.numOfInvalidCmdPackets << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: Number of command executed replies: "
+            << tmDataset.numOfCmdExecutedReplies << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: Number of command replies: "
+            << tmDataset.numOfCmdReplies << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: UART number of bytes written: "
+            << tmDataset.uartNumOfBytesWritten << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: UART number of bytes read: "
+            << tmDataset.uartNumOfBytesRead << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: UART number of parity errors: "
+            << tmDataset.uartNumOfParityErrors << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: UART number of noise errors: "
+            << tmDataset.uartNumOfNoiseErrors << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: UART number of frame errors: "
+            << tmDataset.uartNumOfFrameErrors << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: UART number of register overrun errors: "
+            << tmDataset.uartNumOfRegisterOverrunErrors << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: UART number of total errors: "
+            << tmDataset.uartTotalNumOfErrors << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: SPI number of bytes written: "
+            << tmDataset.spiNumOfBytesWritten << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: SPI number of bytes read: "
+            << tmDataset.spiNumOfBytesRead << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: SPI number of register overrun errors: "
+            << tmDataset.spiNumOfRegisterOverrunErrors << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: SPI number of register total errors: "
+            << tmDataset.spiTotalNumOfErrors << std::endl;
+#endif
+}

mission/devices/RwHandler.h

@@ -0,0 +1,154 @@
+#ifndef MISSION_DEVICES_RWHANDLER_H_
+#define MISSION_DEVICES_RWHANDLER_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/devices/devicedefinitions/RwDefinitions.h>
+#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+#include <string.h>
+
+/**
+ * @brief	This is the device handler for the reaction wheel from nano avionics.
+ *
+ * @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
+ *                      Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622
+ *
+ * @note    Values are transferred in little endian format.
+ *
+ * @author	J. Meier
+ */
+class RwHandler: public DeviceHandlerBase {
+public:
+
+	/**
+	 * @brief Constructor
+	 *
+	 * @param objectId
+	 * @param comIF
+	 * @param comCookie
+	 * @param gpioComIF	Pointer to gpio communication interface
+	 * @param enablePin 	GPIO connected to the enable pin of the reaction wheels. Must be pulled
+	 * 						to high to enable the device.
+	 */
+	RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
+			LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio);
+	virtual ~RwHandler();
+
+    static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
+
+    static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);
+    //! [EXPORT] : [COMMENT] Used by the spi send function to tell a failing read call
+    static const ReturnValue_t SPI_READ_FAILURE = MAKE_RETURN_CODE(0xB1);
+    //! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E
+    static const ReturnValue_t MISSING_START_SIGN = MAKE_RETURN_CODE(0xB2);
+    //! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination
+    static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3);
+    //! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E
+    static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
+    //! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
+    static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5);
+
+protected:
+	void doStartUp() override;
+	void doShutDown() override;
+	ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
+	ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
+	void fillCommandAndReplyMap() override;
+	ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+				const uint8_t * commandData,size_t commandDataLen) override;
+	ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
+			DeviceCommandId_t *foundId, size_t *foundLen) override;
+	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+			const uint8_t *packet) override;
+	void setNormalDatapoolEntriesInvalid() override;
+	uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+	ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override;
+
+private:
+
+    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
+
+    //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in the range of [-65000; 1000] or [1000; 65000]
+    static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0);
+    //! [EXPORT] : [COMMENT] Action Message with invalid ramp time was received.
+    static const ReturnValue_t INVALID_RAMP_TIME = MAKE_RETURN_CODE(0xA1);
+    //! [EXPORT] : [COMMENT] Received set speed command has invalid length. Should be 6.
+    static const ReturnValue_t SET_SPEED_COMMAND_INVALID_LENGTH = MAKE_RETURN_CODE(0xA2);
+    //! [EXPORT] : [COMMENT] Command execution failed
+    static const ReturnValue_t EXECUTION_FAILED = MAKE_RETURN_CODE(0xA3);
+    //! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc
+    static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4);
+
+    //! [EXPORT] : [COMMENT] Reaction wheel signals an error state
+    static const Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
+
+    LinuxLibgpioIF* gpioComIF = nullptr;
+	gpioId_t enableGpio = gpio::NO_GPIO;
+
+    RwDefinitions::TemperatureSet temperatureSet;
+    RwDefinitions::StatusSet statusSet;
+    RwDefinitions::LastResetSatus lastResetStatusSet;
+    RwDefinitions::TmDataset tmDataset;
+
+
+	uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
+
+	enum class InternalState {
+        GET_RESET_STATUS,
+        CLEAR_RESET_STATUS,
+        READ_TEMPERATURE,
+        GET_RW_SATUS
+    };
+
+	InternalState internalState = InternalState::GET_RESET_STATUS;
+
+	size_t sizeOfReply = 0;
+
+	/**
+	 * @brief   This function can be used to build commands which do not contain any data apart
+	 *          from the command id and the CRC.
+	 * @param commandId The command id of the command to build.
+	 */
+	void prepareSimpleCommand(DeviceCommandId_t id);
+
+	/**
+	 * @brief   This function checks if the receiced speed and ramp time to set are in a valid
+	 *          range.
+	 * @return  RETURN_OK if successful, otherwise error code.
+	 */
+	ReturnValue_t checkSpeedAndRampTime(const uint8_t * commandData, size_t commandDataLen);
+
+	/**
+	 * @brief   This function prepares the set speed command from the commandData received with
+	 *          an action message.
+	 */
+	void prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen);
+
+    /**
+     * @brief   This function writes the last reset status retrieved with the get last reset status
+     *          command into the reset status dataset.
+     *
+     * @param packet Pointer to the buffer holding the reply data.
+     */
+    void handleResetStatusReply(const uint8_t* packet);
+
+	/**
+	 * @brief   This function handles the reply of the get temperature command.
+	 *
+	 * @param packet    Pointer to the reply data
+	 */
+	void handleTemperatureReply(const uint8_t* packet);
+
+	/**
+	 * @brief   This function fills the status set with the data from the get-status-reply.
+	 */
+	void handleGetRwStatusReply(const uint8_t* packet);
+
+	/**
+	 * @brief   This function fills the tmDataset with the reply data requested with get telemetry
+	 *          command.
+	 */
+	void handleGetTelemetryReply(const uint8_t* packet);
+};
+
+#endif /* MISSION_DEVICES_RWHANDLER_H_ */

mission/devices/devicedefinitions/Max31865Definitions.h

@@ -1,5 +1,5 @@
-#ifndef MISSION_DEVICES_DEVICEPACKETS_THERMALSENSORPACKET_H_
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MAX13865DEFINITIONS_H_
-#define MISSION_DEVICES_DEVICEPACKETS_THERMALSENSORPACKET_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_MAX13865DEFINITIONS_H_
 
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
@@ -54,5 +54,5 @@ public:
 
 }
 
-#endif /* MISSION_DEVICES_DEVICEPACKETS_THERMALSENSORPACKET_H_ */
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MAX13865DEFINITIONS_H_ */
 

mission/devices/devicedefinitions/RwDefinitions.h

@@ -0,0 +1,232 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include "objects/systemObjectList.h"
+
+namespace RwDefinitions {
+
+static const uint32_t SPI_REPLY_DELAY = 70000; //us
+
+enum PoolIds: lp_id_t {
+    TEMPERATURE_C,
+    CURR_SPEED,
+    REFERENCE_SPEED,
+    STATE,
+    CLC_MODE,
+    LAST_RESET_STATUS,
+    CURRRENT_RESET_STATUS,
+    TM_LAST_RESET_STATUS,
+    TM_MCU_TEMPERATURE,
+    TM_RW_STATE,
+    TM_CLC_MODE,
+    TM_RW_CURR_SPEED,
+    TM_RW_REF_SPEED,
+    INVALID_CRC_PACKETS,
+    INVALID_LEN_PACKETS,
+    INVALID_CMD_PACKETS,
+    EXECUTED_REPLIES,
+    COMMAND_REPLIES,
+    UART_BYTES_WRITTEN,
+    UART_BYTES_READ,
+    UART_PARITY_ERRORS,
+    UART_NOISE_ERRORS,
+    UART_FRAME_ERRORS,
+    UART_REG_OVERRUN_ERRORS,
+    UART_TOTAL_ERRORS,
+    TOTAL_ERRORS,
+    SPI_BYTES_WRITTEN,
+    SPI_BYTES_READ,
+    SPI_REG_OVERRUN_ERRORS,
+    SPI_TOTAL_ERRORS
+};
+
+enum States: uint8_t {
+    ERROR,
+    IDLE,
+    COASTING,
+    RUNNING_SPEED_STABLE,
+    RUNNING_SPEED_CHANGING
+};
+
+enum LastResetStatus: uint8_t {
+    CLEARED = 0,
+    PIN_RESET = 1,
+    POR_PDR_BOR_RESET = 2,
+    SOFTWARE_RESET = 4,
+    INDEPENDENT_WATCHDOG_RESET = 8,
+    WINDOW_WATCHDOG_RESET = 16,
+    LOW_POWER_RESET = 32
+};
+
+static const DeviceCommandId_t RESET_MCU = 1;
+static const DeviceCommandId_t GET_LAST_RESET_STATUS = 2;
+static const DeviceCommandId_t CLEAR_LAST_RESET_STATUS = 3;
+static const DeviceCommandId_t GET_RW_STATUS = 4;
+/** This command is needed to recover from error state */
+static const DeviceCommandId_t INIT_RW_CONTROLLER = 5;
+static const DeviceCommandId_t SET_SPEED = 6;
+static const DeviceCommandId_t GET_TEMPERATURE = 8;
+static const DeviceCommandId_t GET_TM = 9;
+
+static const uint32_t TEMPERATURE_SET_ID = GET_TEMPERATURE;
+static const uint32_t STATUS_SET_ID = GET_RW_STATUS;
+static const uint32_t LAST_RESET_ID = GET_LAST_RESET_STATUS;
+static const uint32_t TM_SET_ID = GET_TM;
+
+static const size_t SIZE_GET_RESET_STATUS = 5;
+static const size_t SIZE_CLEAR_RESET_STATUS = 4;
+static const size_t SIZE_INIT_RW = 4;
+static const size_t SIZE_GET_RW_STATUS = 14;
+static const size_t SIZE_SET_SPEED_REPLY = 4;
+static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
+/** Max size when requesting telemetry */
+static const size_t SIZE_GET_TELEMETRY_REPLY = 83;
+
+/** Set speed command has maximum size */
+static const size_t MAX_CMD_SIZE = 9;
+/**
+ * Max reply is reached when each byte is replaced by its substitude which should normally never
+ * happen.
+ */
+static const size_t MAX_REPLY_SIZE = 2 * SIZE_GET_TELEMETRY_REPLY;
+
+static const uint8_t LAST_RESET_ENTRIES = 2;
+static const uint8_t TEMPERATURE_SET_ENTRIES = 1;
+static const uint8_t STATUS_SET_ENTRIES = 4;
+static const uint8_t TM_SET_ENTRIES = 22;
+
+/**
+ * @brief   This dataset can be used to store the temperature of a reaction wheel.
+ */
+class TemperatureSet:
+        public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
+public:
+
+    TemperatureSet(HasLocalDataPoolIF* owner):
+        StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {
+    }
+
+    TemperatureSet(object_id_t objectId):
+        StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {
+    }
+
+    lp_var_t<int32_t> temperatureCelcius = lp_var_t<int32_t>(sid.objectId,
+            PoolIds::TEMPERATURE_C, this);
+};
+
+/**
+ * @brief   This dataset can be used to store the reaction wheel status.
+ */
+class StatusSet:
+        public StaticLocalDataSet<STATUS_SET_ENTRIES> {
+public:
+
+    StatusSet(HasLocalDataPoolIF* owner):
+        StaticLocalDataSet(owner, STATUS_SET_ID) {
+    }
+
+    StatusSet(object_id_t objectId):
+        StaticLocalDataSet(sid_t(objectId, STATUS_SET_ID)) {
+    }
+
+    lp_var_t<int32_t> currSpeed = lp_var_t<int32_t>(sid.objectId,
+            PoolIds::CURR_SPEED, this);
+    lp_var_t<int32_t> referenceSpeed = lp_var_t<int32_t>(sid.objectId,
+            PoolIds::REFERENCE_SPEED, this);
+    lp_var_t<uint8_t> state = lp_var_t<uint8_t>(sid.objectId,
+            PoolIds::STATE, this);
+    lp_var_t<uint8_t> clcMode = lp_var_t<uint8_t>(sid.objectId,
+            PoolIds::CLC_MODE, this);
+};
+
+/**
+ * @brief   This dataset stores the last reset status.
+ */
+class LastResetSatus:
+        public StaticLocalDataSet<LAST_RESET_ENTRIES> {
+public:
+
+    LastResetSatus(HasLocalDataPoolIF* owner):
+        StaticLocalDataSet(owner, LAST_RESET_ID) {
+    }
+
+    LastResetSatus(object_id_t objectId):
+        StaticLocalDataSet(sid_t(objectId, LAST_RESET_ID)) {
+    }
+
+    lp_var_t<uint8_t> lastResetStatus = lp_var_t<uint8_t>(sid.objectId,
+            PoolIds::LAST_RESET_STATUS, this);
+    lp_var_t<uint8_t> currentResetStatus = lp_var_t<uint8_t>(sid.objectId,
+            PoolIds::CURRRENT_RESET_STATUS, this);
+};
+
+/**
+ * @brief   This dataset stores telemetry data as specified in the datasheet of the nano avionics
+ *          reaction wheels. https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/
+ *          EIVE_IRS/Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622
+ */
+class TmDataset:
+        public StaticLocalDataSet<TM_SET_ENTRIES> {
+public:
+
+    TmDataset(HasLocalDataPoolIF* owner):
+        StaticLocalDataSet(owner, TM_SET_ID) {
+    }
+
+    TmDataset(object_id_t objectId):
+        StaticLocalDataSet(sid_t(objectId, TM_SET_ID)) {
+    }
+
+    lp_var_t<uint8_t> lastResetStatus = lp_var_t<uint8_t>(sid.objectId,
+            PoolIds::TM_LAST_RESET_STATUS, this);
+    lp_var_t<int32_t> mcuTemperature = lp_var_t<int32_t>(sid.objectId,
+            PoolIds::TM_MCU_TEMPERATURE, this);
+    lp_var_t<uint8_t> rwState = lp_var_t<uint8_t>(sid.objectId,
+            PoolIds::TM_RW_STATE, this);
+    lp_var_t<uint8_t> rwClcMode = lp_var_t<uint8_t>(sid.objectId,
+            PoolIds::TM_CLC_MODE, this);
+    lp_var_t<int32_t> rwCurrSpeed = lp_var_t<int32_t>(sid.objectId,
+            PoolIds::TM_RW_CURR_SPEED, this);
+    lp_var_t<int32_t> rwRefSpeed = lp_var_t<int32_t>(sid.objectId,
+            PoolIds::TM_RW_REF_SPEED, this);
+    lp_var_t<uint32_t> numOfInvalidCrcPackets = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::INVALID_CRC_PACKETS, this);
+    lp_var_t<uint32_t> numOfInvalidLenPackets = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::INVALID_LEN_PACKETS, this);
+    lp_var_t<uint32_t> numOfInvalidCmdPackets = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::INVALID_CMD_PACKETS, this);
+    lp_var_t<uint32_t> numOfCmdExecutedReplies = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::EXECUTED_REPLIES, this);
+    lp_var_t<uint32_t> numOfCmdReplies = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::COMMAND_REPLIES, this);
+    lp_var_t<uint32_t> uartNumOfBytesWritten = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::UART_BYTES_WRITTEN, this);
+    lp_var_t<uint32_t> uartNumOfBytesRead = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::UART_BYTES_READ, this);
+    lp_var_t<uint32_t> uartNumOfParityErrors = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::UART_PARITY_ERRORS, this);
+    lp_var_t<uint32_t> uartNumOfNoiseErrors = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::UART_NOISE_ERRORS, this);
+    lp_var_t<uint32_t> uartNumOfFrameErrors = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::UART_FRAME_ERRORS, this);
+    lp_var_t<uint32_t> uartNumOfRegisterOverrunErrors = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::UART_REG_OVERRUN_ERRORS, this);
+    lp_var_t<uint32_t> uartTotalNumOfErrors = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::UART_TOTAL_ERRORS, this);
+    lp_var_t<uint32_t> spiNumOfBytesWritten = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::SPI_BYTES_WRITTEN, this);
+    lp_var_t<uint32_t> spiNumOfBytesRead = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::SPI_BYTES_READ, this);
+    lp_var_t<uint32_t> spiNumOfRegisterOverrunErrors = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::SPI_REG_OVERRUN_ERRORS, this);
+    lp_var_t<uint32_t> spiTotalNumOfErrors = lp_var_t<uint32_t>(sid.objectId,
+            PoolIds::SPI_TOTAL_ERRORS, this);
+};
+
+}
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */
+