From 0ccf062d51be57d42d1aaa96453b105bd50a71ef Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 23 Sep 2021 15:20:55 +0200
Subject: [PATCH] transition delays

---
 bsp_q7s/core/ObjectFactory.cpp | 12 ++++++------
 common/config/devConf.h        |  5 ++++-
 fsfw                           |  2 +-
 3 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 9c1b58d3..4223c8fc 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -442,7 +442,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
     auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
-            spiCookie, 0);
+            spiCookie, spi::LIS3_TRANSITION_DELAY);
     mgmLis3Handler->setStartUpImmediately();
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
     mgmLis3Handler->setToGoToNormalMode(true);
@@ -451,7 +451,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
     auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
-            spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
+            spiCookie, spi::RM3100_TRANSITION_DELAY);
     mgmRm3100Handler->setStartUpImmediately();
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     mgmRm3100Handler->setToGoToNormalMode(true);
@@ -460,7 +460,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
     auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
-            spiCookie, 0);
+            spiCookie, spi::LIS3_TRANSITION_DELAY);
     mgmLis3Handler2->setStartUpImmediately();
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
     mgmLis3Handler2->setToGoToNormalMode(true);
@@ -469,7 +469,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
     mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
-            spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
+            spiCookie, spi::RM3100_TRANSITION_DELAY);
     mgmRm3100Handler->setStartUpImmediately();
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     mgmRm3100Handler->setToGoToNormalMode(true);
@@ -487,7 +487,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
             L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
     auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
-            spiCookie, 0);
+            spiCookie, spi::L3G_TRANSITION_DELAY);
     gyroL3gHandler->setStartUpImmediately();
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
     gyroL3gHandler->setToGoToNormalMode(true);
@@ -503,7 +503,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
             L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
     gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
-            spiCookie, 0);
+            spiCookie, spi::L3G_TRANSITION_DELAY);
     gyroL3gHandler->setStartUpImmediately();
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
     gyroL3gHandler->setToGoToNormalMode(true);
diff --git a/common/config/devConf.h b/common/config/devConf.h
index e1d95b5e..fbd9763b 100644
--- a/common/config/devConf.h
+++ b/common/config/devConf.h
@@ -10,14 +10,17 @@
  */
 namespace spi {
 
-/* Default values, changing them is not supported for now */
+// Default values, changing them is not supported for now
 static constexpr uint32_t DEFAULT_LIS3_SPEED = 976'000;
+static constexpr uint32_t LIS3_TRANSITION_DELAY = 10000;
 static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3;
 
 static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000;
+static constexpr uint32_t RM3100_TRANSITION_DELAY = 10000;
 static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3;
 
 static constexpr uint32_t DEFAULT_L3G_SPEED = 976'000;
+static constexpr uint32_t L3G_TRANSITION_DELAY = 10000;
 static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
 
 static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;
diff --git a/fsfw b/fsfw
index 29c74283..c9b343eb 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 29c74283f117bb68186d1161896d82e3361680c2
+Subproject commit c9b343ebcd92de1d214a9b1d7abafee4a7e79888