Merge pull request 'ACS board added' (#86) from mueller/acs-board-added into develop

Reviewed-on: #86
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

bsp_linux_board/ObjectFactory.cpp

@@ -1,3 +1,4 @@
+#include <devConf.h>
 #include "ObjectFactory.h"
 
 #include "objects/systemObjectList.h"
@@ -6,8 +7,6 @@
 #include "OBSWConfig.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
-#include "spiConf.h"
-
 #include "linux/boardtest/LibgpiodTest.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"

bsp_q7s/boardconfig/busConf.h

@@ -0,0 +1,56 @@
+#ifndef BSP_Q7S_BOARDCONFIG_BUSCONF_H_
+#define BSP_Q7S_BOARDCONFIG_BUSCONF_H_
+
+namespace q7s {
+
+static constexpr char SPI_DEFAULT_DEV[] = "/dev/spidev2.0";
+static constexpr char SPI_RW_DEV[] = "/dev/spidev3.0";
+
+static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-1";
+
+static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL3";
+static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL4";
+static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8";
+
+static constexpr char GPIO_ACS_BOARD_DEFAULT_CHIP[] = "gpiochip5";
+static constexpr char GPIO_MGM2_LIS3_CHIP[] = "gpiochip6";
+
+// TODO: Determine new pins, additional ADIS gyro device
+static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 1;
+static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 7;
+static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 3;
+static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 3;
+
+static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5;
+static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;
+static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0;
+static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10;
+
+static constexpr char GPIO_RW_DEFAULT_CHIP[] = "gpiochip5";
+static constexpr uint32_t GPIO_RW_0_CS = 7;
+static constexpr uint32_t GPIO_RW_1_CS = 3;
+static constexpr uint32_t GPIO_RW_2_CS = 11;
+static constexpr uint32_t GPIO_RW_3_CS = 6;
+
+static constexpr char GPIO_RW_SPI_MUX_CHIP[] = "gpiochip11";
+static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 57;
+
+static constexpr char GPIO_HEATER_CHIP[] = "gpiochip7";
+static constexpr uint32_t GPIO_HEATER_0_PIN = 6;
+static constexpr uint32_t GPIO_HEATER_1_PIN = 12;
+static constexpr uint32_t GPIO_HEATER_2_PIN = 7;
+static constexpr uint32_t GPIO_HEATER_3_PIN = 5;
+static constexpr uint32_t GPIO_HEATER_4_PIN = 3;
+static constexpr uint32_t GPIO_HEATER_5_PIN = 0;
+static constexpr uint32_t GPIO_HEATER_6_PIN = 1;
+static constexpr uint32_t GPIO_HEATER_7_PIN = 11;
+
+static constexpr char GPIO_SOLAR_ARR_DEPL_CHIP[] = "gpiochip7";
+static constexpr uint32_t GPIO_SOL_DEPL_SA_0_PIN = 4;
+static constexpr uint32_t GPIO_SOL_DEPL_SA_1_PIN = 2;
+
+static constexpr char GPIO_RAD_SENSOR_CHIP[] = "gpiochip5";
+static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19;
+}
+
+#endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */

bsp_q7s/core/InitMission.cpp

@@ -112,7 +112,7 @@ void initmission::initTasks() {
         initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
     }
 
-#if TEST_CCSDS_BRIDGE == 1
+#if OBSW_TEST_CCSDS_BRIDGE == 1
     PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
             "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
     result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
@@ -152,7 +152,7 @@ void initmission::initTasks() {
     taskStarter(testTasks, "Test task vector");
 #endif
 
-#if TEST_CCSDS_BRIDGE == 1
+#if OBSW_TEST_CCSDS_BRIDGE == 1
     ptmeTestTask->startTask();
 #endif
     fsTask->startTask();
@@ -301,11 +301,11 @@ void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFuncti
         initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
     }
 #endif
-#if BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1
+#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
     result = testTask->addComponent(objects::LIBGPIOD_TEST);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
     }
-#endif /* BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1 */
+#endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */
     taskVec.push_back(testTask);
 }

bsp_q7s/core/ObjectFactory.cpp

@@ -1,12 +1,12 @@
 #include "ObjectFactory.h"
 #include "OBSWConfig.h"
+#include "devConf.h"
+#include "busConf.h"
 #include "tmtc/apid.h"
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "tmtc/pusIds.h"
 #include "devices/powerSwitcherList.h"
-#include "spiConf.h"
-
 #include "bsp_q7s/gpio/gpioCallbacks.h"
 #include "bsp_q7s/core/CoreController.h"
 #include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
@@ -21,6 +21,7 @@
 #include "linux/devices/SusHandler.h"
 #include "linux/csp/CspCookie.h"
 #include "linux/csp/CspComIF.h"
+#include "linux/obc/CCSDSIPCoreBridge.h"
 
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/PDU1Handler.h"
@@ -44,9 +45,9 @@
 #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
-#include <mission/devices/devicedefinitions/StarTrackerDefinitions.h>
+#include "mission/devices/devicedefinitions/StarTrackerDefinitions.h"
+#include "mission/devices/GPSHyperionHandler.h"
 #include "mission/utility/TmFunnel.h"
-#include "linux/obc/CCSDSIPCoreBridge.h"
 
 #include "fsfw_hal/linux/uart/UartComIF.h"
 #include "fsfw_hal/linux/uart/UartCookie.h"
@@ -75,7 +76,7 @@
 
 #include "linux/boardtest/SpiTestClass.h"
 
-#if TEST_LIBGPIOD == 1
+#if OBSW_TEST_LIBGPIOD == 1
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
 
@@ -105,15 +106,17 @@ void ObjectFactory::produce(void* args){
     ObjectFactory::produceGenericObjects();
     new CoreController(objects::CORE_CONTROLLER);
     LinuxLibgpioIF* gpioComIF = nullptr;
-    createCommunicationInterfaces(&gpioComIF);
+    UartComIF* uartComIF = nullptr;
+    SpiComIF* spiComIF = nullptr;
+    createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF);
     createTmpComponents();
 #if BOARD_TE0720 == 0
 
     createPcduComponents();
     createRadSensorComponent(gpioComIF);
-    createSunSensorComponents(gpioComIF);
+    createSunSensorComponents(gpioComIF, spiComIF);
 #if OBSW_ADD_ACS_BOARD == 1
-    createAcsBoardComponents(gpioComIF);
+    createAcsBoardComponents(gpioComIF, uartComIF);
 #endif /* OBSW_ADD_ACS_BOARD == 1 */
     createHeaterComponents();
     createSolarArrayDeploymentComponents();
@@ -125,16 +128,9 @@ void ObjectFactory::produce(void* args){
     createRtdComponents();
 #endif /* Q7S_ADD_RTD_DEVICES == 1 */
 
-    I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
+    I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ,
-            std::string("/dev/i2c-0"));
+            IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
     new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
-
-#if ADD_PLOC_MPSOC == 1
-    UartCookie* mpsocUartCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
-            UartModes::NON_CANONICAL, 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
-    new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie);
-#endif /* ADD_PLOC_MPSOC */
-
     createReactionWheelComponents(gpioComIF);
 #endif /* TE7020 != 0 */
 
@@ -157,28 +153,29 @@ void ObjectFactory::produce(void* args){
 
     new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
 
-#if ADD_PLOC_MPSOC == 1
+#if OBSW_ADD_PLOC_MPSOC == 1
-    UartCookie* plocMpsocCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
+    UartCookie* plocMpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER,
-            UartModes::NON_CANONICAL, 115200, PLOC_MPSOC::MAX_REPLY_SIZE);
+            q7s::UART_PLOC_MPSOC_DEV, UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD,
+            PLOC_MPSOC::MAX_REPLY_SIZE);
     new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie);
 #endif
 
-#if OBSW_ADD_STAR_TRACKER == 1
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
-    UartCookie* starTrackerCookie = new UartCookie(objects::START_TRACKER, std::string("/dev/ttyUL8"),
-            UartModes::NON_CANONICAL, 115200, StarTracker::MAX_FRAME_SIZE* 2 + 2);
-    starTrackerCookie->setNoFixedSizeReply();
-    new StarTrackerHandler(objects::START_TRACKER, objects::UART_COM_IF, starTrackerCookie);
-#endif
-
-#if ADD_PLOC_SUPERVISOR == 1
     UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
-            std::string("/dev/ttyUL4"), UartModes::NON_CANONICAL, 115200,
+            q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL, uart::PLOC_SUPERVISOR_BAUD,
             PLOC_SPV::MAX_PACKET_SIZE * 20);
     plocSupervisorCookie->setNoFixedSizeReply();
     PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
             objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
     plocSupervisor->setStartUpImmediately();
+#endif
 
+#if OBSW_ADD_STAR_TRACKER == 1
+    UartCookie* starTrackerCookie = new UartCookie(objects::START_TRACKER,
+            q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL, uart::STAR_TRACKER_BAUD,
+            StarTracker::MAX_FRAME_SIZE* 2 + 2);
+    starTrackerCookie->setNoFixedSizeReply();
+    new StarTrackerHandler(objects::START_TRACKER, objects::UART_COM_IF, starTrackerCookie);
 #endif
 
     new PlocUpdater(objects::PLOC_UPDATER);
@@ -192,9 +189,9 @@ void ObjectFactory::createTmpComponents() {
             TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
 #else
     I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
-            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
+            TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
     I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
-            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
+            TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
 #endif
 
     /* Temperature sensors */
@@ -208,9 +205,10 @@ void ObjectFactory::createTmpComponents() {
     (void) tmp1075Handler_2;
 }
 
-void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF) {
+void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
-    if(gpioComIF == nullptr) {
+        UartComIF** uartComIF, SpiComIF** spiComIF) {
-        sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid GPIO ComIF"
+    if(gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
+        sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                 << std::endl;
     }
     *gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
@@ -218,9 +216,9 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF) {
     /* Communication interfaces */
     new CspComIF(objects::CSP_COM_IF);
     new I2cComIF(objects::I2C_COM_IF);
-    new UartComIF(objects::UART_COM_IF);
+    *uartComIF = new UartComIF(objects::UART_COM_IF);
 #if Q7S_ADD_SPI_TEST == 0
-    new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
+    *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
 #endif /* Q7S_ADD_SPI_TEST == 0 */
     /* Adding gpios for chip select decoding to the gpioComIf */
     gpioCallbacks::initSpiCsDecoder(*gpioComIF);
@@ -258,100 +256,102 @@ void ObjectFactory::createPcduComponents() {
 
 void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
     GpioCookie* gpioCookieRadSensor = new GpioCookie;
-    GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip5"), 19,
+    GpiodRegular* chipSelectRadSensor = new GpiodRegular(q7s::GPIO_RAD_SENSOR_CHIP,
-            std::string("Chip Select Radiation Sensor"), gpio::OUT, 1);
+            q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, 1);
     gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
     gpioComIF->addGpios(gpioCookieRadSensor);
 
     SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
-            std::string("/dev/spidev2.0"), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
             spi::DEFAULT_MAX_1227_SPEED);
     new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
 }
 
-void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF) {
+void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
+        SpiComIF* spiComIF) {
     GpioCookie* gpioCookieSus = new GpioCookie();
+    GpioCallback* susgpio = nullptr;
 
-    GpioCallback* susgpio = new GpioCallback(std::string("Chip select SUS 1"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 1", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 2"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 2", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 3"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 3", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 4"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 4", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 5"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 5", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 6"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 6", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 7"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 7", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 8"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 8", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 9"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 9", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 10"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 10", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 11"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 11", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 12"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 12", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio);
-    susgpio = new GpioCallback(std::string("Chip select SUS 13"), gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 13", gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio);
 
     gpioComIF->addGpios(gpioCookieSus);
 
     SpiCookie* spiCookieSus1 = new SpiCookie(addresses::SUS_1, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus2 = new SpiCookie(addresses::SUS_2, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus3 = new SpiCookie(addresses::SUS_3, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus4 = new SpiCookie(addresses::SUS_4, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus5 = new SpiCookie(addresses::SUS_5, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus6 = new SpiCookie(addresses::SUS_6, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus7 = new SpiCookie(addresses::SUS_7, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus8 = new SpiCookie(addresses::SUS_8, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus9 = new SpiCookie(addresses::SUS_9, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus10 = new SpiCookie(addresses::SUS_10, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus11 = new SpiCookie(addresses::SUS_11, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus12 = new SpiCookie(addresses::SUS_12, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus13 = new SpiCookie(addresses::SUS_13, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
 
     new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF,
@@ -382,38 +382,39 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF) {
             gpioIds::CS_SUS_13);
 }
 
-void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF) {
+void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
     GpioCookie* gpioCookieAcsBoard = new GpioCookie();
     GpiodRegular* gpio = nullptr;
-    gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_0_ADIS"),
+    // TODO: Determine new Gyro GPIO pins
-            gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_0_ADIS_CS,
+            "CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
-    gpio = new GpiodRegular(std::string("gpiochip5"), 7, std::string("CS_GYRO_1_L3G"),
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_1_L3G_CS,
-            gpio::OUT, gpio::HIGH);
+            "CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
-    gpio = new GpiodRegular(std::string("gpiochip5"), 3, std::string("CS_GYRO_2_L3G"),
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_2_ADIS_CS,
-            gpio::OUT, gpio::HIGH);
+            "CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
-    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
+    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_3_L3G_CS,
+            "CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH);
+    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
-    gpio = new GpiodRegular(std::string("gpiochip5"), 5, std::string("CS_MGM_0_LIS3_A"),
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_0_LIS3_CS,
-            gpio::OUT, gpio::HIGH);
+            "CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_1_RM3100_CS,
-    gpio = new GpiodRegular(std::string("gpiochip5"), 16, std::string("CS_MGM_1_RM3100_A"),
+            "CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH);
-            gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
-
+    gpio = new GpiodRegular(q7s::GPIO_MGM2_LIS3_CHIP, q7s::GPIO_MGM_2_LIS3_CS,
-    gpio = new GpiodRegular(std::string("gpiochip6"), 0, std::string("CS_MGM_2_LIS3_B"),
+            "CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH);
-            gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
-
+    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_3_RM3100_CS,
-    gpio = new GpiodRegular(std::string("gpiochip5"), 10, std::string("CS_MGM_3_RM3100_B"),
+            "CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH);
-            gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
     gpioComIF->addGpios(gpioCookieAcsBoard);
 
-    std::string spiDev = "/dev/spidev2.0";
+    std::string spiDev = q7s::SPI_DEFAULT_DEV;
     SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
     auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
@@ -454,6 +455,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF) {
 //    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
 //            spiCookie);
 //    gyroL3gHandler->setStartUpImmediately();
+
+    // TODO: Add GPS device handlers
+//    auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, deviceFile, uartMode, baudrate,
+//            maxReplyLen);
+//    auto uartCookieGps1 = new UartCookie(objects::GPS0_HANDLER, deviceFile, uartMode, baudrate,
+//            maxReplyLen);
+//    new GPSHyperionHandler(objects::GPS0_HANDLER, uartComIF);
+//    new GPSHyperionHandler(objects::GPS1_HANDLER, uartComIF);
 }
 
 void ObjectFactory::createHeaterComponents() {
@@ -461,38 +470,38 @@ void ObjectFactory::createHeaterComponents() {
     GpioCookie* heaterGpiosCookie = new GpioCookie;
 
     /* Pin H2-11 on stack connector */
-    GpiodRegular* gpioConfigHeater0 = new GpiodRegular(std::string("gpiochip7"), 6,
+    GpiodRegular* gpioConfigHeater0 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            std::string("Heater0"), gpio::OUT, 0);
+            q7s::GPIO_HEATER_0_PIN, "Heater0", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
 
     /* Pin H2-12 on stack connector */
-    GpiodRegular* gpioConfigHeater1 = new GpiodRegular(std::string("gpiochip7"), 12,
+    GpiodRegular* gpioConfigHeater1 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            std::string("Heater1"), gpio::OUT, 0);
+            q7s::GPIO_HEATER_1_PIN, "Heater1", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
 
     /* Pin H2-13 on stack connector */
-    GpiodRegular* gpioConfigHeater2 = new GpiodRegular(std::string("gpiochip7"), 7,
+    GpiodRegular* gpioConfigHeater2 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            std::string("Heater2"), gpio::OUT, 0);
+            q7s::GPIO_HEATER_2_PIN, "Heater2", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
 
-    GpiodRegular* gpioConfigHeater3 = new GpiodRegular(std::string("gpiochip7"), 5,
+    GpiodRegular* gpioConfigHeater3 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            std::string("Heater3"), gpio::OUT, 0);
+            q7s::GPIO_HEATER_3_PIN, "Heater3", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
 
-    GpiodRegular* gpioConfigHeater4 = new GpiodRegular(std::string("gpiochip7"), 3,
+    GpiodRegular* gpioConfigHeater4 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            std::string("Heater4"), gpio::OUT, 0);
+            q7s::GPIO_HEATER_4_PIN, "Heater4", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
 
-    GpiodRegular* gpioConfigHeater5 = new GpiodRegular(std::string("gpiochip7"), 0,
+    GpiodRegular* gpioConfigHeater5 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            std::string("Heater5"), gpio::OUT, 0);
+            q7s::GPIO_HEATER_5_PIN, "Heater5", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
 
-    GpiodRegular* gpioConfigHeater6 = new GpiodRegular(std::string("gpiochip7"), 1,
+    GpiodRegular* gpioConfigHeater6 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            std::string("Heater6"), gpio::OUT, 0);
+            q7s::GPIO_HEATER_6_PIN, "Heater6", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
 
-    GpiodRegular* gpioConfigHeater7 = new GpiodRegular(std::string("gpiochip7"), 11,
+    GpiodRegular* gpioConfigHeater7 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            std::string("Heater7"), gpio::OUT, 0);
+            q7s::GPIO_HEATER_7_PIN, "Heater7", gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
 
     new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@@ -502,11 +511,11 @@ void ObjectFactory::createHeaterComponents() {
 void ObjectFactory::createSolarArrayDeploymentComponents() {
     GpioCookie* solarArrayDeplCookie = new GpioCookie;
 
-    GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(std::string("gpiochip7"), 4,
+    GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
-                std::string("DeplSA1"), gpio::OUT, 0);
+            q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, 0);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
-    GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(std::string("gpiochip7"), 2,
+    GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
-                std::string("DeplSA2"), gpio::OUT, 0);
+            q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, 0);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);
 
     //TODO: Find out burn time. For now set to 1000 ms.
@@ -526,105 +535,105 @@ void ObjectFactory::createSyrlinksComponents() {
 void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
     GpioCookie* rtdGpioCookie = new GpioCookie;
 
-    GpioCallback* gpioRtdIc3 = new GpioCallback(std::string("Chip select RTD IC3"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC3, gpioRtdIc3);
-    GpioCallback* gpioRtdIc4 = new GpioCallback(std::string("Chip select RTD IC4"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC4, gpioRtdIc4);
-    GpioCallback* gpioRtdIc5 = new GpioCallback(std::string("Chip select RTD IC5"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC5, gpioRtdIc5);
-    GpioCallback* gpioRtdIc6 = new GpioCallback(std::string("Chip select RTD IC6"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC6, gpioRtdIc6);
-    GpioCallback* gpioRtdIc7 = new GpioCallback(std::string("Chip select RTD IC7"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC7, gpioRtdIc7);
-    GpioCallback* gpioRtdIc8 = new GpioCallback(std::string("Chip select RTD IC8"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC8, gpioRtdIc8);
-    GpioCallback* gpioRtdIc9 = new GpioCallback(std::string("Chip select RTD IC9"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC9, gpioRtdIc9);
-    GpioCallback* gpioRtdIc10 = new GpioCallback(std::string("Chip select RTD IC10"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC10, gpioRtdIc10);
-    GpioCallback* gpioRtdIc11 = new GpioCallback(std::string("Chip select RTD IC11"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC11, gpioRtdIc11);
-    GpioCallback* gpioRtdIc12 = new GpioCallback(std::string("Chip select RTD IC12"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC12, gpioRtdIc12);
-    GpioCallback* gpioRtdIc13 = new GpioCallback(std::string("Chip select RTD IC13"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC13, gpioRtdIc13);
-    GpioCallback* gpioRtdIc14 = new GpioCallback(std::string("Chip select RTD IC14"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC14, gpioRtdIc14);
-    GpioCallback* gpioRtdIc15 = new GpioCallback(std::string("Chip select RTD IC15"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC15, gpioRtdIc15);
-    GpioCallback* gpioRtdIc16 = new GpioCallback(std::string("Chip select RTD IC16"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc16 = new GpioCallback("Chip select RTD IC16", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC16, gpioRtdIc16);
-    GpioCallback* gpioRtdIc17 = new GpioCallback(std::string("Chip select RTD IC17"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc17 = new GpioCallback("Chip select RTD IC17", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC17, gpioRtdIc17);
-    GpioCallback* gpioRtdIc18 = new GpioCallback(std::string("Chip select RTD IC18"), gpio::OUT, 1,
+    GpioCallback* gpioRtdIc18 = new GpioCallback("Chip select RTD IC18", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC18, gpioRtdIc18);
 
     gpioComIF->addGpios(rtdGpioCookie);
 
     SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_3, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 3900000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, 2000000);
+            spi::SpiModes::MODE_1, spi::RTD_SPEED);
 
     Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3,
             objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
@@ -679,30 +688,30 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
 
 void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
     GpioCookie* gpioCookieRw = new GpioCookie;
-    GpioCallback* csRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT,
+    GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT,
-            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
-    GpioCallback* csRw2 = new GpioCallback(std::string("Chip select reaction wheel 2"), gpio::OUT,
+    GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT,
-            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
-    GpioCallback* csRw3 = new GpioCallback(std::string("Chip select reaction wheel 3"), gpio::OUT,
+    GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT,
-            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
-    GpioCallback* csRw4 = new GpioCallback(std::string("Chip select reaction wheel 4"), gpio::OUT,
+    GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT,
-            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
 
-    GpiodRegular* enRw1 = new GpiodRegular(std::string("gpiochip5"), 7,
+    GpiodRegular* enRw1 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_0_CS,
-                std::string("Enable reaction wheel 1"), gpio::OUT, 0);
+            "Enable reaction wheel 1", gpio::OUT, 0);
     gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
-    GpiodRegular* enRw2 = new GpiodRegular(std::string("gpiochip5"), 3,
+    GpiodRegular* enRw2 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_1_CS,
-                std::string("Enable reaction wheel 2"), gpio::OUT, 0);
+            "Enable reaction wheel 2", gpio::OUT, 0);
     gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
-    GpiodRegular* enRw3 = new GpiodRegular(std::string("gpiochip5"), 11,
+    GpiodRegular* enRw3 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_2_CS,
-                std::string("Enable reaction wheel 3"), gpio::OUT, 0);
+            "Enable reaction wheel 3", gpio::OUT, 0);
     gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
-    GpiodRegular* enRw4 = new GpiodRegular(std::string("gpiochip5"), 6,
+    GpiodRegular* enRw4 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_3_CS,
-                std::string("Enable reaction wheel 4"), gpio::OUT, 0);
+            "Enable reaction wheel 4", gpio::OUT, 0);
     gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
 
     /**
@@ -710,22 +719,22 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
      * 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,
+    GpiodRegular* spiMux = new GpiodRegular(q7s::GPIO_RW_SPI_MUX_CHIP, q7s::GPIO_RW_SPI_MUX_CS,
-                std::string("EMIO 0 SPI Mux"), gpio::OUT, 0);
+            "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",
+    auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV,
             RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
             nullptr);
-    auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, "/dev/spidev3.0",
+    auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV,
             RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
             nullptr);
-    auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, "/dev/spidev3.0",
+    auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV,
             RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
             nullptr);
-    auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, "/dev/spidev3.0",
+    auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV,
             RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
             nullptr);
 
@@ -749,7 +758,7 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
 void ObjectFactory::createTestComponents() {
     new Q7STestTask(objects::TEST_TASK);
 
-#if BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1
+#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
     /* Configure MIO0 as input */
     GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
             std::string("MIO0"), gpio::IN, 0);
@@ -758,7 +767,7 @@ void ObjectFactory::createTestComponents() {
     new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
 #endif
 
-#if BOARD_TE0720 == 1 && TEST_SUS_HANDLER == 1
+#if BOARD_TE0720 == 1 && OBSW_TEST_SUS_HANDLER == 1
     GpioCookie* gpioCookieSus = new GpioCookie;
     GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9,
             std::string("Chip Select Sus Sensor"), gpio::OUT, 1);
@@ -772,7 +781,7 @@ void ObjectFactory::createTestComponents() {
             gpioIds::CS_SUS_1);
 #endif
 
-#if BOARD_TE0720 == 1 && TEST_CCSDS_BRIDGE == 1
+#if BOARD_TE0720 == 1 && OBSW_TEST_CCSDS_BRIDGE == 1
     GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
     GpiodRegular* papbBusyN = new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_N"));
     gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
@@ -786,7 +795,7 @@ void ObjectFactory::createTestComponents() {
             gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY);
 #endif
 
-#if BOARD_TE0720 == 1 && TEST_RADIATION_SENSOR_HANDLER == 1
+#if BOARD_TE0720 == 1 && OBSW_TEST_RADIATION_SENSOR_HANDLER == 1
     GpioCookie* gpioCookieRadSensor = new GpioCookie;
     GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0,
             std::string("Chip select radiation sensor"), gpio::OUT, 1);
@@ -802,7 +811,7 @@ void ObjectFactory::createTestComponents() {
     radSensor->setStartUpImmediately();
 #endif
 
-#if BOARD_TE0720 == 1 && ADD_PLOC_MPSOC == 1
+#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_MPSOC == 1
     UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200,
             PLOC_MPSOC::MAX_REPLY_SIZE);
     /* Testing PlocMPSoCHandler on TE0720-03-1CFA */
@@ -811,7 +820,7 @@ void ObjectFactory::createTestComponents() {
     mpsocPlocHandler->setStartUpImmediately();
 #endif
 
-#if BOARD_TE0720 == 1 && TE0720_HEATER_TEST == 1
+#if BOARD_TE0720 == 1 && OBSW_TEST_TE7020_HEATER == 1
     /* Configuration for MIO0 on TE0720-03-1CFA */
     GpiodRegular* heaterGpio = new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
     GpioCookie* gpioCookie = new GpioCookie;
@@ -820,7 +829,7 @@ void ObjectFactory::createTestComponents() {
             pcduSwitches::TCS_BOARD_8V_HEATER_IN);
 #endif
 
-#if BOARD_TE0720 == 1 && ADD_PLOC_SUPERVISOR == 1
+#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_SUPERVISOR == 1
     /* Configuration for MIO0 on TE0720-03-1CFA */
     UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
             std::string("/dev/ttyPS1"), UartModes::NON_CANONICAL, 115200,

bsp_q7s/core/ObjectFactory.h

@@ -2,18 +2,21 @@
 #define BSP_Q7S_OBJECTFACTORY_H_
 
 class LinuxLibgpioIF;
+class UartComIF;
+class SpiComIF;
 
 namespace ObjectFactory {
 
 void setStatics();
 void produce(void* args);
 
-void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF);
+void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
+        SpiComIF** spiComIF);
 void createTmpComponents();
 void createPcduComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
-void createSunSensorComponents(LinuxLibgpioIF* gpioComIF);
+void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
-void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF);
+void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF);
 void createHeaterComponents();
 void createSolarArrayDeploymentComponents();
 void createSyrlinksComponents();

bsp_q7s/devices/PlocSupervisorHandler.cpp

@@ -736,7 +736,7 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
 
     nextReplyId = PLOC_SPV::EXE_REPORT;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && PLOC_SUPERVISOR_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
     sif::info << "PlocSupervisorHandler::handleHkReport: temp_ps: " << hkset.tempPs << std::endl;
     sif::info << "PlocSupervisorHandler::handleHkReport: temp_pl: " << hkset.tempPl << std::endl;
     sif::info << "PlocSupervisorHandler::handleHkReport: temp_sup: " << hkset.tempSup << std::endl;
@@ -793,7 +793,7 @@ ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data)
 
     nextReplyId = PLOC_SPV::EXE_REPORT;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && PLOC_SUPERVISOR_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
     sif::info << "PlocSupervisorHandler::handleBootStatusReport: Boot signal: "
             << static_cast<unsigned int>(bootStatusReport.bootSignal.value) << std::endl;
     sif::info << "PlocSupervisorHandler::handleBootStatusReport: Reset counter: "
@@ -868,7 +868,7 @@ ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* da
 
     nextReplyId = PLOC_SPV::EXE_REPORT;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && PLOC_SUPERVISOR_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
     sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Latchup ID: "
             << static_cast<unsigned int>(latchupStatusReport.id.value) << std::endl;
     sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT0: "

common/config/commonObjects.h

@@ -75,10 +75,10 @@ enum commonObjects: uint32_t {
     GPS0_HANDLER = 0x44130045,
     GPS1_HANDLER = 0x44130146,
 
-    RW1 = 0x44120001,
+    RW1 = 0x44120047,
-    RW2 = 0x44120002,
+    RW2 = 0x44120148,
-    RW3 = 0x44120003,
+    RW3 = 0x44120249,
-    RW4 = 0x44120004,
+    RW4 = 0x44120350,
 
     START_TRACKER = 0x44130001,
 

common/config/devConf.h

@@ -1,5 +1,5 @@
-#ifndef COMMON_CONFIG_SPICONF_H_
+#ifndef COMMON_CONFIG_DEVCONF_H_
-#define COMMON_CONFIG_SPICONF_H_
+#define COMMON_CONFIG_DEVCONF_H_
 
 #include <cstdint>
 #include <fsfw_hal/linux/spi/spiDefinitions.h>
@@ -29,6 +29,16 @@ 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;
 
+static constexpr uint32_t RTD_SPEED = 2000000;
+
 }
 
-#endif /* COMMON_CONFIG_SPICONF_H_ */
+namespace uart {
+
+static constexpr uint32_t PLOC_MPSOC_BAUD = 115200;
+static constexpr uint32_t PLOC_SUPERVISOR_BAUD = 115200;
+static constexpr uint32_t STAR_TRACKER_BAUD = 115200;
+
+}
+
+#endif /* COMMON_CONFIG_DEVCONF_H_ */

fsfw

@@ -1 +1 @@
-Subproject commit 1ac372cb89fabc868aa9cc6ef024f822c744eaed
+Subproject commit 1183e5739d73da42978e0ab3218b3ca53fff4489

linux/boardtest/SpiTestClass.cpp

@@ -223,7 +223,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
         currentGpioId = gpioIds::GYRO_1_L3G_CS;
     }
     else {
-        currentGpioId = gpioIds::GYRO_2_L3G_CS;
+        currentGpioId = gpioIds::GYRO_3_L3G_CS;
     }
     uint32_t spiSpeed = 3'900'000;
     spi::SpiModes spiMode = spi::SpiModes::MODE_3;
@@ -352,7 +352,7 @@ void SpiTestClass::acsInit() {
 
     gpio = new GpiodRegular(q7sGpioName5, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
             gpio::Direction::OUT, gpio::HIGH);
-    gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
+    gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     gpio = new GpiodRegular(q7sGpioName6, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
             gpio::Direction::OUT, gpio::HIGH);

linux/devices/SusHandler.cpp

@@ -173,7 +173,7 @@ ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id,
         dataset.ain3 = (*(packet + 8) << 8 | *(packet + 9));
         dataset.ain4 = (*(packet + 10) << 8 | *(packet + 11));
 	    dataset.ain5 = (*(packet + 12) << 8 | *(packet + 13));
-#if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_SUS
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SUS
         sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", Temperature: "
                 << dataset.temperatureCelcius << " °C" << std::endl;
         sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN0: "

linux/fsfwconfig/FSFWConfig.h.in

@@ -72,6 +72,6 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 
 }
 
-#define FSFW_HAL_LINUX_SPI_WIRETAPPING  1
+#define FSFW_HAL_LINUX_SPI_WIRETAPPING  0
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

linux/fsfwconfig/OBSWConfig.h.in

@@ -6,9 +6,9 @@
 #ifndef FSFWCONFIG_OBSWCONFIG_H_
 #define FSFWCONFIG_OBSWCONFIG_H_
 
-#cmakedefine RASPBERRY_PI
+/* #undef RASPBERRY_PI */
-#cmakedefine XIPHOS_Q7S
+#define XIPHOS_Q7S
-#cmakedefine BEAGLEBONEBLACK
+/* #undef BEAGLEBONEBLACK */
 
 #ifdef RASPBERRY_PI
 #include "rpiConfig.h"
@@ -22,53 +22,62 @@
 debugging. */
 #define OBSW_VERBOSE_LEVEL                          1
 
-//! Timers can mess up the code when debugging
+//! Board defines
-//! TODO: Enable for mission code, disable for debug code
+#define BOARD_TE0720                                0
-#define OBSW_ENABLE_TIMERS              0
 
-#define OBSW_PRINT_MISSED_DEADLINES     1
+/*******************************************************************/
-#define OBSW_ADD_TEST_CODE              1
+/** All of the following flags should be enabled for mission code  */
-#define OBSW_ADD_TEST_PST               1
+/*******************************************************************/
+
+//! Timers can mess up the code when debugging
+//! All of this should be enabled for mission code!
+#define OBSW_ENABLE_TIMERS                          1
 #define OBSW_ADD_GPS                                0
 #define OBSW_ADD_STAR_TRACKER                       0
+#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_MPSOC                         0
 
-#define TEST_LIBGPIOD                   0
+/*******************************************************************/
-#define TEST_RADIATION_SENSOR_HANDLER   0
+/** All of the following flags should be disabled for mission code */
-#define TEST_SUS_HANDLER                0
+/*******************************************************************/
-#define TEST_PLOC_HANDLER               0
-#define TEST_CCSDS_BRIDGE               0
-#define PERFORM_PTME_TEST               0
-#define ADD_PLOC_SUPERVISOR             1
-#define ADD_PLOC_MPSOC	                0
 
-#define BOARD_TE0720                    0
+//! /* Can be used to switch device to NORMAL mode immediately */
-#define TE0720_HEATER_TEST              0
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+#define OBSW_ADD_TEST_CODE                          1
+#define OBSW_ADD_TEST_PST                           0
+#define OBSW_TEST_LIBGPIOD                          0
+#define OBSW_TEST_RADIATION_SENSOR_HANDLER          0
+#define OBSW_TEST_SUS_HANDLER                       0
+#define OBSW_TEST_PLOC_HANDLER                      0
+#define OBSW_TEST_CCSDS_BRIDGE                      0
+#define OBSW_TEST_CCSDS_PTME                        0
+#define OBSW_TEST_TE7020_HEATER                     0
 
-#define P60DOCK_DEBUG                   0
+#define OBSW_DEBUG_P60DOCK                          0
-#define PDU1_DEBUG                      0
+#define OBSW_DEBUG_PDU1                             0
-#define PDU2_DEBUG                      0
+#define OBSW_DEBUG_PDU2                             0
-#define ACU_DEBUG                       0
+#define OBSW_DEBUG_ACU                              0
-#define SYRLINKS_DEBUG                  0
+#define OBSW_DEBUG_SYRLINKS                         0
-#define IMQT_DEBUG  				    0
+#define OBSW_DEBUG_IMQT                             0
-#define ADIS16507_DEBUG                 1
+#define OBSW_DEBUG_ADIS16507                        0
-#define L3GD20_GYRO_DEBUG               0
+#define OBSW_DEBUG_L3GD20_GYRO                      0
-#define DEBUG_RAD_SENSOR                0
+#define OBSW_DEBUG_RAD_SENSOR                       0
-#define DEBUG_SUS                       1
+#define OBSW_DEBUG_SUS                              0
-#define DEBUG_RTD                       1
+#define OBSW_DEBUG_RTD                              0
-#define IMTQ_DEBUG                      1
+#define OBSW_DEBUG_RW                               0
-#define RW_DEBUG                        0
+#define OBSW_DEBUG_STARTRACKER                      0
-#define START_TRACKER_DEBUG             0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
-#define PLOC_MPSOC_DEBUG	            0
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
-#define PLOC_SUPERVISOR_DEBUG           1
 
+/*******************************************************************/
+/** Hardcoded                                                      */
+/*******************************************************************/
 // Leave at one as the BSP is linux. Used by the ADIS16507 device handler
 #define OBSW_ADIS16507_LINUX_COM_IF     1
 
 #include "OBSWVersion.h"
 
-/* Can be used to switch device to NORMAL mode immediately */
-#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
-
 #ifdef __cplusplus
 
 #include "objects/systemObjectList.h"

linux/fsfwconfig/devices/gpioIds.h

@@ -20,7 +20,8 @@ namespace gpioIds {
     MGM_1_RM3100_CS,
     GYRO_0_ADIS_CS,
     GYRO_1_L3G_CS,
-		GYRO_2_L3G_CS,
+    GYRO_2_ADIS_CS,
+    GYRO_3_L3G_CS,
     MGM_2_LIS3_CS,
     MGM_3_RM3100_CS,
 

linux/fsfwconfig/fsfwconfig.mk

@@ -1,15 +0,0 @@
-CXXSRC += $(wildcard $(CURRENTPATH)/cdatapool/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
-
-INCLUDES += $(CURRENTPATH)
-INCLUDES += $(CURRENTPATH)/objects
-INCLUDES += $(CURRENTPATH)/ipc
-INCLUDES += $(CURRENTPATH)/pollingsequence
-INCLUDES += $(CURRENTPATH)/returnvalues
-INCLUDES += $(CURRENTPATH)/tmtc
-INCLUDES += $(CURRENTPATH)/events
-INCLUDES += $(CURRENTPATH)/devices
-INCLUDES += $(CURRENTPATH)/cdatapool

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -423,6 +423,77 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
 
+#if OBSW_ADD_ACS_BOARD == 1
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
+
+
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
+
+
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
+
+
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
+#endif
+
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "SPI PST initialization failed" << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -449,7 +520,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
     // Length of a communication cycle
     uint32_t length = thisSequence->getPeriodMs();
 
-#if ADD_PLOC_MPSOC == 1
+#if OBSW_ADD_PLOC_MPSOC == 1
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2,
@@ -462,7 +533,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
                 DeviceHandlerIF::GET_READ);
 #endif
 
-#if ADD_PLOC_SUPERVISOR == 1
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
@@ -655,15 +726,15 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
             DeviceHandlerIF::GET_READ);
 
 
-    thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0,
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.2,
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
             DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.4,
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
             DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.6,
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
             DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.8,
+    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
 
 
@@ -722,7 +793,7 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
-#if TEST_RADIATION_SENSOR_HANDLER == 1
+#if OBSW_TEST_RADIATION_SENSOR_HANDLER == 1
     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);
@@ -730,7 +801,7 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
-#if TEST_SUS_HANDLER == 1
+#if OBSW_TEST_SUS_HANDLER == 1
     /* Write setup */
     thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
@@ -753,7 +824,7 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::SUS_1, length * 0.915, DeviceHandlerIF::GET_READ);
 #endif
 
-#if ADD_PLOC_SUPERVISOR == 1
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);

linux/obc/CCSDSIPCoreBridge.cpp

@@ -39,7 +39,7 @@ ReturnValue_t CCSDSIPCoreBridge::initialize() {
 
 ReturnValue_t CCSDSIPCoreBridge::handleTm() {
 
-#if PERFORM_PTME_TEST == 1
+#if OBSW_TEST_CCSDS_PTME == 1
     return sendTestFrame();
 #else
     return TmTcBridge::handleTm();

mission/devices/ACUHandler.cpp

@@ -21,7 +21,7 @@ void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pack
     parseHkTableReply(packet);
     handleDeviceTM(&acuHkTableDataset, id, true);
 
-#if OBSW_ENHANCED_PRINTOUT == 1 && ACU_DEBUG == 1
+#if OBSW_ENHANCED_PRINTOUT == 1 && OBSW_DEBUG_ACU == 1
     acuHkTableDataset.read();
     float temperatureC_1 = acuHkTableDataset.temperature1.value * 0.1;
     float temperatureC_2 = acuHkTableDataset.temperature2.value * 0.1;

mission/devices/GyroADIS16507Handler.cpp

@@ -16,7 +16,7 @@ GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
         object_id_t deviceCommunication, CookieIF * comCookie):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
         configDataset(this), breakCountdown() {
-#if ADIS16507_DEBUG == 1
+#if OBSW_DEBUG_ADIS16507 == 1
     debugDivider = new PeriodicOperationDivider(5);
 #endif
 
@@ -284,7 +284,7 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
             primaryDataset.setValidity(true, true);
         }
 
-#if ADIS16507_DEBUG == 1
+#if OBSW_DEBUG_ADIS16507 == 1
         if(debugDivider->checkAndIncrement()) {
             sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
             sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;

mission/devices/GyroADIS16507Handler.h

@@ -69,7 +69,7 @@ private:
             const uint8_t *sendData, size_t sendLen, void* args);
 #endif
 
-#if ADIS16507_DEBUG == 1
+#if OBSW_DEBUG_ADIS16507 == 1
     PeriodicOperationDivider* debugDivider;
 #endif
     Countdown breakCountdown;

mission/devices/IMTQHandler.cpp

@@ -683,7 +683,7 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
     offset += 2;
     engHkDataset.mcuTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
 
-#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ  == 1
     sif::info << "IMTQ digital voltage: " << engHkDataset.digitalVoltageMv << " mV" << std::endl;
     sif::info << "IMTQ analog voltage: " << engHkDataset.analogVoltageMv << " mV" << std::endl;
     sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentmA << " mA" << std::endl;
@@ -757,7 +757,7 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
     offset += 4;
     calMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24)
             | (*(packet + offset + 2) << 16) | (*(packet + offset + 1) << 8) | (*(packet + offset));
-#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ  == 1
     sif::info << "IMTQ calibrated MTM measurement X: " << calMtmMeasurementSet.mtmXnT << " nT"
             << std::endl;
     sif::info << "IMTQ calibrated MTM measurement Y: " << calMtmMeasurementSet.mtmYnT << " nT"
@@ -783,7 +783,7 @@ void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
     offset += 4;
     rawMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24)
             | (*(packet + offset + 2) << 16) | (*(packet + offset + 1) << 8) | (*(packet + offset));
-#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ  == 1
     sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmXnT << " nT"
             << std::endl;
     sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmYnT << " nT"
@@ -946,7 +946,7 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
     posXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
     offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ  == 1
     sif::info << "IMTQ self test (INIT) err: "
             << static_cast<unsigned int>(posXselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posXselfTestDataset.initRawMagX
@@ -1147,7 +1147,7 @@ void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
     negXselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
     offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ  == 1
     sif::info << "IMTQ self test (INIT) err: "
             << static_cast<unsigned int>(negXselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negXselfTestDataset.initRawMagX
@@ -1348,7 +1348,7 @@ void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
     posYselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
     offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ  == 1
     sif::info << "IMTQ self test (INIT) err: "
             << static_cast<unsigned int>(posYselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posYselfTestDataset.initRawMagX
@@ -1549,7 +1549,7 @@ void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
     negYselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
     offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ  == 1
     sif::info << "IMTQ self test (INIT) err: "
             << static_cast<unsigned int>(negYselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negYselfTestDataset.initRawMagX
@@ -1750,7 +1750,7 @@ void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
     posZselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
     offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ  == 1
     sif::info << "IMTQ self test (INIT) err: "
             << static_cast<unsigned int>(posZselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << posZselfTestDataset.initRawMagX
@@ -1951,7 +1951,7 @@ void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
     negZselfTestDataset.finaCoilZTemperature = *(packet + offset + 1) << 8 | *(packet + offset);
     offset += 4;
 
-#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_IMTQ  == 1
     sif::info << "IMTQ self test (INIT) err: "
             << static_cast<unsigned int>(negZselfTestDataset.initErr.value) << std::endl;
     sif::info << "IMTQ self test (INIT) raw magnetic field X: " << negZselfTestDataset.initRawMagX

mission/devices/Max31865PT1000Handler.cpp

@@ -325,7 +325,7 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
     case(Max31865Definitions::REQUEST_LOW_THRESHOLD): {
         uint16_t readLowThreshold = packet[0] << 8 | packet[1];
         if(readLowThreshold != LOW_THRESHOLD) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1 && DEBUG_RTD == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && OBSW_DEBUG_RTD == 1
             sif::error
                     << "Max31865PT1000Handler::interpretDeviceReply: Missmatch between written "
                     << "and readback value of low threshold register"
@@ -338,7 +338,7 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
     case(Max31865Definitions::REQUEST_HIGH_THRESHOLD): {
         uint16_t readHighThreshold = packet[0] << 8 | packet[1];
         if(readHighThreshold != HIGH_THRESHOLD) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1 && DEBUG_RTD == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && OBSW_DEBUG_RTD == 1
             sif::error
                     << "Max31865PT1000Handler::interpretDeviceReply: Missmatch between written "
                     << "and readback value of high threshold register"

mission/devices/P60DockHandler.cpp

@@ -25,7 +25,7 @@ void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *
      */
     handleDeviceTM(&p60dockHkTableDataset, id, true);
 
-#if OBSW_VERBOSE_LEVEL >= 1 && P60DOCK_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_P60DOCK == 1
     p60dockHkTableDataset.read();
     sif::info << "P60 Dock: ACU VCC switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVcc.value) << std::endl;
     sif::info << "P60 Dock: PDU1 VCC switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value) << std::endl;

mission/devices/PDU1Handler.cpp

@@ -22,7 +22,7 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
     parseHkTableReply(packet);
     handleDeviceTM(&pdu1HkTableDataset, id, true);
 
-#if OBSW_VERBOSE_LEVEL >= 1 && PDU1_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PDU1 == 1
     pdu1HkTableDataset.read();
     sif::info << "PDU1 TCS Board voltage: " << pdu1HkTableDataset.voltageOutTCSBoard3V3
             << std::endl;

mission/devices/PDU2Handler.cpp

@@ -26,7 +26,7 @@ void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
      */
     handleDeviceTM(&pdu2HkTableDataset, id, true);
 
-#if OBSW_VERBOSE_LEVEL >= 1 && PDU2_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PDU2 == 1
     pdu2HkTableDataset.read();
     sif::info << "PDU2 Q7S current voltage: " << pdu2HkTableDataset.voltageOutQ7S << " mV" << std::endl;
     sif::info << "PDU2 VCC: " << pdu2HkTableDataset.vcc << " mV" << std::endl;

mission/devices/RadiationSensorHandler.cpp

@@ -147,7 +147,7 @@ ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
         offset += 2;
         dataset.ain7 = (*(packet + offset) << 8 | *(packet + offset + 1));
 
-#if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_RAD_SENSOR
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RAD_SENSOR
         sif::info << "Radiation sensor temperature: " << dataset.temperatureCelcius << " °C"
                 << std::endl;
         sif::info << "Radiation sensor ADC value channel 0: " << dataset.ain0

mission/devices/RwHandler.cpp

@@ -347,7 +347,7 @@ void RwHandler::handleResetStatusReply(const uint8_t* packet) {
         lastResetStatusSet.lastResetStatus = resetStatus;
     }
     lastResetStatusSet.currentResetStatus = resetStatus;
-#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
     sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
             << static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
     sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
@@ -378,7 +378,7 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
                 << std::endl;
     }
 
-#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
     sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed
             << " * 0.1 RPM" << std::endl;
     sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: "
@@ -395,7 +395,7 @@ void RwHandler::handleTemperatureReply(const uint8_t* packet) {
     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
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
     sif::info << "RwHandler::handleTemperatureReply: Temperature: "
             << temperatureSet.temperatureCelcius << " °C" << std::endl;
 #endif
@@ -472,7 +472,7 @@ void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
     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
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 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

mission/devices/StarTrackerHandler.cpp

@@ -207,7 +207,7 @@ void StarTrackerHandler::handleTemperatureTm() {
     temperatureSet.cmosTemperature = *(decodedFrame + offset) << 24
             | *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
             | *(decodedFrame + offset + 3);
-#if OBSW_VERBOSE_LEVEL >= 1 && START_TRACKER_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
     sif::info << "StarTrackerHandler::handleTemperatureTm: MCU Temperature: "
             << temperatureSet.mcuTemperature << " °C" << std::endl;
     sif::info << "StarTrackerHandler::handleTemperatureTm: CMOS Temperature: "

mission/devices/SyrlinksHkHandler.cpp

@@ -384,7 +384,7 @@ void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
     offset += 6;
     rxDataset.rxDataRate = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
 
-#if OBSW_VERBOSE_LEVEL >= 1 && SYRLINKS_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
     sif::info << "Syrlinks RX Status: 0x" << std::hex << (unsigned int)rxDataset.rxStatus.value << std::endl;
     sif::info << "Syrlinks RX Sensitivity: " << std::dec << rxDataset.rxSensitivity << std::endl;
     sif::info << "Syrlinks RX Frequency Shift: " << rxDataset.rxFrequencyShift << std::endl;
@@ -400,7 +400,7 @@ void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
     PoolReadGuard readHelper(&txDataset);
     uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
     txDataset.txStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-#if OBSW_VERBOSE_LEVEL >= 1 && SYRLINKS_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
     sif::info << "Syrlinks TX Status: 0x" << std::hex << (unsigned int) txDataset.txStatus.value
             << std::endl;
 #endif
@@ -410,7 +410,7 @@ void SyrlinksHkHandler::parseTxWaveformReply(const uint8_t* packet) {
     PoolReadGuard readHelper(&txDataset);
     uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
     txDataset.txWaveform = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-#if OBSW_VERBOSE_LEVEL >= 1 && SYRLINKS_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
     sif::info << "Syrlinks TX Waveform: 0x" << std::hex << (unsigned int) txDataset.txWaveform.value
             << std::endl;
 #endif
@@ -420,7 +420,7 @@ void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
     PoolReadGuard readHelper(&txDataset);
     uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
     txDataset.txAgcValue = agcValueHighByte << 8 | convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
-#if OBSW_VERBOSE_LEVEL >= 1 && SYRLINKS_DEBUG == 1
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
     sif::info << "Syrlinks TX AGC Value: " << txDataset.txAgcValue << std::endl;
 #endif
 }

tmtc

@@ -1 +1 @@
-Subproject commit 5b2ff49555f0cfee51cd53c7772a147575a825a3
+Subproject commit 261eef449e309549644d8566c8d1034c5696335d