Merge branch 'develop' of https://egit.irs.uni-stuttgart.de/eive/eive-obsw into develop

CMakeLists.txt

@@ -177,6 +177,7 @@ endif()
 if(NOT EIVE_BUILD_WATCHDOG)
     if(NOT EIVE_BUILD_UNITTESTS)  
         if(EIVE_ADD_LINUX_FILES)
+            add_subdirectory(${LIB_ARCSEC_PATH})
             add_subdirectory(${LINUX_PATH})
         endif()
         add_subdirectory(${BSP_PATH})
@@ -192,7 +193,6 @@ if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
     add_subdirectory(${FSFW_PATH})
     add_subdirectory(${MISSION_PATH})
     add_subdirectory(${TEST_PATH})
-    add_subdirectory(${LIB_ARCSEC_PATH})
 endif()
 
 if(EIVE_BUILD_UNITTESTS)

README.md

@@ -11,14 +11,15 @@
 4. [Useful and Common Host Commands](#host-commands)
 5. [Setting up Prerequisites](#set-up-prereq)
 6. [Remote Debugging](#remote-debugging)
-7. [TMTC testing](#tmtc-testing)
+6. [Remote Reset](#remote-reset)
-8. [Direct Debugging](#direct-debugging)
+8. [TMTC testing](#tmtc-testing)
-9. [Transfering Files to the Q7S](#file-transfer)
+9. [Direct Debugging](#direct-debugging)
-10. [Q7S OBC](#q7s)
+10. [Transfering Files to the Q7S](#file-transfer)
-11. [Static Code Analysis](#static-code-analysis)
+11. [Q7S OBC](#q7s)
-12. [Eclipse](#eclipse)
+12. [Static Code Analysis](#static-code-analysis)
-13. [Running the OBSW on a Raspberry Pi](#rpi)
+13. [Eclipse](#eclipse)
-14. [FSFW](#fsfw)
+14. [Running the OBSW on a Raspberry Pi](#rpi)
+15. [FSFW](#fsfw)
 
 # <a id="general"></a> General information
 
@@ -535,10 +536,10 @@ ssh root@192.168.133.10
 ```
 
 If this has not been done yet, you can access the serial
-console of the Q7S like this to set it
+console of the Q7S like this
 
 ```sh
-picocom -b 115200 /dev/ttyUSB0
+picocom -b 115200 /dev/q7sSerial
 ```
 
 The flatsat has the aliases and shell scripts `q7s_ssh` and `q7s_serial` for this task as well.
@@ -575,6 +576,29 @@ alias or shell script to do this quickly.
 Note: When now setting up a debug session in the Xilinx SDK or Eclipse, the host must be set 
 to localhost instead of the IP address of the Q7S.
 
+# <a id="remote-reset"></a> Remote Reset
+1. Launch xilinx hardware server on flatsat with alias
+````
+launch-hwserver-xilinx
+````
+2. On host PC start xsc
+3. In xsct console type the follwing command to connect to the hardware server (replace </flatsat-pc-ip-address/> with the IP address of the flatsat PC. Can be found out with ifconfig)
+````
+connect -url tcp:</flatsat-pc-ip-address/>:3121
+````
+4. The following command will list all available devices
+````
+targets
+````
+5. Connect to the APU of the Q7S
+````
+target </APU-number/>
+````
+6. Perform reset
+````
+rst
+````
+
 # <a id="tmtc-testing"></a> TMTC testing
 
 The OBSW supports sending PUS TM packets via TCP or the PDEC IP Core which transmits the data as

bsp_hosted/fsfwconfig/devices/gpioIds.h

@@ -1,8 +1,6 @@
 #ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
 #define FSFWCONFIG_DEVICES_GPIOIDS_H_
 
-#include <linux/gpio/GpioIF.h>
-
 namespace gpioIds {
 	enum gpioId_t {
 		HEATER_0,

bsp_q7s/boardconfig/busConf.h

@@ -8,13 +8,11 @@ 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_GNSS_DEV[] = "/dev/ttyUL0";
-static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL4";
+static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL2";
-static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL5";
+static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL3";
-static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8";
+static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL4";
-
+static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL7";
-static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0";
-static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";
 
 static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
 static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
@@ -31,8 +29,10 @@ namespace gpioNames {
     static constexpr char MGM_3_CS[] = "mgm_3_rm3100_chip_select";
     static constexpr char RESET_GNSS_0[] = "reset_gnss_0";
     static constexpr char RESET_GNSS_1[] = "reset_gnss_1";
-    static constexpr char GYRO_0_ENABLE[] = "gyro_0_enable";
+    static constexpr char GNSS_0_ENABLE[] = "enable_gnss_0";
-    static constexpr char GYRO_2_ENABLE[] = "gyro_2_enable";
+    static constexpr char GNSS_1_ENABLE[] = "enable_gnss_1";
+    static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
+    static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
     static constexpr char HEATER_0[] = "heater0";
     static constexpr char HEATER_1[] = "heater1";
     static constexpr char HEATER_2[] = "heater2";
@@ -54,7 +54,7 @@ namespace gpioNames {
     static constexpr char EN_RW_2[] = "enable_rw_2";
     static constexpr char EN_RW_3[] = "enable_rw_3";
     static constexpr char EN_RW_4[] = "enable_rw_4";
-    static constexpr char SPI_MUX_SELECT[] = "spi_mux_select";
+    static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
     static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
     static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
     static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -127,8 +127,18 @@ void Q7STestTask::testDummyParams() {
     param.writeJsonFile();
     param.print();
 
-    int test = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1);
+    int test = 0;
-    std::string test2 = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2);
+    result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, &test);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
+                << " does not exist" << std::endl;
+    }
+    std::string test2;
+    result = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2, &test2);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
+                << " does not exist" << std::endl;
+    }
     sif::info << "Test value (3 expected): " << test << std::endl;
     sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl;
 }

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -51,11 +51,6 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
         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;
@@ -133,8 +128,15 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
             closeSpi(gpioId, gpioIF, mutex);
             return RwHandler::SPI_READ_FAILURE;
         }
+        if(idx == 0) {
+            if(byteRead != FLAG_BYTE) {
+                sif::error << "Invalid data, expected start marker" << std::endl;
+                closeSpi(gpioId, gpioIF, mutex);
+                return RwHandler::NO_START_MARKER;
+            }
+        }
 
-        if (byteRead != 0x7E) {
+        if (byteRead != FLAG_BYTE) {
             break;
         }
 
@@ -145,6 +147,10 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
         }
     }
 
+#if FSFW_HAL_SPI_WIRETAPPING == 1
+    sif::info << "RW start marker detected" << std::endl;
+#endif
+
     size_t decodedFrameLen = 0;
     while(decodedFrameLen < replyBufferSize) {
 
@@ -158,7 +164,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
             }
         }
 
-        if (byteRead == 0x7E) {
+        if (byteRead == FLAG_BYTE) {
             /** Reached end of frame */
             break;
         }
@@ -227,10 +233,5 @@ void closeSpi (gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
     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/callbacks/rwSpiCallback.h

@@ -8,6 +8,9 @@
 
 namespace rwSpiCallback {
 
+//! This is the end and start marker of the frame datalinklayer
+static constexpr uint8_t FLAG_BYTE = 0x7E;
+
 /**
  * @brief   This is the callback function to send commands to the nano avionics reaction wheels and
  *          receive the replies.

bsp_q7s/core/CoreController.cpp

@@ -1094,8 +1094,8 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
     uint8_t wordIdx = 0;
     uint8_t arrayIdx = 0;
     istringstream iss(nextLine);
-    Chip currentChip;
+    Chip currentChip = Chip::CHIP_0;
-    Copy currentCopy;
+    Copy currentCopy = Copy::COPY_0;
     while(iss >> word) {
         if(wordIdx == 1) {
             currentChip = static_cast<Chip>(stoi(word));

bsp_q7s/core/InitMission.cpp

@@ -22,7 +22,7 @@
 ServiceInterfaceStream sif::debug("DEBUG");
 ServiceInterfaceStream sif::info("INFO");
 ServiceInterfaceStream sif::warning("WARNING");
-ServiceInterfaceStream sif::error("ERROR", false, false, true);
+ServiceInterfaceStream sif::error("ERROR");
 #else
 ServiceInterfaceStream sif::debug("DEBUG", true);
 ServiceInterfaceStream sif::info("INFO", true);
@@ -126,6 +126,16 @@ void initmission::initTasks() {
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
     }
+
+#if OBSW_ADD_STAR_TRACKER == 1
+    PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask(
+            "FILE_SYSTEM_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+    result = strImgLoaderTask->addComponent(objects::STR_HELPER);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::STR_HELPER);
+    }
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+
 #endif /* BOARD_TE0720 */
 
 #if OBSW_TEST_CCSDS_BRIDGE == 1
@@ -187,6 +197,9 @@ void initmission::initTasks() {
 
 #if BOARD_TE0720 == 0
     fsTask->startTask();
+#if OBSW_ADD_STAR_TRACKER == 1
+    strImgLoaderTask->startTask();
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
 #endif
 
     sif::info << "Tasks started.." << std::endl;
@@ -199,7 +212,7 @@ void initmission::createPstTasks(TaskFactory& factory,
     /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
     FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-            "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
+            "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
             missedDeadlineFunc);
     result = pst::pstSpi(spiPst);
     if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -213,21 +226,21 @@ void initmission::createPstTasks(TaskFactory& factory,
 #endif
 
     FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-            "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
+            "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
     result = pst::pstUart(uartPst);
     if (result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
     }
     taskVec.push_back(uartPst);
     FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
-            "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
+            "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
     result = pst::pstGpio(gpioPst);
     if (result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
     }
     taskVec.push_back(gpioPst);
     FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-            "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
+            "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
     result = pst::pstI2c(i2cPst);
     if (result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;

bsp_q7s/core/ObjectFactory.cpp

@@ -1,5 +1,8 @@
 #include <sstream>
 #include "ObjectFactory.h"
+
+#include "bsp_q7s/devices/startracker/StrHelper.h"
+#include "bsp_q7s/devices/startracker/StarTrackerDefinitions.h"
 #include "OBSWConfig.h"
 #include "devConf.h"
 #include "ccsdsConfig.h"
@@ -16,15 +19,17 @@
 #include "bsp_q7s/devices/PlocSupervisorHandler.h"
 #include "bsp_q7s/devices/PlocUpdater.h"
 #include "bsp_q7s/devices/PlocMemoryDumper.h"
+#include "bsp_q7s/devices/startracker/StarTrackerHandler.h"
 #include "bsp_q7s/callbacks/rwSpiCallback.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
 
-#include "linux/devices/HeaterHandler.h"
 #include "linux/devices/SolarArrayDeploymentHandler.h"
 #include "linux/devices/devicedefinitions/SusDefinitions.h"
 #include "linux/devices/SusHandler.h"
 #include "linux/csp/CspCookie.h"
 #include "linux/csp/CspComIF.h"
+
+#include "mission/devices/HeaterHandler.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/PDU1Handler.h"
 #include "mission/devices/PDU2Handler.h"
@@ -33,20 +38,19 @@
 #include "mission/devices/P60DockHandler.h"
 #include "mission/devices/Tmp1075Handler.h"
 #include "mission/devices/Max31865PT1000Handler.h"
-#include "mission/devices/GyroADIS16507Handler.h"
+#include "mission/devices/GyroADIS1650XHandler.h"
 #include "mission/devices/IMTQHandler.h"
 #include "mission/devices/SyrlinksHkHandler.h"
 #include "mission/devices/PlocMPSoCHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
-#include "mission/devices/StarTrackerHandler.h"
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h"
 #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/GPSHyperionHandler.h"
 #include "mission/tmtc/CCSDSHandler.h"
 #include "mission/tmtc/VirtualChannel.h"
@@ -167,11 +171,15 @@ void ObjectFactory::produce(void* args) {
     new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);
 
 #if OBSW_ADD_STAR_TRACKER == 1
-    UartCookie* starTrackerCookie = new UartCookie(objects::START_TRACKER,
+    UartCookie* starTrackerCookie = new UartCookie(objects::STAR_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);
+    StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
+    StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(objects::STAR_TRACKER,
+            objects::UART_COM_IF, starTrackerCookie, strHelper);
+    starTrackerHandler->setStartUpImmediately();
+
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
 #endif /* TE7020 == 0 */
@@ -264,7 +272,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
     std::stringstream consumer;
     consumer << "0x" << std::hex << objects::RAD_SENSOR;
     GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
-            q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), gpio::OUT, gpio::HIGH);
+            q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), gpio::DIR_OUT, gpio::HIGH);
     gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
     gpioComIF->addGpios(gpioCookieRadSensor);
 
@@ -278,43 +286,43 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComI
     GpioCookie* gpioCookieSus = new GpioCookie();
     GpioCallback* susgpio = nullptr;
 
-    susgpio = new GpioCallback("Chip select SUS 1", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 1", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 2", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 2", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 3", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 3", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 4", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 4", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 5", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 5", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 6", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 6", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 7", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 7", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 8", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 8", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 9", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 9", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 10", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 10", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 11", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 11", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 12", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 12", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 13", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 13", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio);
 
@@ -395,61 +403,61 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     GpiodRegularByLineName* gpio = nullptr;
     consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(),
-            gpio::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(),
-            gpio::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GPS0_HANDLER;
     // GNSS reset pins are active low
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GPS1_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
 
@@ -457,16 +465,28 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
     // Enable pins must be pulled low for regular operations
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(),
-            gpio::OUT, gpio::LOW);
+            gpio::DIR_OUT, gpio::LOW);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
 
-    // TODO: Add enable pins for GPS as soon as new interface board design is finished
+    // Enable pins for GNSS
+    consumer.str("");
+    consumer << "0x" << std::hex << objects::GPS0_HANDLER;
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(),
+            gpio::DIR_OUT, gpio::LOW);
+    gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);
+
+    consumer.str("");
+    consumer << "0x" << std::hex << objects::GPS1_HANDLER;
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), gpio::DIR_OUT,
+            gpio::LOW);
+    gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);
+
     gpioComIF->addGpios(gpioCookieAcsBoard);
 
     std::string spiDev = q7s::SPI_DEFAULT_DEV;
@@ -509,10 +529,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     // Commented until ACS board V2 in in clean room again
     // Gyro 0 Side A
     spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
             spi::DEFAULT_ADIS16507_SPEED);
-    auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
+    auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
-            spiCookie);
+            spiCookie, ADIS1650X::Type::ADIS16505);
     adisHandler->setStartUpImmediately();
     // Gyro 1 Side A
     spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
@@ -525,10 +545,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
 #endif
     // Gyro 2 Side B
     spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
-            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
             spi::DEFAULT_ADIS16507_SPEED);
-    adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+    adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
-            spiCookie);
+            spiCookie, ADIS1650X::Type::ADIS16505);
     adisHandler->setStartUpImmediately();
     // Gyro 3 Side B
     spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
@@ -550,22 +570,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     resetArgsGnss0.gnss1 = false;
     resetArgsGnss0.gpioComIF = gpioComIF;
     resetArgsGnss0.waitPeriodMs = 100;
-    auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV,
+    auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_DEV,
             UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
     uartCookieGps0->setToFlushInput(true);
     uartCookieGps0->setReadCycles(6);
-    auto uartCookieGps1 = new UartCookie(objects::GPS1_HANDLER, q7s::UART_GNSS_1_DEV,
-            UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
-    uartCookieGps1->setToFlushInput(true);
-    uartCookieGps1->setReadCycles(6);
     auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
             uartCookieGps0, debugGps);
     gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
     gpsHandler0->setStartUpImmediately();
-    auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
-            uartCookieGps1, debugGps);
-    gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1);
-    gpsHandler1->setStartUpImmediately();
 }
 
 void ObjectFactory::createHeaterComponents() {
@@ -576,37 +588,37 @@ void ObjectFactory::createHeaterComponents() {
     std::stringstream consumer;
     consumer << "0x" << std::hex << objects::HEATER_HANDLER;
     /* Pin H2-11 on stack connector */
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpio);
     /* Pin H2-12 on stack connector */
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpio);
 
     /* Pin H2-13 on stack connector */
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(),
-            gpio::OUT, gpio::LOW);
+            gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(),
-                gpio::OUT, gpio::LOW);
+                gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(),
-                gpio::OUT, gpio::LOW);
+                gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(),
-                gpio::OUT, gpio::LOW);
+                gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(),
-                gpio::OUT, gpio::LOW);
+                gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
 
     new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@@ -620,9 +632,9 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
     std::stringstream consumer;
     consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0,
-            consumer.str(), gpio::OUT, gpio::LOW);
+            consumer.str(), gpio::DIR_OUT, gpio::LOW);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
 
@@ -644,100 +656,100 @@ void ObjectFactory::createSyrlinksComponents() {
 void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
     GpioCookie* rtdGpioCookie = new GpioCookie;
 
-    GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
-    GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
-    GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
-    GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
-    GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
-    GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
-    GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
-    GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
-    GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
-    GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
-    GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
-    GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
-    GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
-    GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
-    GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
-    GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
 
     gpioComIF->addGpios(rtdGpioCookie);
 
     SpiCookie* spiRtdIc0 = new SpiCookie(addresses::RTD_IC_3, gpioIds::RTD_IC_3, q7s::SPI_DEFAULT_DEV,
-            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
     SpiCookie* spiRtdIc1 = new SpiCookie(addresses::RTD_IC_4, gpioIds::RTD_IC_4, q7s::SPI_DEFAULT_DEV,
-            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
     SpiCookie* spiRtdIc2 = new SpiCookie(addresses::RTD_IC_5, gpioIds::RTD_IC_5, q7s::SPI_DEFAULT_DEV,
-            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
     SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC_6, gpioIds::RTD_IC_6, q7s::SPI_DEFAULT_DEV,
-            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
     SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC_7, gpioIds::RTD_IC_7, q7s::SPI_DEFAULT_DEV,
-            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
     SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC_8, gpioIds::RTD_IC_8, q7s::SPI_DEFAULT_DEV,
-            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
     SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC_9, gpioIds::RTD_IC_9, q7s::SPI_DEFAULT_DEV,
-            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
     SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC_10, gpioIds::RTD_IC_10,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
             spi::RTD_SPEED);
     SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC_11, gpioIds::RTD_IC_11,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
             spi::RTD_SPEED);
     SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC_12, gpioIds::RTD_IC_12,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
             spi::RTD_SPEED);
     SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC_13, gpioIds::RTD_IC_13,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
             spi::RTD_SPEED);
     SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC_14, gpioIds::RTD_IC_14,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
             spi::RTD_SPEED);
     SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC_15, gpioIds::RTD_IC_15,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
             spi::RTD_SPEED);
     SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC_16, gpioIds::RTD_IC_16,
             std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            spi::RTD_MODE, spi::RTD_SPEED);
     SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC_17, gpioIds::RTD_IC_17,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
             spi::RTD_SPEED);
     SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC_18, gpioIds::RTD_IC_18,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
             spi::RTD_SPEED);
 
-    Max31865PT1000Handler* rtdIc0 = new Max31865PT1000Handler(objects::RTD_IC_6, objects::SPI_COM_IF,
+    Max31865PT1000Handler* rtdIc0 = new Max31865PT1000Handler(objects::RTD_IC_3, objects::SPI_COM_IF,
             spiRtdIc0);
     Max31865PT1000Handler* rtdIc1 = new Max31865PT1000Handler(objects::RTD_IC_4, objects::SPI_COM_IF,
             spiRtdIc1);
@@ -773,6 +785,11 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
     rtdIc0->setStartUpImmediately();
     rtdIc1->setStartUpImmediately();
     rtdIc2->setStartUpImmediately();
+#if OBSW_DEBUG_RTD == 1
+    rtdIc0->setInstantNormal(true);
+    rtdIc1->setInstantNormal(true);
+    rtdIc2->setInstantNormal(true);
+#endif
 
     static_cast<void>(rtdIc0);
     static_cast<void>(rtdIc1);
@@ -794,50 +811,41 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
 
 void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
     GpioCookie* gpioCookieRw = new GpioCookie;
-    GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT, gpio::HIGH,
+    GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
-    GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT, gpio::HIGH,
+    GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
-    GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT, gpio::HIGH,
+    GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
-    GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT, gpio::HIGH,
+    GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
 
     std::stringstream consumer;
     GpiodRegularByLineName* gpio = nullptr;
     consumer << "0x" << std::hex << objects::RW1;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
     consumer.str("");
     consumer << "0x" << std::hex << objects::RW2;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
     consumer.str("");
     consumer << "0x" << std::hex << objects::RW3;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
     consumer.str("");
     consumer << "0x" << std::hex << objects::RW4;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
 
-    /**
-     * 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).
-     */
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_SELECT,
-            "SPI Reaction Wheel Callback ", gpio::OUT, gpio::LOW);
-    gpioCookieRw->addGpio(gpioIds::SPI_MUX, gpio);
-
     gpioComIF->addGpios(gpioCookieRw);
 
     auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV,
@@ -942,7 +950,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
     consumer.str("");
     consumer << "ptme rate setter";
     // Init to low -> default bit rate is low bit rate (200 kbps in downlink with syrlinks)
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::BIT_RATE_SEL, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::BIT_RATE_SEL, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRateSetter->addGpio(gpioIds::BIT_RATE_SEL, gpio);
     gpioComIF->addGpios(gpioCookieRateSetter);
@@ -967,7 +975,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
     consumer.str("");
     consumer << "0x" << std::hex << objects::PDEC_HANDLER;
     // GPIO also low after linux boot (specified by device-tree)
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
 
@@ -980,18 +988,18 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
 #if BOARD_TE0720 == 0
     GpioCookie* gpioRS485Chip = new GpioCookie;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
-            gpio::Direction::OUT, gpio::LOW);
+            gpio::Direction::DIR_OUT, gpio::LOW);
     gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
-            gpio::Direction::OUT, gpio::LOW);
+            gpio::Direction::DIR_OUT, gpio::LOW);
     gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
 
     // Default configuration enables RX channels (RXEN = LOW)
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
-            gpio::Direction::OUT, gpio::LOW);
+            gpio::Direction::DIR_OUT, gpio::LOW);
     gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
-            gpio::Direction::OUT, gpio::LOW);
+            gpio::Direction::DIR_OUT, gpio::LOW);
     gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
 
     gpioComIF->addGpios(gpioRS485Chip);
@@ -1007,10 +1015,10 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
 #if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
     /* Configure MIO0 as input */
-    GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::OUT, 0, "/amba_pl/gpio@41200000", 0);
+    GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::DIR_OUT, 0, "/amba_pl/gpio@41200000", 0);
 #elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME
     GpiodRegularByLineName* testGpio = new GpiodRegularByLineName("test-name", "gpio-test",
-            gpio::OUT, 0);
+            gpio::DIR_OUT, 0);
 #else
     /* Configure MIO0 as input */
     GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
@@ -1023,7 +1031,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #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);
+            std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus);
     gpioComIF->addGpios(gpioCookieSus);
 
@@ -1051,7 +1059,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #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);
+            std::string("Chip select radiation sensor"), gpio::DIR_OUT, 1);
     gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
     gpioComIF->addGpios(gpioCookieRadSensor);
 

bsp_q7s/devices/CMakeLists.txt

@@ -3,3 +3,5 @@ target_sources(${TARGET_NAME} PRIVATE
     PlocUpdater.cpp
     PlocMemoryDumper.cpp
 )
+
+add_subdirectory(startracker)

bsp_q7s/devices/PlocUpdater.cpp

@@ -168,14 +168,14 @@ ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
 #if BOARD_TE0720 == 0
     // Check if file is stored on SD card and if associated SD card is mounted
     if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_0_MOUNT_POINT)) {
-        if (!isSdCardMounted(sd::SLOT_0)) {
+        if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
-            sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 0 not mounted" << std::endl;
+            sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl;
             return SD_NOT_MOUNTED;
         }
     }
     else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_1_MOUNT_POINT)) {
-        if (!isSdCardMounted(sd::SLOT_0)) {
+        if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
-            sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 1 not mounted" << std::endl;
+            sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
             return SD_NOT_MOUNTED;
         }
     }
@@ -193,37 +193,6 @@ ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
     return RETURN_OK;
 }
 
-#if BOARD_TE0720 == 0
-bool PlocUpdater::isSdCardMounted(sd::SdCard sdCard) {
-    SdCardManager::SdStatePair active;
-    ReturnValue_t result = sdcMan->getSdCardActiveStatus(active);
-    if (result != RETURN_OK) {
-        sif::debug << "PlocUpdater::isSdCardMounted: Failed to get SD card active state";
-        return false;
-    }
-    if (sdCard == sd::SLOT_0) {
-        if (active.first == sd::MOUNTED) {
-            return true;
-        }
-        else {
-            return false;
-        }
-    }
-    else if (sdCard == sd::SLOT_1) {
-        if (active.second == sd::MOUNTED) {
-            return true;
-        }
-        else {
-            return false;
-        }
-    }
-    else {
-        sif::debug << "PlocUpdater::isSdCardMounted: Unknown SD card specified" << std::endl;
-    }
-    return false;
-}
-#endif /* #if BOARD_TE0720 == 0 */
-
 void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId,
         uint8_t step) {
 }

bsp_q7s/devices/PlocUpdater.h

@@ -174,13 +174,6 @@ private:
      */
     void commandUpdateVerify();
 
-#if BOARD_TE0720 == 0
-    /**
-     * @brief   Checks whether the SD card to read from is mounted or not.
-     */
-    bool isSdCardMounted(sd::SdCard sdCard);
-#endif
-
     void calcImageCrc();
 
     void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet);

bsp_q7s/devices/startracker/ArcsecDatalinkLayer.cpp

@@ -0,0 +1,78 @@
+#include "ArcsecDatalinkLayer.h"
+
+ArcsecDatalinkLayer::ArcsecDatalinkLayer() {
+    slipInit();
+}
+
+ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {
+}
+
+void ArcsecDatalinkLayer::slipInit() {
+    slipInfo.buffer = rxBuffer;
+    slipInfo.maxlength = StarTracker::MAX_FRAME_SIZE;
+    slipInfo.length = 0;
+    slipInfo.unescape_next = 0;
+    slipInfo.prev_state = SLIP_COMPLETE;
+}
+
+ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t rawDataSize,
+        size_t* bytesLeft) {
+    size_t bytePos = 0;
+    for (bytePos = 0; bytePos < rawDataSize; bytePos++) {
+        enum arc_dec_result decResult = arc_transport_decode_body(*(rawData + bytePos), &slipInfo,
+                decodedFrame, &decFrameSize);
+        *bytesLeft = rawDataSize - bytePos - 1;
+        switch (decResult) {
+        case ARC_DEC_INPROGRESS: {
+            if (bytePos == rawDataSize - 1) {
+                return DEC_IN_PROGRESS;
+            }
+            continue;
+        }
+        case ARC_DEC_ERROR_FRAME_SHORT:
+            return REPLY_TOO_SHORT;
+        case ARC_DEC_ERROR_CHECKSUM:
+            return CRC_FAILURE;
+        case ARC_DEC_ASYNC:
+        case ARC_DEC_SYNC: {
+            // Reset length of SLIP struct for next frame
+            slipInfo.length = 0;
+            return RETURN_OK;
+        }
+        default:
+            sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl;
+            break;
+            return RETURN_FAILED;
+        }
+    }
+    return RETURN_FAILED;
+}
+
+uint8_t ArcsecDatalinkLayer::getReplyFrameType() {
+    return decodedFrame[0];
+}
+
+const uint8_t* ArcsecDatalinkLayer::getReply() {
+    return &decodedFrame[1];
+}
+
+void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, uint32_t length) {
+    arc_transport_encode_body(data, length, encBuffer, &encFrameSize);
+}
+
+uint8_t* ArcsecDatalinkLayer::getEncodedFrame() {
+    return encBuffer;
+}
+
+uint32_t ArcsecDatalinkLayer::getEncodedLength() {
+    return encFrameSize;
+}
+
+uint8_t ArcsecDatalinkLayer::getStatusField() {
+    return *(decodedFrame + STATUS_OFFSET);
+}
+
+uint8_t ArcsecDatalinkLayer::getId() {
+    return *(decodedFrame + ID_OFFSET);
+}
+

bsp_q7s/devices/startracker/ArcsecDatalinkLayer.h

@@ -0,0 +1,100 @@
+#ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
+#define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
+
+#include "StarTrackerDefinitions.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+extern "C" {
+    #include "common/misc.h"
+}
+
+/**
+ * @brief   Helper class to handle the datalinklayer of replies from the star tracker of arcsec.
+ */
+class ArcsecDatalinkLayer: public HasReturnvaluesIF {
+public:
+
+    static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
+
+    //! [EXPORT] : [COMMENT] More data required to complete frame
+    static const ReturnValue_t DEC_IN_PROGRESS = MAKE_RETURN_CODE(0xA0);
+    //! [EXPORT] : [COMMENT] Data too short to represent a valid frame
+    static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xA1);
+    //! [EXPORT] : [COMMENT] Detected CRC failure in received frame
+    static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA2);
+
+    static const uint8_t STATUS_OK = 0;
+
+    ArcsecDatalinkLayer();
+    virtual ~ArcsecDatalinkLayer();
+
+    /**
+     * @brief   Applies decoding to data referenced by rawData pointer
+     *
+     * @param rawData          Pointer to raw data received from star tracker
+     * @param rawDataSize      Size of raw data stream
+     * @param remainingBytes   Number of bytes left
+     */
+    ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft);
+
+    /**
+     * @brief   SLIP encodes data pointed to by data pointer.
+     *
+     * @param data   Pointer to data to encode
+     * @param length Length of buffer to encode
+     */
+    void encodeFrame(const uint8_t* data, uint32_t length);
+
+    /**
+     * @brief    Returns the frame type field of a decoded frame.
+     */
+    uint8_t getReplyFrameType();
+
+    /**
+     * @brief   Returns pointer to reply packet (first entry normally action ID, telemetry ID etc.)
+     */
+    const uint8_t* getReply();
+
+    /**
+     * @brief   Returns size of encoded frame
+     */
+    uint32_t getEncodedLength();
+
+    /**
+     * @brief   Returns pointer to encoded frame
+     */
+    uint8_t* getEncodedFrame();
+
+    /**
+     * @brief   Returns status of reply
+     */
+    uint8_t getStatusField();
+
+    /**
+     * @brief   Returns ID of reply
+     */
+    uint8_t getId();
+
+private:
+
+    static const uint8_t ID_OFFSET = 1;
+    static const uint8_t STATUS_OFFSET = 2;
+
+    // Used by arcsec slip decoding function process received data
+    uint8_t rxBuffer[StarTracker::MAX_FRAME_SIZE];
+    // Decoded frame will be copied to this buffer
+    uint8_t decodedFrame[StarTracker::MAX_FRAME_SIZE];
+    // Buffer where encoded frames will be stored. First byte of encoded frame represents type of
+    // reply
+    uint8_t encBuffer[StarTracker::MAX_FRAME_SIZE * 2 + 2];
+    // Size of decoded frame
+    uint32_t decFrameSize = 0;
+    // Size of encoded frame
+    uint32_t encFrameSize = 0;
+
+    slip_decode_state slipInfo;
+
+    void slipInit();
+};
+
+#endif /* BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_ */

bsp_q7s/devices/startracker/ArcsecJsonKeys.h

@@ -0,0 +1,126 @@
+#ifndef BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_
+#define BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_
+
+/**
+ * @brief   Keys used in JSON file of ARCSEC.
+ */
+namespace arcseckeys {
+    static const char PROPERTIES[] = "properties";
+    static const char NAME[] = "name";
+    static const char VALUE[] = "value";
+
+    static const char LIMITS[] = "limits";
+    static const char ACTION[] = "action";
+    static const char FPGA18CURRENT[] = "FPGA18Current";
+    static const char FPGA25CURRENT[] = "FPGA25Current";
+    static const char FPGA10CURRENT[] = "FPGA10Current";
+    static const char MCUCURRENT[] = "MCUCurrent";
+    static const char CMOS21CURRENT[] = "CMOS21Current";
+    static const char CMOSPIXCURRENT[] = "CMOSPixCurrent";
+    static const char CMOS33CURRENT[] = "CMOS33Current";
+    static const char CMOSVRESCURRENT[] = "CMOSVResCurrent";
+    static const char CMOS_TEMPERATURE[] = "CMOSTemperature";
+    static const char MCU_TEMPERATURE[] = "MCUTemperature";
+
+    static const char MOUNTING[] = "mounting";
+    static const char qw[] = "qw";
+    static const char qx[] = "qx";
+    static const char qy[] = "qy";
+    static const char qz[] = "qz";
+
+    static const char CAMERA[] = "camera";
+    static const char MODE[] = "mode";
+    static const char FOCALLENGTH[] = "focallength";
+    static const char EXPOSURE[] = "exposure";
+    static const char INTERVAL[] = "interval";
+    static const char OFFSET[] = "offset";
+    static const char PGAGAIN[] = "PGAGain";
+    static const char ADCGAIN[] = "ADCGain";
+    static const char REG_1[] = "reg1";
+    static const char VAL_1[] = "val1";
+    static const char REG_2[] = "reg2";
+    static const char VAL_2[] = "val2";
+    static const char REG_3[] = "reg3";
+    static const char VAL_3[] = "val3";
+    static const char REG_4[] = "reg4";
+    static const char VAL_4[] = "val4";
+    static const char REG_5[] = "reg5";
+    static const char VAL_5[] = "val5";
+    static const char REG_6[] = "reg6";
+    static const char VAL_6[] = "val6";
+    static const char REG_7[] = "reg7";
+    static const char VAL_7[] = "val7";
+    static const char REG_8[] = "reg8";
+    static const char VAL_8[] = "val8";
+    static const char FREQ_1[] = "freq1";
+    static const char FREQ_2[] = "freq2";
+
+    static const char BLOB[] = "blob";
+    static const char MIN_VALUE[] = "minValue";
+    static const char MIN_DISTANCE[] = "minDistance";
+    static const char NEIGHBOUR_DISTANCE[] = "neighbourDistance";
+    static const char NEIGHBOUR_BRIGHT_PIXELS[] = "neighbourBrightPixels";
+    static const char MIN_TOTAL_VALUE[] = "minTotalValue";
+    static const char MAX_TOTAL_VALUE[] = "maxTotalValue";
+    static const char MIN_BRIGHT_NEIGHBOURS[] = "minBrightNeighbours";
+    static const char MAX_BRIGHT_NEIGHBOURS[] = "maxBrightNeighbours";
+    static const char MAX_PIXEL_TO_CONSIDER[] = "maxPixelsToConsider";
+    static const char SIGNAL_THRESHOLD[] = "signalThreshold";
+    static const char DARK_THRESHOLD[] = "darkThreshold";
+    static const char ENABLE_HISTOGRAM[] = "enableHistogram";
+    static const char ENABLE_CONTRAST[] = "enableContrast";
+    static const char BIN_MODE[] = "binMode";
+
+    static const char CENTROIDING[] = "centroiding";
+    static const char ENABLE_FILTER[] = "enableFilter";
+    static const char MAX_QUALITY[] = "maxquality";
+    static const char MIN_QUALITY[] = "minquality";
+    static const char MAX_INTENSITY[] = "maxintensity";
+    static const char MIN_INTENSITY[] = "minintensity";
+    static const char MAX_MAGNITUDE[] = "maxmagnitude";
+    static const char GAUSSIAN_CMAX[] = "gaussianCmax";
+    static const char GAUSSIAN_CMIN[] = "gaussianCmin";
+    static const char TRANSMATRIX_00[] = "transmatrix00";
+    static const char TRANSMATRIX_01[] = "transmatrix01";
+    static const char TRANSMATRIX_10[] = "transmatrix10";
+    static const char TRANSMATRIX_11[] = "transmatrix11";
+
+    static const char LISA[] = "lisa";
+    static const char PREFILTER_DIST_THRESHOLD[] = "prefilterDistThreshold";
+    static const char PREFILTER_ANGLE_THRESHOLD[] = "prefilterAngleThreshold";
+    static const char FOV_WIDTH[] = "fov_width";
+    static const char FOV_HEIGHT[] = "fov_height";
+    static const char FLOAT_STAR_LIMIT[] = "float_star_limit";
+    static const char CLOSE_STAR_LIMIT[] = "close_star_limit";
+    static const char RATING_WEIGHT_CLOSE_STAR_COUNT[] = "rating_weight_close_star_count";
+    static const char RATING_WEIGHT_FRACTION_CLOSE[] = "rating_weight_fraction_close";
+    static const char RATING_WEIGHT_MEAN_SUM[] = "rating_weight_mean_sum";
+    static const char RATING_WEIGHT_DB_STAR_COUNT[] = "rating_weight_db_star_count";
+    static const char MAX_COMBINATIONS[] = "max_combinations";
+    static const char NR_STARS_STOP[] = "nr_stars_stop";
+    static const char FRACTION_CLOSE_STOP[] = "fraction_close_stop";
+
+    static const char MATCHING[] = "matching";
+    static const char SQUARED_DISTANCE_LIMIT[] = "squaredDistanceLimit";
+    static const char SQUARED_SHIFT_LIMIT[] = "squaredShiftLimit";
+
+    static const char VALIDATION[] = "validation";
+    static const char STABLE_COUNT[] = "stable_count";
+    static const char MAX_DIFFERENCE[] = "max_difference";
+    static const char MIN_TRACKER_CONFIDENCE[] = "min_trackerConfidence";
+    static const char MIN_MATCHED_STARS[] = "min_matchedStars";
+
+    static const char TRACKING[] = "tracking";
+    static const char THIN_LIMIT[] = "thinLimit";
+    static const char OUTLIER_THRESHOLD[] = "outlierThreshold";
+    static const char OUTLIER_THRESHOLD_QUEST[] = "outlierThresholdQUEST";
+    static const char TRACKER_CHOICE[] = "trackerChoice";
+
+    static const char ALGO[] = "algo";
+    static const char L2T_MIN_CONFIDENCE[] = "l2t_minConfidence";
+    static const char L2T_MIN_MATCHED[] = "l2t_minConfidence";
+    static const char T2L_MIN_CONFIDENCE[] = "t2l_minConfidence";
+    static const char T2L_MIN_MATCHED[] = "t2l_minMatched";
+}
+
+#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_ */

bsp_q7s/devices/startracker/ArcsecJsonParamBase.cpp

@@ -0,0 +1,94 @@
+#include "ArcsecJsonParamBase.h"
+#include "ArcsecJsonKeys.h"
+
+ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}
+
+ReturnValue_t ArcsecJsonParamBase::create(std::string fullname, uint8_t* buffer) {
+    ReturnValue_t result = RETURN_OK;
+    result = init(fullname);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    result = createCommand(buffer);
+    return result;
+}
+
+ReturnValue_t ArcsecJsonParamBase::getParam(const std::string name, std::string& value) {
+    for (json::iterator it = set.begin(); it != set.end(); ++it) {
+        if ((*it)[arcseckeys::NAME] == name) {
+            value = (*it)[arcseckeys::VALUE];
+            convertEmpty(value);
+            return RETURN_OK;
+        }
+    }
+    return PARAM_NOT_EXISTS;
+}
+
+void ArcsecJsonParamBase::convertEmpty(std::string& value) {
+    if (value == "") {
+        value = "0";
+    }
+}
+
+void ArcsecJsonParamBase::addfloat(const std::string value, uint8_t* buffer) {
+    float param = std::stof(value);
+    std::memcpy(buffer, &param, sizeof(param));
+}
+
+void ArcsecJsonParamBase::adduint8(const std::string value, uint8_t* buffer) {
+    uint8_t param = std::stoi(value);
+    std::memcpy(buffer, &param, sizeof(param));
+}
+
+void ArcsecJsonParamBase::addint16(const std::string value, uint8_t* buffer) {
+    int16_t param = std::stoi(value);
+    std::memcpy(buffer, &param, sizeof(param));
+}
+
+void ArcsecJsonParamBase::adduint16(const std::string value, uint8_t* buffer) {
+    uint16_t param = std::stoi(value);
+    std::memcpy(buffer, &param, sizeof(param));
+}
+
+void ArcsecJsonParamBase::adduint32(const std::string value, uint8_t* buffer) {
+    uint32_t param = std::stoi(value);
+    std::memcpy(buffer, &param, sizeof(param));
+}
+
+void ArcsecJsonParamBase::addSetParamHeader(uint8_t* buffer, uint8_t setId) {
+    *buffer = static_cast<uint8_t>(TMTC_SETPARAMREQ);
+    *(buffer + 1) = setId;
+}
+
+ReturnValue_t ArcsecJsonParamBase::init(const std::string filename) {
+    ReturnValue_t result = RETURN_OK;
+    if (not std::filesystem::exists(filename)) {
+        sif::warning << "ArcsecJsonParamBase::init: JSON file " << filename << " does not exist"
+                << std::endl;
+        return JSON_FILE_NOT_EXISTS;
+    }
+    createJsonObject(filename);
+    result = initSet();
+    if (result != RETURN_OK) {
+        return result;
+    }
+    return RETURN_OK;
+}
+
+void ArcsecJsonParamBase::createJsonObject(const std::string fullname) {
+    json j;
+    std::ifstream file(fullname);
+    file >> j;
+    file.close();
+    properties = j[arcseckeys::PROPERTIES];
+}
+
+ReturnValue_t ArcsecJsonParamBase::initSet() {
+    for (json::iterator it = properties.begin(); it != properties.end(); ++it) {
+        if ((*it)["name"] == setName) {
+            set = (*it)["fields"];
+            return RETURN_OK;
+        }
+    }
+    return SET_NOT_EXISTS;
+}

bsp_q7s/devices/startracker/ArcsecJsonParamBase.h

@@ -0,0 +1,149 @@
+#ifndef BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
+#define BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
+
+#include <fstream>
+#include <filesystem>
+#include <nlohmann/json.hpp>
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "StarTrackerDefinitions.h"
+
+extern "C" {
+    #include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
+    #include "thirdparty/arcsec_star_tracker/common/genericstructs.h"
+}
+
+using json = nlohmann::json;
+
+/**
+ * @brief   Base class for creation of parameter configuration commands. Reads parameter set
+ *          from a json file located on the filesystem and generates the appropriate command
+ *          to apply the parameters to the star tracker software.
+ *
+ * @author  J. Meier
+ */
+class ArcsecJsonParamBase : public HasReturnvaluesIF {
+public:
+
+    static const uint8_t INTERFACE_ID = CLASS_ID::ARCSEC_JSON_BASE;
+    //! [EXPORT] : [COMMENT] Specified json file does not exist
+    static const ReturnValue_t JSON_FILE_NOT_EXISTS = MAKE_RETURN_CODE(1);
+    //! [EXPORT] : [COMMENT] Requested set does not exist in json file
+    static const ReturnValue_t SET_NOT_EXISTS = MAKE_RETURN_CODE(2);
+    //! [EXPORT] : [COMMENT] Requested parameter does not exist in json file
+    static const ReturnValue_t PARAM_NOT_EXISTS = MAKE_RETURN_CODE(3);
+
+    /**
+     * @brief Constructor
+     *
+     * @param fullname  Name with absolute path of json file containing the parameters to set.
+     */
+    ArcsecJsonParamBase(std::string setName);
+
+    /**
+     * @brief   Fills a buffer with a parameter set
+     *
+     * @param fullname  The name including the absolute path of the json file containing the
+     *                  parameter set.
+     * @param buffer    Pointer to the buffer the command will be written to
+     */
+    ReturnValue_t create(std::string fullname, uint8_t* buffer);
+
+    /**
+     * @brief   Returns the size of the parameter command.
+     */
+    virtual size_t getSize() = 0;
+
+protected:
+
+    /**
+     * @brief   Reads the value of a parameter from a json set
+     *
+     * @param name  The name of the parameter
+     * @param value The string representation of the read value
+     *
+     * @return  RETURN_OK if successful, otherwise PARAM_NOT_EXISTS
+     */
+    ReturnValue_t getParam(const std::string name, std::string& value);
+
+    /**
+     * @brief   Converts empty string which is equal to define a value as zero.
+     */
+    void convertEmpty(std::string& value);
+
+    /**
+     * @brief   This function adds a float represented as string to a buffer
+     *
+     * @param value     The float in string representation to add
+     * @param buffer    Pointer to the buffer the float will be written to
+     */
+    void addfloat(const std::string value, uint8_t* buffer);
+
+    /**
+     * @brief   This function adds a uint8_t represented as string to a buffer
+     *
+     * @param value     The uint8_t in string representation to add
+     * @param buffer    Pointer to the buffer the uint8_t will be written to
+     */
+    void adduint8(const std::string value, uint8_t* buffer);
+
+    /**
+     * @brief   This function adds a int16_t represented as string to a buffer
+     *
+     * @param value     The int16_t in string representation to add
+     * @param buffer    Pointer to the buffer the int16_t will be written to
+     */
+    void addint16(const std::string value, uint8_t* buffer);
+
+    /**
+     * @brief   This function adds a uint16_t represented as string to a buffer
+     *
+     * @param value     The uint16_t in string representation to add
+     * @param buffer    Pointer to the buffer the uint16_t will be written to
+     */
+    void adduint16(const std::string value, uint8_t* buffer);
+
+    /**
+     * @brief   This function adds a uint32_t represented as string to a buffer
+     *
+     * @param value     The uint32_t in string representation to add
+     * @param buffer    Pointer to the buffer the uint32_t will be written to
+     */
+    void adduint32(const std::string value, uint8_t* buffer);
+
+    void addSetParamHeader(uint8_t* buffer, uint8_t setId);
+
+private:
+
+    json properties;
+    json set;
+    std::string setName;
+
+    /**
+     * @brief   This function must be implemented by the derived class to define creation of a
+     *          parameter command.
+     */
+    virtual ReturnValue_t createCommand(uint8_t* buffer) = 0;
+
+    /**
+     * @brief   Initializes the properties json object and the set json object
+     *
+     * @param fullname  Name including absolute path to json file
+     * @param setName   The name of the set to work on
+     *
+     * @param return    JSON_FILE_NOT_EXISTS if specified file does not exist, otherwise
+     *                  RETURN_OK
+     */
+    ReturnValue_t init(const std::string filename);
+
+    void createJsonObject(const std::string fullname);
+
+    /**
+     * @brief   Extracts the json set object form the json file
+     *
+     * @param setName   The name of the set to create the json object from
+     */
+    ReturnValue_t initSet();
+};
+
+#endif /* BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_ */

bsp_q7s/devices/startracker/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${TARGET_NAME} PRIVATE
+    StarTrackerHandler.cpp
+    StarTrackerJsonCommands.cpp
+    ArcsecDatalinkLayer.cpp
+    ArcsecJsonParamBase.cpp
+    StrHelper.cpp
+)

bsp_q7s/devices/startracker/StarTrackerHandler.h

@@ -0,0 +1,548 @@
+#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
+#define MISSION_DEVICES_STARTRACKERHANDLER_H_
+
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
+#include "fsfw/timemanager/Countdown.h"
+#include "thirdparty/arcsec_star_tracker/common/SLIP.h"
+#include <fsfw/datapool/PoolReadGuard.h>
+#include "ArcsecDatalinkLayer.h"
+#include "StarTrackerDefinitions.h"
+#include "ArcsecJsonParamBase.h"
+#include "StrHelper.h"
+
+/**
+ * @brief	This is the device handler for the star tracker from arcsec.
+ *
+ * @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
+ *                     Arbeitsdaten/08_Used%20Components/ArcSec_KULeuven_Startracker/
+ *                     Sagitta%201.0%20Datapack&fileid=659181
+ * @author	J. Meier
+ */
+class StarTrackerHandler: 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.
+	 */
+    StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
+            StrHelper* strHelper);
+	virtual ~StarTrackerHandler();
+
+	ReturnValue_t initialize() override;
+
+	/**
+	 * @brief   Overwrite this function from DHB to handle commands executed by the str image
+	 *          loader task.
+	 */
+    ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+            const uint8_t* data, size_t size) override;
+
+    void performOperationHook() override;
+
+protected:
+	void doStartUp() override;
+	void doShutDown() override;
+	void doOffActivity() 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;
+	/**
+	 * @brief   Overwritten here to always read all available data from the UartComIF.
+	 */
+	virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
+	virtual ReturnValue_t doSendReadHook() override;
+
+private:
+
+	static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
+
+	//! [EXPORT] : [COMMENT] Received reply is too short
+    static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB0);
+	//! [EXPORT] : [COMMENT] Received reply with invalid CRC
+    static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB1);
+	//! [EXPORT] : [COMMENT] Image loader executing
+    static const ReturnValue_t IMAGE_LOADER_EXECUTING = MAKE_RETURN_CODE(0xB2);
+
+    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
+
+    //! [EXPORT] : [COMMENT] Status in temperature reply signals error
+    static const ReturnValue_t TEMPERATURE_REQ_FAILED = MAKE_RETURN_CODE(0xA0);
+    //! [EXPORT] : [COMMENT] Ping command failed
+    static const ReturnValue_t PING_FAILED = MAKE_RETURN_CODE(0xA1);
+    //! [EXPORT] : [COMMENT] Status in version reply signals error
+    static const ReturnValue_t VERSION_REQ_FAILED = MAKE_RETURN_CODE(0xA3);
+    //! [EXPORT] : [COMMENT] Status in interface reply signals error
+    static const ReturnValue_t INTERFACE_REQ_FAILED = MAKE_RETURN_CODE(0xA4);
+    //! [EXPORT] : [COMMENT] Status in power reply signals error
+    static const ReturnValue_t POWER_REQ_FAILED = MAKE_RETURN_CODE(0xA5);
+    //! [EXPORT] : [COMMENT] Status of reply to parameter set command signals error
+    static const ReturnValue_t SET_PARAM_FAILED = MAKE_RETURN_CODE(0xA6);
+    //! [EXPORT] : [COMMENT] Status of reply to action command signals error
+    static const ReturnValue_t ACTION_FAILED = MAKE_RETURN_CODE(0xA7);
+    //! [EXPORT] : [COMMENT] Received upload image command with invalid length
+    static const ReturnValue_t UPLOAD_TOO_SHORT = MAKE_RETURN_CODE(0xA8);
+    //! [EXPORT] : [COMMENT] Received upload image command with invalid position field
+    static const ReturnValue_t UPLOAD_INVALID_POSITION = MAKE_RETURN_CODE(0xA8);
+    //! [EXPORT] : [COMMENT] Position value in upload image reply not matching sent position
+    static const ReturnValue_t UPLOAD_IMAGE_FAILED = MAKE_RETURN_CODE(0xA9);
+    //! [EXPORT] : [COMMENT] Received upload image command with invalid length
+    static const ReturnValue_t INVALID_UPLOAD_COMMAND = MAKE_RETURN_CODE(0xAA);
+    //! [EXPORT] : [COMMENT] Received invalid path string. Exceeds allowed length
+    static const ReturnValue_t FILE_PATH_TOO_LONG = MAKE_RETURN_CODE(0xAB);
+    //! [EXPORT] : [COMMENT] Name of file received with command is too long
+    static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xAC);
+    //! [EXPORT] : [COMMENT] Received version reply with invalid program ID
+    static const ReturnValue_t INVALID_PROGRAM = MAKE_RETURN_CODE(0xAD);
+    //! [EXPORT] : [COMMENT] Status field reply signals error
+    static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAE);
+    //! [EXPORT] : [COMMENT] Status field of contrast reply signals error
+    static const ReturnValue_t CONTRAST_REQ_FAILED = MAKE_RETURN_CODE(0xAE);
+    //! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper execution)
+    static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAF);
+    //! [EXPORT] : [COMMENT] Received command with invalid length (too few or too many parameters)
+    static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xB0);
+    //! [EXPORT] : [COMMENT] Region mismatch between send and received data
+    static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xB1);
+    //! [EXPORT] : [COMMENT] Address mismatch between send and received data
+    static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xB2);
+    //! [EXPORT] : [COMMENT] Length field mismatch between send and received data
+    static const ReturnValue_t lENGTH_MISMATCH = MAKE_RETURN_CODE(0xB3);
+    //! [EXPORT] : [COMMENT] Specified file does not exist
+    static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xB4);
+    //! [EXPORT] : [COMMENT] Reply to upload centroid does not match commanded centroid id
+    static const ReturnValue_t UPLOAD_CENTROID_ID_MISMATCH = MAKE_RETURN_CODE(0xB5);
+    //! [EXPORT] : [COMMENT] Download blob pixel command has invalid type field
+    static const ReturnValue_t INVALID_TYPE = MAKE_RETURN_CODE(0xB6);
+    //! [EXPORT] : [COMMENT] Received FPGA action command with invalid ID
+    static const ReturnValue_t INVALID_ID = MAKE_RETURN_CODE(0xB7);
+
+    static const size_t MAX_PATH_SIZE = 50;
+    static const size_t MAX_FILE_NAME = 30;
+
+    // position (uint32) + 1024 image data
+    static const size_t UPLOAD_COMMAND_LEN = 1028;
+    // Max valid position value in upload image command
+    static const uint16_t MAX_POSITION= 4095;
+    static const uint8_t STATUS_OFFSET = 1;
+    static const uint8_t TICKS_OFFSET = 2;
+    static const uint8_t TIME_OFFSET = 6;
+    static const uint8_t TM_DATA_FIELD_OFFSET = 14;
+    static const uint8_t PARAMETER_ID_OFFSET = 0;
+    static const uint8_t ACTION_ID_OFFSET = 0;
+    static const uint8_t ACTION_DATA_OFFSET = 2;
+    // Ping request will reply ping with this ID (data field)
+    static const uint32_t PING_ID = 0x55;
+    static const uint32_t BOOT_REGION_ID = 1;
+    static const MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
+    static const uint32_t MUTEX_TIMEOUT = 20;
+    static const uint32_t BOOT_TIMEOUT = 1000;
+
+    class WriteCmd {
+    public:
+        static const uint8_t ADDRESS_OFFSET = 1;
+        static const uint8_t FILE_OFFSET = 5;
+        // Minimum length of a write command (region, address and filename)
+        static const size_t MIN_LENGTH = 7;
+    };
+
+    class ReadCmd {
+    public:
+        static const uint8_t ADDRESS_OFFSET = 1;
+        static const uint8_t LENGTH_OFFSET = 5;
+        static const uint8_t FILE_OFFSET = 9;
+        // Minimum length of a read command (region, address, length and filename)
+        static const size_t MIN_LENGTH = 11;
+    };
+
+    class EraseCmd {
+    public:
+        static const uint8_t LENGTH = 1;
+        uint8_t rememberRegion = 0;
+    };
+
+    EraseCmd eraseCmd;
+
+    class UnlockCmd {
+    public:
+        static const uint8_t CODE_OFFSET = 1;
+    };
+
+    class ChecksumCmd {
+    public:
+        static const uint8_t ADDRESS_OFFSET = 1;
+        static const uint8_t LENGTH_OFFSET = 5;
+        // Length of checksum command
+        static const size_t LENGTH = 9;
+        uint8_t rememberRegion = 0;
+        uint32_t rememberAddress = 0;
+        uint32_t rememberLength = 0;
+    };
+
+    ChecksumCmd checksumCmd;
+
+    class SetTimeCmd {
+    public:
+        static const uint8_t LENGTH = 8;
+    };
+
+    class DownloadCentroidCmd {
+    public:
+        static const uint8_t LENGTH = 1;
+    };
+
+    class UploadCentroid {
+    public:
+        uint8_t rememberId = 0;
+    };
+
+    UploadCentroid uploadCentroid;
+
+    class DownloadMatchedStarCmd {
+    public:
+        static const uint8_t LENGTH = 1;
+    };
+
+    class DownloadDbImageCmd {
+    public:
+        static const uint8_t LENGTH = 1;
+    };
+
+    class DownloadBlobPixCmd {
+    public:
+        static const uint8_t LENGTH = 2;
+        static const uint8_t NORMAL = 0;
+        static const uint8_t FAST = 1;
+    };
+
+    class FpgaDownloadCmd {
+    public:
+        static const uint8_t MIN_LENGTH = 10;
+    };
+
+    class FpgaActionCmd {
+    public:
+        static const uint8_t LENGTH = 1;
+        static const uint8_t ID = 3;
+    };
+
+    MessageQueueIF* eventQueue = nullptr;
+
+    ArcsecDatalinkLayer dataLinkLayer;
+
+    StarTracker::TemperatureSet temperatureSet;
+    StarTracker::VersionSet versionSet;
+    StarTracker::PowerSet powerSet;
+    StarTracker::InterfaceSet interfaceSet;
+    StarTracker::TimeSet timeSet;
+    StarTracker::SolutionSet solutionSet;
+    StarTracker::HistogramSet histogramSet;
+    StarTracker::ContrastSet contrastSet;
+    StarTracker::ChecksumSet checksumSet;
+    StarTracker::DownloadCentroidSet downloadCentroidSet;
+    StarTracker::DownloadMatchedStar downloadMatchedStar;
+    StarTracker::DownloadDBImage downloadDbImage;
+    StarTracker::DownloadBlobPixel downloadBlobPixel;
+
+    // Pointer to object responsible for uploading and downloading images to/from the star tracker
+    StrHelper* strHelper = nullptr;
+
+	uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
+
+	// Countdown to insert delay for star tracker to switch from bootloader to firmware program
+	Countdown bootCountdown;
+
+	std::string paramJsonFile = "/mnt/sd0/startracker/full.json";
+
+	enum class InternalState {
+	    TEMPERATURE_REQUEST
+    };
+
+	InternalState internalState = InternalState::TEMPERATURE_REQUEST;
+
+	enum class StartupState {
+	    IDLE,
+	    CHECK_BOOT_STATE,
+        BOOT,
+        BOOT_DELAY,
+        LIMITS,
+        TRACKING,
+        MOUNTING,
+        CAMERA,
+        BLOB,
+        CENTROIDING,
+        LISA,
+        MATCHING,
+        VALIDATION,
+        ALGO,
+        WAIT_FOR_EXECUTION,
+        DONE
+    };
+
+    StartupState startupState = StartupState::IDLE;
+
+	bool strHelperExecuting = false;
+
+	/**
+	 * @brief   Handles internal state
+	 */
+	void handleInternalState();
+
+	/**
+	 * @brief   Checks mode for commands requiring MODE_ON of MODE_NORMAL for execution.
+	 *
+	 * @param actionId  Action id of command to execute
+	 */
+	ReturnValue_t checkMode(ActionId_t actionId);
+
+	/**
+	 * @brief   This function initializes the serial link ip protocol struct slipInfo.
+	 */
+	void slipInit();
+
+	ReturnValue_t scanForActionReply(DeviceCommandId_t *foundId);
+	ReturnValue_t scanForParameterReply(DeviceCommandId_t *foundId);
+	ReturnValue_t scanForTmReply(DeviceCommandId_t *foundId);
+
+	/**
+	 * @brief   Fills command buffer with data to ping the star tracker
+	 */
+	void preparePingRequest();
+
+	/**
+	 * @brief   Fills command buffer with data to request the time telemetry.
+	 */
+	void prepareTimeRequest();
+
+	/**
+	 * @brief    Handles all received event messages
+	 */
+	void handleEvent(EventMessage* eventMessage);
+
+	/**
+	 * @brief   Executes the write command
+	 *
+	 * @param commandData       Pointer to received command data
+	 * @param commandDataLen    Size of received command data
+	 *
+	 * @return  RETURN_OK if start of execution was successful, otherwise error return value
+	 */
+	ReturnValue_t executeWriteCommand(const uint8_t* commandData, size_t commandDataLen);
+
+	/**
+	 * @brief   Starts the execution of the fpga download command
+	 *
+	 * @param commandData       Pointer to buffer with command data
+	 * @param commandDataLen    Size of received command
+	 */
+	ReturnValue_t executeFpgaDownloadCommand(const uint8_t* commandData, size_t commandDataLen);
+
+	/**
+     * @brief   Extracts information for flash-read-command from TC data and starts execution of
+     *          flash-read-procedure
+     *
+     * @param commandData       Pointer to received command data
+     * @param commandDataLen    Size of received command data
+     *
+     * @return  RETURN_OK if start of execution was successful, otherwise error return value
+     */
+    ReturnValue_t executeReadCommand(const uint8_t* commandData, size_t commandDataLen);
+
+	/**
+	 * @brief   Fills command buffer with data to boot image (works only when star tracker is
+	 *          in bootloader mode).
+	 */
+	void prepareBootCommand();
+
+	/**
+	 * @brief   Fills command buffer with command to erase a flash region
+	 */
+	ReturnValue_t prepareEraseCommand(const uint8_t* commandData, size_t commandDataLen);
+
+	/**
+	 * @brief   Fills command buffer with command to unlock flash region
+	 */
+	ReturnValue_t prepareUnlockCommand(const uint8_t* commandData, size_t commandDataLen);
+
+	/**
+	 * @brief   Fills command buffer with command to get the checksum of a flash part
+	 */
+	ReturnValue_t prepareChecksumCommand(const uint8_t* commandData, size_t commandDataLen);
+
+	/**
+	 * @brief   Fills command buffer with command to set the unix time
+	 */
+	ReturnValue_t prepareSetTimeCommand(const uint8_t* commandData, size_t commandDataLen);
+
+	/**
+	 * @brief   Fills command buffer with command to request a centroid
+	 */
+	ReturnValue_t prepareDownloadCentroidCommand(const uint8_t* commandData, size_t commandDataLen);
+
+	/**
+	 * @brief   Fills command buffer with command to upload a centroid for testing purpose
+	 */
+	ReturnValue_t prepareUploadCentroidCommand(const uint8_t* commandData, size_t commandDataLen);
+
+	/**
+	 * @brief   Fills the command buffer with the command to take an image.
+	 */
+	void prepareTakeImageCommand(const uint8_t* commandData);
+
+	/**
+	 * @brief   Fills command buffer with data to request the version telemetry packet
+	 */
+	void prepareVersionRequest();
+
+	/**
+	 * @brief   Fills the command buffer with data to request the interface telemetry packet.
+	 */
+	void prepareInterfaceRequest();
+
+	/**
+	 * @brief   Fills the command buffer with data to request the power telemetry packet.
+	 */
+	void preparePowerRequest();
+
+	/**
+	 * @brief   Fills command buffer with data to reboot star tracker.
+	 */
+	void prepareRebootCommand();
+
+	/**
+	 * @brief   Fills command buffer with data to subscribe to a telemetry packet.
+	 *
+	 * @param tmId  The ID of the telemetry packet to subscribe to
+	 */
+	void prepareSubscriptionCommand(const uint8_t* tmId);
+
+	/**
+     * @brief   Fills command buffer with data to request solution telemtry packet (contains
+     *          attitude information)
+     */
+	void prepareSolutionRequest();
+
+	/**
+     * @brief   Fills command buffer with data to request temperature from star tracker
+     */
+	void prepareTemperatureRequest();
+
+	/**
+     * @brief   Fills command buffer with data to request histogram
+     */
+	void prepareHistogramRequest();
+
+	void prepareContrastRequest();
+
+	/**
+	 * @brief   Fills command buffer with command to reset the error signal of the star tracker
+	 */
+	void prepareErrorResetRequest();
+
+	/**
+	 * @brief   Reads parameters from json file specified by string in commandData and
+	 *          prepares the command to apply the parameter set to the star tracker
+	 *
+	 * @param commandData       Contains string with file name
+	 * @param commandDataLen    Length of command
+	 * @param paramSet          The object defining the command generation
+	 *
+	 * @return  RETURN_OK if successful, otherwise error return Value
+	 */
+    ReturnValue_t prepareParamCommand(const uint8_t* commandData, size_t commandDataLen,
+            ArcsecJsonParamBase& paramSet);
+
+    /**
+     * @brief   Fills command buffer with data to request matched star.
+     */
+    ReturnValue_t prepareDownloadMatchedStarCommand(const uint8_t* commandData,
+            size_t commandDataLen);
+
+    /**
+     * @brief   Fills command buffer with data to request matched star coordinates.
+     */
+    ReturnValue_t prepareDownloadDbImageCommand(const uint8_t* commandData,
+            size_t commandDataLen);
+
+    /**
+     * @brief   Fills command buffer with data to request output of the blob filter algorithm.
+     */
+    ReturnValue_t prepareDownloadBlobPixelCommand(const uint8_t* commandData,
+            size_t commandDataLen);
+
+    /**
+     * @brief   With this command the FPGA update will be applied to the star tracker
+     */
+    ReturnValue_t prepareFpgaActionCommand(const uint8_t* commandData, size_t commandDataLen);
+
+    /**
+     * @brief   Handles action replies with datasets.
+     */
+    ReturnValue_t handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size);
+
+	/**
+	 * @brief   Default function to handle action replies
+	 */
+	ReturnValue_t handleActionReply();
+
+	/**
+	 * @brief   Handles reply to upload centroid command
+	 */
+	ReturnValue_t handleUploadCentroidReply();
+
+	/**
+	 * @brief   Handles reply to erase command
+	 */
+	ReturnValue_t handleEraseReply();
+
+	/**
+	 * @brief   Handles reply to checksum command
+	 */
+	ReturnValue_t handleChecksumReply();
+
+	/**
+	 * @brief   Handles all set parameter replies
+	 */
+	ReturnValue_t handleSetParamReply();
+
+	ReturnValue_t handlePingReply();
+
+	/**
+	 * @brief   Checks the loaded program by means of the version set
+	 */
+	ReturnValue_t checkProgram();
+
+	/**
+	 * @brief   Handles the startup state machine
+	 */
+	void handleStartup(const uint8_t* parameterId);
+
+	/**
+	 * @brief   Handles telemtry replies and fills the appropriate dataset
+	 *
+	 * @param dataset   Dataset where reply data will be written to
+	 * @param size      Size of the dataset
+	 *
+	 * @return  RETURN_OK if successful, otherwise error return value
+	 */
+	ReturnValue_t handleTm(LocalPoolDataSetBase& dataset, size_t size);
+};
+
+#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */

bsp_q7s/devices/startracker/StarTrackerJsonCommands.cpp

@@ -0,0 +1,716 @@
+#include "StarTrackerJsonCommands.h"
+#include "ArcsecJsonKeys.h"
+
+Limits::Limits() : ArcsecJsonParamBase(arcseckeys::LIMITS) {}
+
+size_t Limits::getSize() {
+    return COMMAND_SIZE;
+}
+
+ReturnValue_t Limits::createCommand(uint8_t* buffer) {
+    ReturnValue_t result = RETURN_OK;
+    uint8_t offset = 0;
+    std::string param;
+    addSetParamHeader(buffer, StarTracker::ID::LIMITS);
+    offset = 2;
+    result = getParam(arcseckeys::ACTION, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::FPGA18CURRENT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::FPGA25CURRENT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::FPGA10CURRENT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::MCUCURRENT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::CMOS21CURRENT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::CMOSPIXCURRENT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::CMOS33CURRENT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::CMOSVRESCURRENT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::CMOS_TEMPERATURE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::MCU_TEMPERATURE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    return RETURN_OK;
+}
+
+
+Tracking::Tracking() : ArcsecJsonParamBase(arcseckeys::TRACKING) {}
+
+size_t Tracking::getSize() {
+    return COMMAND_SIZE;
+}
+
+ReturnValue_t Tracking::createCommand(uint8_t* buffer) {
+    ReturnValue_t result = RETURN_OK;
+    uint8_t offset = 0;
+    std::string param;
+    addSetParamHeader(buffer, StarTracker::ID::TRACKING);
+    offset = 2;
+    result = getParam(arcseckeys::THIN_LIMIT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::OUTLIER_THRESHOLD, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::OUTLIER_THRESHOLD_QUEST, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::TRACKER_CHOICE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    return RETURN_OK;
+}
+
+
+Mounting::Mounting() : ArcsecJsonParamBase(arcseckeys::MOUNTING) {}
+
+size_t Mounting::getSize() {
+    return COMMAND_SIZE;
+}
+
+ReturnValue_t Mounting::createCommand(uint8_t* buffer) {
+    ReturnValue_t result = RETURN_OK;
+    uint8_t offset = 0;
+    std::string param;
+    addSetParamHeader(buffer, StarTracker::ID::MOUNTING);
+    offset = 2;
+    result = getParam(arcseckeys::qw, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::qx, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::qy, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::qz, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    return RETURN_OK;
+}
+
+
+Camera::Camera() : ArcsecJsonParamBase(arcseckeys::CAMERA) {}
+
+size_t Camera::getSize() {
+    return COMMAND_SIZE;
+}
+
+ReturnValue_t Camera::createCommand(uint8_t* buffer) {
+    ReturnValue_t result = RETURN_OK;
+    uint8_t offset = 0;
+    std::string param;
+    addSetParamHeader(buffer, StarTracker::ID::CAMERA);
+    offset = 2;
+    result = getParam(arcseckeys::MODE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::FOCALLENGTH, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::EXPOSURE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::INTERVAL, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::OFFSET, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addint16(param, buffer + offset);
+    offset += sizeof(int16_t);
+    result = getParam(arcseckeys::PGAGAIN, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::ADCGAIN, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::REG_1, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::VAL_1, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::REG_2, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::VAL_2, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::REG_3, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::VAL_3, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::REG_4, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::VAL_4, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::REG_5, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::VAL_5, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::REG_6, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::VAL_6, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::REG_7, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::VAL_7, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::REG_8, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::VAL_8, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::FREQ_1, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::FREQ_2, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    return RETURN_OK;
+}
+
+
+Blob::Blob() : ArcsecJsonParamBase(arcseckeys::BLOB) {}
+
+size_t Blob::getSize() {
+    return COMMAND_SIZE;
+}
+
+ReturnValue_t Blob::createCommand(uint8_t* buffer) {
+    ReturnValue_t result = RETURN_OK;
+    uint8_t offset = 0;
+    std::string param;
+    addSetParamHeader(buffer, StarTracker::ID::BLOB);
+    offset = 2;
+    result = getParam(arcseckeys::MODE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::MIN_VALUE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::MIN_DISTANCE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::NEIGHBOUR_DISTANCE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::NEIGHBOUR_BRIGHT_PIXELS, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::MIN_TOTAL_VALUE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint16(param, buffer + offset);
+    offset += sizeof(uint16_t);
+    result = getParam(arcseckeys::MAX_TOTAL_VALUE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint16(param, buffer + offset);
+    offset += sizeof(uint16_t);
+    result = getParam(arcseckeys::MIN_BRIGHT_NEIGHBOURS, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint16(param, buffer + offset);
+    offset += sizeof(uint16_t);
+    result = getParam(arcseckeys::MAX_BRIGHT_NEIGHBOURS, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint16(param, buffer + offset);
+    offset += sizeof(uint16_t);
+    result = getParam(arcseckeys::MAX_PIXEL_TO_CONSIDER, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint32(param, buffer + offset);
+    offset += sizeof(uint32_t);
+    result = getParam(arcseckeys::SIGNAL_THRESHOLD, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::DARK_THRESHOLD, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::ENABLE_HISTOGRAM, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::ENABLE_CONTRAST, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::BIN_MODE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    return RETURN_OK;
+}
+
+
+Centroiding::Centroiding() : ArcsecJsonParamBase(arcseckeys::CENTROIDING) {}
+
+size_t Centroiding::getSize() {
+    return COMMAND_SIZE;
+}
+
+ReturnValue_t Centroiding::createCommand(uint8_t* buffer) {
+    ReturnValue_t result = RETURN_OK;
+    uint8_t offset = 0;
+    std::string param;
+    addSetParamHeader(buffer, StarTracker::ID::CENTROIDING);
+    offset = 2;
+    result = getParam(arcseckeys::ENABLE_FILTER, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::MAX_QUALITY, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::MIN_QUALITY, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::MAX_INTENSITY, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::MIN_INTENSITY, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::MAX_MAGNITUDE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::GAUSSIAN_CMAX, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::GAUSSIAN_CMIN, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::TRANSMATRIX_00, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::TRANSMATRIX_01, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::TRANSMATRIX_10, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::TRANSMATRIX_11, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    return RETURN_OK;
+}
+
+
+Lisa::Lisa() : ArcsecJsonParamBase(arcseckeys::LISA) {}
+
+size_t Lisa::getSize() {
+    return COMMAND_SIZE;
+}
+
+ReturnValue_t Lisa::createCommand(uint8_t* buffer) {
+    ReturnValue_t result = RETURN_OK;
+    uint8_t offset = 0;
+    std::string param;
+    addSetParamHeader(buffer, StarTracker::ID::LISA);
+    offset = 2;
+    result = getParam(arcseckeys::PREFILTER_DIST_THRESHOLD, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::PREFILTER_ANGLE_THRESHOLD, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::FOV_WIDTH, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::FOV_HEIGHT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::FLOAT_STAR_LIMIT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::CLOSE_STAR_LIMIT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::RATING_WEIGHT_CLOSE_STAR_COUNT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::RATING_WEIGHT_FRACTION_CLOSE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::RATING_WEIGHT_DB_STAR_COUNT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::MAX_COMBINATIONS, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::NR_STARS_STOP, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::FRACTION_CLOSE_STOP, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    return RETURN_OK;
+}
+
+
+Matching::Matching() : ArcsecJsonParamBase(arcseckeys::MATCHING) {}
+
+size_t Matching::getSize() {
+    return COMMAND_SIZE;
+}
+
+ReturnValue_t Matching::createCommand(uint8_t* buffer) {
+    ReturnValue_t result = RETURN_OK;
+    uint8_t offset = 0;
+    std::string param;
+    addSetParamHeader(buffer, StarTracker::ID::MATCHING);
+    offset = 2;
+    result = getParam(arcseckeys::SQUARED_DISTANCE_LIMIT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::SQUARED_SHIFT_LIMIT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    return RETURN_OK;
+}
+
+
+Validation::Validation() : ArcsecJsonParamBase(arcseckeys::VALIDATION) {}
+
+size_t Validation::getSize() {
+    return COMMAND_SIZE;
+}
+
+ReturnValue_t Validation::createCommand(uint8_t* buffer) {
+    ReturnValue_t result = RETURN_OK;
+    uint8_t offset = 0;
+    std::string param;
+    addSetParamHeader(buffer, StarTracker::ID::VALIDATION);
+    offset = 2;
+    result = getParam(arcseckeys::STABLE_COUNT, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::MAX_DIFFERENCE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::MIN_TRACKER_CONFIDENCE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::MIN_MATCHED_STARS, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    return RETURN_OK;
+}
+
+Algo::Algo() : ArcsecJsonParamBase(arcseckeys::ALGO) {}
+
+size_t Algo::getSize() {
+    return COMMAND_SIZE;
+}
+
+ReturnValue_t Algo::createCommand(uint8_t* buffer) {
+    ReturnValue_t result = RETURN_OK;
+    uint8_t offset = 0;
+    std::string param;
+    addSetParamHeader(buffer, StarTracker::ID::ALGO);
+    offset = 2;
+    result = getParam(arcseckeys::MODE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::L2T_MIN_CONFIDENCE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::L2T_MIN_MATCHED, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    offset += sizeof(uint8_t);
+    result = getParam(arcseckeys::T2L_MIN_CONFIDENCE, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    addfloat(param, buffer + offset);
+    offset += sizeof(float);
+    result = getParam(arcseckeys::T2L_MIN_MATCHED, param);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    adduint8(param, buffer + offset);
+    return RETURN_OK;
+}

bsp_q7s/devices/startracker/StarTrackerJsonCommands.h

@@ -0,0 +1,215 @@
+#ifndef BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_
+#define BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_
+
+/**
+ * @brief   This file defines a few helper classes to generate commands by means of the parameters
+ *          defined in the arcsec json files.
+ *  @author J. Meier
+ */
+
+#include <string>
+
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "ArcsecJsonParamBase.h"
+
+
+/**
+ * @brief   Generates command to set the limit parameters
+ *
+ */
+class Limits : public ArcsecJsonParamBase {
+public:
+
+    Limits();
+
+    size_t getSize();
+
+private:
+
+    static const  size_t COMMAND_SIZE = 43;
+
+    virtual ReturnValue_t createCommand(uint8_t* buffer) override;
+};
+
+
+/**
+ * @brief   Generates the command to configure the tracking algorithm.
+ *
+ */
+class Tracking : public ArcsecJsonParamBase {
+public:
+
+    Tracking();
+
+    size_t getSize();
+
+private:
+
+    static const  size_t COMMAND_SIZE = 15;
+
+    ReturnValue_t createCommand(uint8_t* buffer) override;
+
+};
+
+
+/**
+ * @brief   Generates the command to set the mounting quaternion
+ *
+ */
+class Mounting : public ArcsecJsonParamBase {
+public:
+
+    Mounting();
+
+    size_t getSize();
+
+private:
+
+    static const  size_t COMMAND_SIZE = 18;
+
+    ReturnValue_t createCommand(uint8_t* buffer) override;
+
+};
+
+
+/**
+ * @brief   Generates the command to set the mounting quaternion
+ *
+ */
+class Camera : public ArcsecJsonParamBase {
+public:
+
+    Camera();
+
+    size_t getSize();
+
+private:
+
+    static const  size_t COMMAND_SIZE = 43;
+
+    ReturnValue_t createCommand(uint8_t* buffer) override;
+
+};
+
+
+/**
+ * @brief   Generates the command to configure the blob algorithm
+ *
+ */
+class Blob : public ArcsecJsonParamBase {
+public:
+
+    Blob();
+
+    size_t getSize();
+
+private:
+
+    static const  size_t COMMAND_SIZE = 24;
+
+    ReturnValue_t createCommand(uint8_t* buffer) override;
+
+};
+
+
+/**
+ * @brief   Generates the command to configure the centroiding algorithm
+ *
+ */
+class Centroiding : public ArcsecJsonParamBase {
+public:
+
+    Centroiding();
+
+    size_t getSize();
+
+private:
+
+    static const  size_t COMMAND_SIZE = 47;
+
+    ReturnValue_t createCommand(uint8_t* buffer) override;
+
+};
+
+
+/**
+ * @brief   Generates the command to configure the LISA (lost in space algorithm)
+ *
+ */
+class Lisa : public ArcsecJsonParamBase {
+public:
+
+    Lisa();
+
+    size_t getSize();
+
+private:
+
+    static const  size_t COMMAND_SIZE = 48;
+
+    ReturnValue_t createCommand(uint8_t* buffer) override;
+
+};
+
+
+/**
+ * @brief   Generates the command to configure the matching algorithm
+ *
+ */
+class Matching : public ArcsecJsonParamBase {
+public:
+
+    Matching();
+
+    size_t getSize();
+
+private:
+
+    static const  size_t COMMAND_SIZE = 10;
+
+    ReturnValue_t createCommand(uint8_t* buffer) override;
+
+};
+
+
+/**
+ * @brief   Generates the command to configure the validation parameters
+ *
+ */
+class Validation : public ArcsecJsonParamBase {
+public:
+
+    Validation();
+
+    size_t getSize();
+
+private:
+
+    static const  size_t COMMAND_SIZE = 12;
+
+    ReturnValue_t createCommand(uint8_t* buffer) override;
+
+};
+
+
+/**
+ * @brief   Generates command to configure the mechanism of automatically switching between the
+ *          LISA and other algorithms.
+ *
+ */
+class Algo : public ArcsecJsonParamBase {
+public:
+
+    Algo();
+
+    size_t getSize();
+
+private:
+
+    static const  size_t COMMAND_SIZE = 13;
+
+    ReturnValue_t createCommand(uint8_t* buffer) override;
+
+};
+
+#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_ */

bsp_q7s/devices/startracker/StrHelper.cpp

@@ -0,0 +1,702 @@
+#include "StrHelper.h"
+
+#include "mission/utility/Timestamp.h"
+
+#include <fstream>
+#include <filesystem>
+
+StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId){
+
+}
+
+StrHelper::~StrHelper() {
+}
+
+ReturnValue_t StrHelper::initialize() {
+    sdcMan = SdCardManager::instance();
+    if (sdcMan == nullptr) {
+        sif::warning << "StrHelper::initialize: Invalid SD Card Manager" << std::endl;
+        return RETURN_FAILED;
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
+    ReturnValue_t result = RETURN_OK;
+    semaphore.acquire();
+    while(true) {
+        switch(internalState) {
+        case InternalState::IDLE: {
+            semaphore.acquire();
+            break;
+        }
+        case InternalState::UPLOAD_IMAGE: {
+            result = performImageUpload();
+            if (result == RETURN_OK){
+                triggerEvent(IMAGE_UPLOAD_SUCCESSFUL);
+            }
+            else {
+                triggerEvent(IMAGE_UPLOAD_FAILED);
+            }
+            internalState = InternalState::IDLE;
+            break;
+        }
+        case InternalState::DOWNLOAD_IMAGE: {
+            result = performImageDownload();
+            if (result == RETURN_OK){
+                triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
+            }
+            else {
+                triggerEvent(IMAGE_DOWNLOAD_FAILED);
+            }
+            internalState = InternalState::IDLE;
+            break;
+        }
+        case InternalState::FLASH_WRITE: {
+            result = performFlashWrite();
+            if (result == RETURN_OK){
+                triggerEvent(FLASH_WRITE_SUCCESSFUL);
+            }
+            else {
+                triggerEvent(FLASH_WRITE_FAILED);
+            }
+            internalState = InternalState::IDLE;
+            break;
+        }
+        case InternalState::FLASH_READ: {
+            result = performFlashRead();
+            if (result == RETURN_OK){
+                triggerEvent(FLASH_READ_SUCCESSFUL);
+            }
+            else {
+                triggerEvent(FLASH_READ_FAILED);
+            }
+            internalState = InternalState::IDLE;
+            break;
+        }
+        case InternalState::DOWNLOAD_FPGA_IMAGE: {
+            result = performFpgaDownload();
+            if (result == RETURN_OK){
+                triggerEvent(FPGA_DOWNLOAD_SUCCESSFUL);
+            }
+            else {
+                triggerEvent(FPGA_DOWNLOAD_FAILED);
+            }
+            internalState = InternalState::IDLE;
+            break;
+        }
+        case InternalState::UPLOAD_FPGA_IMAGE: {
+            result = performFpgaUpload();
+            if (result == RETURN_OK){
+                triggerEvent(FPGA_UPLOAD_SUCCESSFUL);
+            }
+            else {
+                triggerEvent(FPGA_UPLOAD_FAILED);
+            }
+            internalState = InternalState::IDLE;
+            break;
+        }
+        default:
+            sif::debug << "StrHelper::performOperation: Invalid state" << std::endl;
+            break;
+        }
+    }
+}
+
+ReturnValue_t StrHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
+    uartComIF = dynamic_cast<UartComIF*>(communicationInterface_);
+    if (uartComIF == nullptr) {
+        sif::warning << "StrHelper::initialize: Invalid uart com if" << std::endl;
+        return RETURN_FAILED;
+    }
+    return RETURN_OK;
+}
+
+void StrHelper::setComCookie(CookieIF* comCookie_) {
+    comCookie = comCookie_;
+}
+
+ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
+    ReturnValue_t result = checkPath(fullname);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    uploadImage.uploadFile = fullname;
+    if(not std::filesystem::exists(fullname)) {
+        return FILE_NOT_EXISTS;
+    }
+    internalState = InternalState::UPLOAD_FPGA_IMAGE;
+    semaphore.release();
+    terminate = false;
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::startImageDownload(std::string path) {
+    ReturnValue_t result = checkPath(path);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    if(not std::filesystem::exists(path)) {
+        return PATH_NOT_EXISTS;
+    }
+    downloadImage.path = path;
+    internalState = InternalState::DOWNLOAD_IMAGE;
+    terminate = false;
+    semaphore.release();
+    return RETURN_OK;
+}
+
+void StrHelper::stopProcess() {
+    terminate = true;
+}
+
+void StrHelper::setDownloadImageName(std::string filename) {
+    downloadImage.filename = filename;
+}
+
+void StrHelper::setFlashReadFilename(std::string filename) {
+    flashRead.filename = filename;
+}
+
+void StrHelper::setDownloadFpgaImage(std::string filename) {
+    fpgaDownload.fileName = filename;
+}
+
+ReturnValue_t StrHelper::startFlashWrite(std::string fullname, uint8_t region,
+        uint32_t address) {
+    ReturnValue_t result = checkPath(fullname);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    flashWrite.fullname = fullname;
+    if(not std::filesystem::exists(flashWrite.fullname)) {
+        return FILE_NOT_EXISTS;
+    }
+    flashWrite.address = address;
+    flashWrite.region = region;
+    internalState = InternalState::FLASH_WRITE;
+    semaphore.release();
+    terminate = false;
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t region,
+        uint32_t address, uint32_t length) {
+    ReturnValue_t result = checkPath(path);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    flashRead.path = path;
+    if(not std::filesystem::exists(flashRead.path)) {
+        return FILE_NOT_EXISTS;
+    }
+    flashRead.address = address;
+    flashRead.region = region;
+    flashRead.size = length;
+    internalState = InternalState::FLASH_READ;
+    semaphore.release();
+    terminate = false;
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::startFpgaDownload(std::string path, uint32_t startPosition,
+            uint32_t length) {
+    fpgaDownload.path = path;
+    fpgaDownload.startPosition = startPosition;
+    fpgaDownload.length = length;
+    internalState = InternalState::DOWNLOAD_FPGA_IMAGE;
+    semaphore.release();
+    terminate = false;
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::startFpgaUpload(std::string uploadFile) {
+    fpgaUpload.uploadFile = uploadFile;
+    internalState = InternalState::UPLOAD_FPGA_IMAGE;
+    semaphore.release();
+    terminate = false;
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::performImageDownload() {
+    ReturnValue_t result;
+    struct DownloadActionRequest downloadReq;
+    uint32_t size = 0;
+    uint32_t retries = 0;
+    Timestamp timestamp;
+    std::string image = downloadImage.path + "/" + timestamp.str() + downloadImage.filename ;
+    std::ofstream file(image, std::ios_base::app | std::ios_base::out);
+    if(not std::filesystem::exists(image)) {
+        return FILE_CREATION_FAILED;
+    }
+    downloadReq.position = 0;
+    while(downloadReq.position < ImageDownload::LAST_POSITION) {
+        if (terminate) {
+            return RETURN_OK;
+        }
+        arc_pack_download_action_req(&downloadReq, commandBuffer, &size);
+        result = sendAndRead(size, downloadReq.position);
+        if (result != RETURN_OK) {
+            if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
+                uartComIF->flushUartRxBuffer(comCookie);
+                retries++;
+                continue;
+            }
+            file.close();
+            return result;
+        }
+        result = checkActionReply();
+        if (result != RETURN_OK) {
+            if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
+                uartComIF->flushUartRxBuffer(comCookie);
+                retries++;
+                continue;
+            }
+            file.close();
+            return result;
+        }
+        result = checkReplyPosition(downloadReq.position);
+        if (result != RETURN_OK) {
+            if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
+                uartComIF->flushUartRxBuffer(comCookie);
+                retries++;
+                continue;
+            }
+            file.close();
+            return result;
+        }
+        file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + IMAGE_DATA_OFFSET),
+                IMAGE_DATA_SIZE);
+        downloadReq.position++;
+        retries = 0;
+    }
+    file.close();
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::performImageUpload() {
+    ReturnValue_t result = RETURN_OK;
+    uint32_t size = 0;
+    uint32_t imageSize = 0;
+    struct UploadActionRequest uploadReq;
+    uploadReq.position = 0;
+    std::memset(&uploadReq.data, 0, sizeof(uploadReq.data));
+    if (not std::filesystem::exists(uploadImage.uploadFile)) {
+        triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
+        internalState = InternalState::IDLE;
+        return RETURN_FAILED;
+    }
+    std::ifstream file(uploadImage.uploadFile, std::ifstream::binary);
+    // Set position of next character to end of file input stream
+    file.seekg(0, file.end);
+    // tellg returns position of character in input stream
+    imageSize = file.tellg();
+    while((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
+        if (terminate) {
+            return RETURN_OK;
+        }
+        file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
+        file.read(reinterpret_cast<char*>(uploadReq.data), SIZE_IMAGE_PART);
+        arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
+        result = sendAndRead(size, uploadReq.position);
+        if (result != RETURN_OK) {
+            return RETURN_FAILED;
+        }
+        result = checkActionReply();
+        if (result != RETURN_OK) {
+            return result;
+        }
+        uploadReq.position++;
+    }
+    std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
+    uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART;
+    file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
+    file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
+    file.close();
+    uploadReq.position++;
+    arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
+    result = sendAndRead(size, uploadReq.position);
+    if (result != RETURN_OK) {
+        return RETURN_FAILED;
+    }
+    result = checkActionReply();
+    if (result != RETURN_OK) {
+        return result;
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::performFlashWrite() {
+    ReturnValue_t result = RETURN_OK;
+    uint32_t size = 0;
+    uint32_t remainingBytes = 0;
+    uint32_t fileSize = 0;
+    struct WriteActionRequest req;
+    if (not std::filesystem::exists(flashWrite.fullname)) {
+        triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
+        internalState = InternalState::IDLE;
+        return RETURN_FAILED;
+    }
+    std::ifstream file(flashWrite.fullname, std::ifstream::binary);
+    file.seekg(0, file.end);
+    fileSize = file.tellg();
+    remainingBytes = fileSize;
+    req.region = flashWrite.region;
+    req.address = flashWrite.address;
+    req.length = MAX_FLASH_DATA;
+    while(remainingBytes >= MAX_FLASH_DATA) {
+        if (terminate) {
+            return RETURN_OK;
+        }
+        file.seekg(fileSize - remainingBytes, file.beg);
+        file.read(reinterpret_cast<char*>(req.data), MAX_FLASH_DATA);
+        arc_pack_write_action_req(&req, commandBuffer, &size);
+        result = sendAndRead(size, req.address);
+        if (result != RETURN_OK) {
+            return RETURN_FAILED;
+        }
+        result = checkFlashActionReply(req.region, req.address, req.length);
+        if (result != RETURN_OK) {
+            return result;
+        }
+        remainingBytes = remainingBytes - MAX_FLASH_DATA;
+    }
+    file.seekg(fileSize - remainingBytes, file.beg);
+    file.read(reinterpret_cast<char*>(req.data), remainingBytes);
+    file.close();
+    arc_pack_write_action_req(&req, commandBuffer, &size);
+    result = sendAndRead(size, req.address);
+    if (result != RETURN_OK) {
+        return RETURN_FAILED;
+    }
+    result = checkFlashActionReply(req.region, req.address, req.length);
+    if (result != RETURN_OK) {
+        return result;
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::performFlashRead() {
+    ReturnValue_t result;
+    struct ReadActionRequest req;
+    uint32_t bytesRead = 0;
+    uint32_t size = 0;
+    uint32_t retries = 0;
+    Timestamp timestamp;
+    std::string fullname = flashRead.path + "/" + timestamp.str() + flashRead.filename ;
+    std::ofstream file(fullname, std::ios_base::app | std::ios_base::out);
+    if (not std::filesystem::exists(fullname)) {
+        return FILE_CREATION_FAILED;
+    }
+    req.region = flashRead.region;
+    while(bytesRead < flashRead.size) {
+        if (terminate) {
+            return RETURN_OK;
+        }
+        if ((flashRead.size - bytesRead) < MAX_FLASH_DATA) {
+            req.length = flashRead.size - bytesRead;
+        }
+        else {
+            req.length = MAX_FLASH_DATA;
+        }
+        req.address = flashRead.address + bytesRead;
+        arc_pack_read_action_req(&req, commandBuffer, &size);
+        result = sendAndRead(size, req.address);
+        if (result != RETURN_OK) {
+            if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
+                uartComIF->flushUartRxBuffer(comCookie);
+                retries++;
+                continue;
+            }
+            file.close();
+            return result;
+        }
+        result = checkActionReply();
+        if (result != RETURN_OK) {
+            if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
+                uartComIF->flushUartRxBuffer(comCookie);
+                retries++;
+                continue;
+            }
+            file.close();
+            return result;
+        }
+        result = checkFlashActionReply(req.region, req.address, req.length);
+        if (result != RETURN_OK) {
+            if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
+                uartComIF->flushUartRxBuffer(comCookie);
+                retries++;
+                continue;
+            }
+            file.close();
+            return result;
+        }
+        file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + FLASH_READ_DATA_OFFSET),
+                req.length);
+        bytesRead += req.length;
+        retries = 0;
+    }
+    file.close();
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::performFpgaDownload() {
+    ReturnValue_t result;
+    struct DownloadFPGAImageActionRequest req;
+    uint32_t size = 0;
+    uint32_t retries = 0;
+    Timestamp timestamp;
+    std::string image = fpgaDownload.path + "/" + timestamp.str() + fpgaDownload.fileName;
+    std::ofstream file(image, std::ios_base::app | std::ios_base::out);
+    if(not std::filesystem::exists(image)) {
+        return FILE_CREATION_FAILED;
+    }
+    req.pos = fpgaDownload.startPosition;
+    while(req.pos < fpgaDownload.length) {
+        if (terminate) {
+            return RETURN_OK;
+        }
+        if (fpgaDownload.length - req.pos >= FpgaDownload::MAX_DATA) {
+            req.length = FpgaDownload::MAX_DATA;
+        }
+        else {
+            req.length = fpgaDownload.length - req.pos;
+        }
+        arc_pack_downloadfpgaimage_action_req(&req, commandBuffer, &size);
+        result = sendAndRead(size, req.pos);
+        if (result != RETURN_OK) {
+            if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
+                uartComIF->flushUartRxBuffer(comCookie);
+                retries++;
+                continue;
+            }
+            file.close();
+            return result;
+        }
+        result = checkFpgaActionReply(req.pos, req.length);
+        if (result != RETURN_OK) {
+            if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
+                uartComIF->flushUartRxBuffer(comCookie);
+                retries++;
+                continue;
+            }
+            file.close();
+            return result;
+        }
+        file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + FpgaDownload::DATA_OFFSET),
+                req.length);
+        req.pos += req.length;
+        retries = 0;
+    }
+    file.close();
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::performFpgaUpload() {
+    ReturnValue_t result = RETURN_OK;
+    uint32_t commandSize = 0;
+    uint32_t bytesUploaded = 0;
+    uint32_t fileSize = 0;
+    struct UploadFPGAImageActionRequest req;
+    if (not std::filesystem::exists(fpgaUpload.uploadFile)) {
+        triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
+        internalState = InternalState::IDLE;
+        return RETURN_FAILED;
+    }
+    std::ifstream file(flashWrite.fullname, std::ifstream::binary);
+    file.seekg(0, file.end);
+    fileSize = file.tellg();
+    req.pos = 0;
+    while(bytesUploaded <= fileSize) {
+        if (terminate) {
+            return RETURN_OK;
+        }
+        if (fileSize - bytesUploaded > FpgaUpload::MAX_DATA) {
+            req.length = FpgaUpload::MAX_DATA;
+        }
+        else {
+            req.length = fileSize - bytesUploaded;
+        }
+        file.seekg(bytesUploaded, file.beg);
+        file.read(reinterpret_cast<char*>(req.data), req.length);
+        arc_pack_uploadfpgaimage_action_req(&req, commandBuffer, &commandSize);
+        result = sendAndRead(commandSize, req.pos);
+        if (result != RETURN_OK) {
+            return RETURN_FAILED;
+        }
+        result = checkFpgaActionReply(req.pos, req.length);
+        if (result != RETURN_OK) {
+            return result;
+        }
+        bytesUploaded += req.length;
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
+    ReturnValue_t result = RETURN_OK;
+    ReturnValue_t decResult = RETURN_OK;
+    size_t receivedDataLen = 0;
+    uint8_t *receivedData = nullptr;
+    size_t bytesLeft = 0;
+    uint32_t missedReplies = 0;
+    datalinkLayer.encodeFrame(commandBuffer, size);
+    result = uartComIF->sendMessage(comCookie, datalinkLayer.getEncodedFrame(),
+        datalinkLayer.getEncodedLength());
+    if (result != RETURN_OK) {
+        sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl;
+        triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, parameter);
+        return RETURN_FAILED;
+    }
+    decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS;
+    while (decResult == ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
+        result = uartComIF->requestReceiveMessage(comCookie,
+                StarTracker::MAX_FRAME_SIZE * 2 + 2);
+        if (result != RETURN_OK) {
+            sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl;
+            triggerEvent(STR_HELPER_REQUESTING_MSG_FAILED, result, parameter);
+            return RETURN_FAILED;
+        }
+        result = uartComIF->readReceivedMessage(comCookie, &receivedData, &receivedDataLen);
+        if (result != RETURN_OK) {
+            sif::warning << "StrHelper::sendAndRead: Failed to read received message" << std::endl;
+            triggerEvent(STR_HELPER_READING_REPLY_FAILED, result, parameter);
+            return RETURN_FAILED;
+        }
+        if (receivedDataLen == 0 && missedReplies < MAX_POLLS) {
+            missedReplies++;
+            continue;
+        }
+        else if ((receivedDataLen == 0) && (missedReplies >= MAX_POLLS)) {
+            triggerEvent(STR_HELPER_NO_REPLY, parameter);
+            return RETURN_FAILED;
+        }
+        else {
+            missedReplies = 0;
+        }
+        decResult = datalinkLayer.decodeFrame(receivedData, receivedDataLen, &bytesLeft);
+        if (bytesLeft != 0) {
+            // This should never happen
+            sif::warning << "StrHelper::sendAndRead: Bytes left after decoding" << std::endl;
+            triggerEvent(STR_HELPER_COM_ERROR, result, parameter);
+            return RETURN_FAILED;
+        }
+    }
+    if (decResult != RETURN_OK) {
+        triggerEvent(STR_HELPER_DEC_ERROR, decResult, parameter);
+        return RETURN_FAILED;
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::checkActionReply() {
+    uint8_t type = datalinkLayer.getReplyFrameType();
+    if (type != TMTC_ACTIONREPLY) {
+        sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID"
+                << std::endl;
+        return INVALID_TYPE_ID;
+    }
+    uint8_t status = datalinkLayer.getStatusField();
+    if (status != ArcsecDatalinkLayer::STATUS_OK) {
+        sif::warning << "StrHelper::checkActionReply: Status failure: "
+                << static_cast<unsigned int>(status) << std::endl;
+        return STATUS_ERROR;
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
+    uint32_t receivedPosition = 0;
+    std::memcpy(&receivedPosition, datalinkLayer.getReply() + POS_OFFSET, sizeof(receivedPosition));
+    if (receivedPosition != expectedPosition) {
+        triggerEvent(POSITION_MISMATCH, receivedPosition);
+        return RETURN_FAILED;
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::checkFlashActionReply(uint8_t region_, uint32_t address_,
+        uint16_t length_) {
+    ReturnValue_t result = RETURN_OK;
+    result = checkActionReply();
+    if (result != RETURN_OK) {
+        return result;
+    }
+    const uint8_t* data = datalinkLayer.getReply();
+    uint8_t region = *(data + REGION_OFFSET);
+    uint32_t address;
+    const uint8_t* addressData = data + ADDRESS_OFFSET;
+    size_t size = sizeof(address);
+    result = SerializeAdapter::deSerialize(&address, &addressData, &size,
+                SerializeIF::Endianness::LITTLE);
+    if (result != RETURN_OK) {
+        sif::warning << "StrHelper::checkFlashActionReply: Deserialization of address failed"
+                << std::endl;
+        return result;
+    }
+    uint16_t length;
+    size = sizeof(length);
+    const uint8_t* lengthData = data + LENGTH_OFFSET;
+    result = SerializeAdapter::deSerialize(&length, lengthData, &size,
+                SerializeIF::Endianness::LITTLE);
+    if (result != RETURN_OK) {
+        sif::warning << "StrHelper::checkFlashActionReply: Deserialization of length failed"
+                << std::endl;
+    }
+    if (region != region_) {
+        return REGION_MISMATCH;
+    }
+    if (address != address_) {
+        return ADDRESS_MISMATCH;
+    }
+    if (length != length_) {
+        return LENGTH_MISMATCH;
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t StrHelper::checkFpgaActionReply(uint32_t expectedPosition,
+        uint32_t expectedLength) {
+    ReturnValue_t result = RETURN_OK;
+    result = checkActionReply();
+    if (result != RETURN_OK) {
+        return result;
+    }
+    const uint8_t* data = datalinkLayer.getReply() + ACTION_DATA_OFFSET;
+    uint32_t position;
+    size_t size = sizeof(position);
+    result = SerializeAdapter::deSerialize(&position, &data, &size,
+            SerializeIF::Endianness::LITTLE);
+    if (result != RETURN_OK) {
+        sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of position failed"
+                << std::endl;
+        return result;
+    }
+    uint32_t length;
+    size = sizeof(length);
+    result = SerializeAdapter::deSerialize(&length, &data, &size,
+                SerializeIF::Endianness::LITTLE);
+    if (result != RETURN_OK) {
+        sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of length failed"
+                << std::endl;
+        return result;
+    }
+    return result;
+}
+
+ReturnValue_t StrHelper::checkPath(std::string name) {
+    if (name.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT))
+            == std::string(SdCardManager::SD_0_MOUNT_POINT)) {
+        if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+            sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl;
+            return SD_NOT_MOUNTED;
+        }
+    } else if (name.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT))
+            == std::string(SdCardManager::SD_1_MOUNT_POINT)) {
+        if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+            sif::warning << "StrHelper::checkPath: SD card 1 not mounted" << std::endl;
+            return SD_NOT_MOUNTED;
+        }
+    }
+    return RETURN_OK;
+}

bsp_q7s/devices/startracker/StrHelper.h

@@ -0,0 +1,397 @@
+#ifndef BSP_Q7S_DEVICES_STRHELPER_H_
+#define BSP_Q7S_DEVICES_STRHELPER_H_
+
+#include <string>
+#include "ArcsecDatalinkLayer.h"
+#include "fsfw/osal/linux/BinarySemaphore.h"
+#include "bsp_q7s/memory/SdCardManager.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "fsfw/devicehandlers/CookieIF.h"
+
+extern "C" {
+    #include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
+    #include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h"
+}
+
+/**
+ * @brief   Helper class for the star tracker handler to accelerate large data transfers.
+ */
+class StrHelper: public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
+public:
+
+    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;
+
+    //! [EXPORT] : [COMMENT] Image upload failed
+    static const Event IMAGE_UPLOAD_FAILED = MAKE_EVENT(0, severity::LOW);
+    //! [EXPORT] : [COMMENT] Image download failed
+    static const Event IMAGE_DOWNLOAD_FAILED = MAKE_EVENT(1, severity::LOW);
+    //! [EXPORT] : [COMMENT] Uploading image to star tracker was successfulop
+    static const Event IMAGE_UPLOAD_SUCCESSFUL = MAKE_EVENT(2, severity::LOW);
+    //! [EXPORT] : [COMMENT] Image download was successful
+    static const Event IMAGE_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
+    //! [EXPORT] : [COMMENT] Finished flash write procedure successfully
+    static const Event FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(4, severity::LOW);
+    //! [EXPORT] : [COMMENT] Finished flash read procedure successfully
+    static const Event FLASH_READ_SUCCESSFUL = MAKE_EVENT(5, severity::LOW);
+    //! [EXPORT] : [COMMENT] Flash write procedure failed
+    static const Event FLASH_WRITE_FAILED = MAKE_EVENT(6, severity::LOW);
+    //! [EXPORT] : [COMMENT] Flash read procedure failed
+    static const Event FLASH_READ_FAILED = MAKE_EVENT(7, severity::LOW);
+    //! [EXPORT] : [COMMENT] Download of FPGA image successful
+    static const Event FPGA_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(8, severity::LOW);
+    //! [EXPORT] : [COMMENT] Download of FPGA image failed
+    static const Event FPGA_DOWNLOAD_FAILED = MAKE_EVENT(9, severity::LOW);
+    //! [EXPORT] : [COMMENT] Upload of FPGA image successful
+    static const Event FPGA_UPLOAD_SUCCESSFUL = MAKE_EVENT(10, severity::LOW);
+    //! [EXPORT] : [COMMENT] Upload of FPGA image failed
+    static const Event FPGA_UPLOAD_FAILED = MAKE_EVENT(11, severity::LOW);
+    //! [EXPORT] : [COMMENT] Failed to read communication interface reply data
+    //!P1: Return code of failed communication interface read call
+    //!P1: Upload/download position for which the read call failed
+    static const Event STR_HELPER_READING_REPLY_FAILED = MAKE_EVENT(12, severity::LOW);
+    //! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence
+    //!P1: Return code of failed communication interface read call
+    //!P1: Upload/download position for which the read call failed
+    static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(13, severity::LOW);
+    //! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
+    //!P1: Position of upload or download packet for which no reply was sent
+    static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(14, severity::LOW);
+    //! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
+    //P1: Return value of decoding function
+    //P2: Position of upload/download packet, or address of flash write/read request
+    static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(15, severity::LOW);
+    //! [EXPORT] : [COMMENT] Position mismatch
+    //! P1: The expected position and thus the position for which the image upload/download failed
+    static const Event POSITION_MISMATCH = MAKE_EVENT(16, severity::LOW);
+    //! [EXPORT] : [COMMENT] Specified file does not exist
+    //!P1: Internal state of str helper
+    static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(17, severity::LOW);
+    //! [EXPORT] : [COMMENT] Sending packet to star tracker failed
+    //!P1: Return code of communication interface sendMessage function
+    //!P2: Position of upload/download packet, or address of flash write/read request for which sending failed
+    static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(18, severity::LOW);
+    //! [EXPORT] : [COMMENT] Communication interface requesting reply failed
+    //!P1: Return code of failed request
+    //!P1: Upload/download position, or address of flash write/read request for which transmission failed
+    static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(19, severity::LOW);
+
+    StrHelper(object_id_t objectId);
+    virtual ~StrHelper();
+
+    ReturnValue_t initialize() override;
+    ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+
+    ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
+    void setComCookie(CookieIF* comCookie_);
+
+    /**
+     * @brief   Starts sequence to upload image to star tracker
+     *
+     * @param uploadImage_  Name including absolute path of the image to upload. Must be previously
+     *                      transferred to the OBC with the CFDP protocol.
+     */
+    ReturnValue_t startImageUpload(std::string uploadImage_);
+
+    /**
+     * @brief   Calling this function initiates the download of an image from the star tracker.
+     *
+     * @param path  Path where downloaded image will be stored
+     */
+    ReturnValue_t startImageDownload(std::string path);
+
+    /**
+     * @brief   Starts the flash write procedure
+     *
+     * @param fullname             Full name including absolute path of file to write to flash
+     * @param region               Region ID of flash region to write to
+     * @param address              Start address of flash write procedure
+     */
+    ReturnValue_t startFlashWrite(std::string fullname, uint8_t region, uint32_t address);
+
+    /**
+     * @brief   Starts the flash read procedure
+     *
+     * @param path                 Path where file with read flash data will be created
+     * @param region               Region ID of flash region to read from
+     * @param address    Start address of flash section to read
+     * @param length               Number of bytes to read from flash
+     */
+    ReturnValue_t startFlashRead(std::string path, uint8_t region, uint32_t address,
+            uint32_t length);
+
+    /**
+     * @brief   Starts the download of the FPGA image
+     *
+     * @param path          The path where the file with the downloaded data will be created
+     * @param startPosition Offset in fpga image to read from
+     * @param length        Number of bytes to dwonload from the FPGA image
+     *
+     */
+    ReturnValue_t startFpgaDownload(std::string path, uint32_t startPosition, uint32_t length);
+
+    /**
+     * @brief   Starts upload of new image to FPGA
+     *
+     * @param uploadFile      Full name of file containing FPGA image data
+     */
+    ReturnValue_t startFpgaUpload(std::string uploadFile);
+
+    /**
+     * @brief   Can be used to interrupt a running data transfer.
+     */
+    void stopProcess();
+
+    /**
+     * @brief   Changes the dafault name of downloaded images
+     */
+    void setDownloadImageName(std::string filename);
+
+    /**
+     * @brief   Sets the name of the file which will be created to store the data read from flash
+     */
+    void setFlashReadFilename(std::string filename);
+
+    /**
+     * @brief   Set download FPGA image name
+     */
+    void setDownloadFpgaImage(std::string filename);
+
+private:
+
+    static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
+
+    //! [EXPORT] : [COMMENT] SD card specified in path string not mounted
+    static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA0);
+    //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
+    static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
+    //! [EXPORT] : [COMMENT] Specified path does not exist
+    static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
+    //! [EXPORT] : [COMMENT] Failed to create download image or read flash file
+    static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(0xA3);
+    //! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
+    static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xA4);
+    //! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
+    static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xA5);
+    //! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
+    static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(0xA6);
+    //! [EXPORT] : [COMMENT] Status field in reply signals error
+    static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(0xA7);
+    //! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type)
+    static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(0xA8);
+
+    // Size of one image part which can be sent per action request
+    static const size_t SIZE_IMAGE_PART = 1024;
+
+    class ImageDownload {
+    public:
+        static const uint32_t LAST_POSITION = 4095;
+    };
+
+    class FpgaDownload {
+    public:
+        static const uint16_t MAX_DATA = 1024;
+        static const uint8_t DATA_OFFSET = 10;
+        // Start position of fpga image part to download
+        uint32_t startPosition = 0;
+        // Length of image part to download
+        uint32_t length = 0;
+        // Path where downloaded FPGA image will be stored
+        std::string path;
+        // Name of file containing downloaded FPGA image
+        std::string fileName = "fpgaimage.bin";
+    };
+    FpgaDownload fpgaDownload;
+
+    class FpgaUpload {
+    public:
+        static const uint32_t MAX_DATA = 1024;
+        // Full name of file to upload
+        std::string uploadFile;
+    };
+    FpgaUpload fpgaUpload;
+
+    static const uint32_t MAX_POLLS = 10000;
+
+    static const uint8_t ACTION_DATA_OFFSET = 2;
+    static const uint8_t POS_OFFSET = 2;
+    static const uint8_t IMAGE_DATA_OFFSET = 5;
+    static const uint8_t FLASH_READ_DATA_OFFSET = 8;
+    static const uint8_t REGION_OFFSET = 2;
+    static const uint8_t ADDRESS_OFFSET = 3;
+    static const uint8_t LENGTH_OFFSET = 7;
+    static const size_t IMAGE_DATA_SIZE = 1024;
+    static const size_t MAX_FLASH_DATA = 1024;
+    static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
+
+    enum class InternalState {
+        IDLE,
+        UPLOAD_IMAGE,
+        DOWNLOAD_IMAGE,
+        FLASH_WRITE,
+        FLASH_READ,
+        DOWNLOAD_FPGA_IMAGE,
+        UPLOAD_FPGA_IMAGE
+    };
+
+    InternalState internalState = InternalState::IDLE;
+
+    ArcsecDatalinkLayer datalinkLayer;
+
+    BinarySemaphore semaphore;
+
+    class UploadImage {
+    public:
+        // Name including absolute path of image to upload
+        std::string uploadFile;
+    };
+    UploadImage uploadImage;
+
+    class DownloadImage {
+    public:
+        // Path where the downloaded image will be stored
+        std::string path;
+        // Default name of downloaded image, can be changed via command
+        std::string filename = "image.bin";
+    };
+    DownloadImage downloadImage;
+
+    class FlashWrite {
+    public:
+        // File which contains data to write when executing the flash write command
+        std::string fullname;
+        // Will be set with the flash write command
+        uint8_t region = 0;
+        // Will be set with the flash write command and specifies the start address where to write the
+        // flash data to
+        uint32_t address = 0;
+    };
+    FlashWrite flashWrite;
+
+    class FlashRead {
+    public:
+        // Path where the file containing the read data will be stored
+        std::string path = "";
+        // Default name of file containing the data read from flash, can be changed via command
+        std::string filename = "flashread.bin";
+        // Will be set with the flash read command
+        uint8_t region = 0;
+        // Will be set with the flash read command and specifies the start address of the flash section
+        // to read
+        uint32_t address = 0;
+        // Number of bytes to read from flash
+        uint32_t size = 0;
+    };
+    FlashRead flashRead;
+
+    SdCardManager* sdcMan = nullptr;
+
+    uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
+
+    bool terminate = false;
+
+    /**
+     * UART communication object responsible for low level access of star tracker
+     * Must be set by star tracker handler
+     */
+    UartComIF* uartComIF = nullptr;
+    // Communication cookie. Must be set by the star tracker handler
+    CookieIF* comCookie = nullptr;
+
+    // Queue id of raw data receiver
+    MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
+
+    /**
+     * @brief   Performs image uploading
+     */
+    ReturnValue_t performImageUpload();
+
+    /**
+     * @brief   Performs download of last taken image from the star tracker.
+     *
+     * @details Download is split over multiple packets transporting each a maximum of 1024 bytes.
+     *          In case the download of one position fails, the same packet will be again
+     *          requested. If the download of the packet fails CONFIG_MAX_DOWNLOAD_RETRIES times,
+     *          the download will be stopped.
+     */
+    ReturnValue_t performImageDownload();
+
+    /**
+     * @brief   Handles flash write procedure
+     *
+     * @return RETURN_OK if successful, otherwise RETURN_FAILED
+     */
+    ReturnValue_t performFlashWrite();
+
+    /**
+     * @brief   Sends a sequence of commands to the star tracker to read larger parts from the
+     *          flash memory.
+     */
+    ReturnValue_t performFlashRead();
+
+    /**
+     * @brief   Performs the download of the FPGA image which requires to be slip over multiple
+     *          action requests.
+     */
+    ReturnValue_t performFpgaDownload();
+
+    /**
+     * @brief   Performs upload of new FPGA image. Upload sequence split over multiple commands
+     *          because one command can only transport 1024 bytes of image data.
+     */
+    ReturnValue_t performFpgaUpload();
+
+    /**
+     * @brief   Sends packet to the star tracker and reads reply by using the communication
+     *          interface
+     *
+     * @param size        Size of data beforehand written to the commandBuffer
+     * @param parameter   Parameter 2 of trigger event function
+     *
+     * @return  RETURN_OK if successful, otherwise RETURN_FAILED
+     */
+    ReturnValue_t sendAndRead(size_t size, uint32_t parameter);
+
+    /**
+     * @brief   Checks the header (type id and status fields) of the action reply
+     *
+     * @return  RETURN_OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED
+     */
+    ReturnValue_t checkActionReply();
+
+    /**
+     * @brief   Checks the position field in a star tracker upload/download reply.
+     *
+     * @param expectedPosition  Value of expected position
+     *
+     * @return RETURN_OK if received position matches expected position, otherwise RETURN_FAILED
+     */
+    ReturnValue_t checkReplyPosition(uint32_t expectedPosition);
+
+    /**
+     * @brief   Checks the region, address and length value of a flash write or read reply.
+     *
+     * @return  RETURN_OK if values match expected values, otherwise appropriate error return
+     *          value.
+     */
+    ReturnValue_t checkFlashActionReply(uint8_t region_, uint32_t address_, uint16_t length_);
+
+    /**
+     * @brief   Checks the reply to the fpga download and upload request
+     *
+     * @param expectedPosition  The expected position value in the reply
+     * @param expectedLength    The expected length field in the reply
+     */
+    ReturnValue_t checkFpgaActionReply(uint32_t expectedPosition, uint32_t expectedLength);
+
+    /**
+     * @brief   Checks if a path points to an sd card and whether the SD card is monuted.
+     *
+     * @return  SD_NOT_MOUNTED id SD card is not mounted, otherwise RETURN_OK
+     */
+    ReturnValue_t checkPath(std::string name);
+};
+
+#endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */

bsp_q7s/gpio/gpioCallbacks.cpp

@@ -27,13 +27,15 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
     GpiodRegularByLineName* spiMuxBit = nullptr;
     /** Setting mux bit 1 to low will disable IC21 on the interface board */
     spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1",
-            gpio::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
     /** Setting mux bit 2 to low disables IC1 on the TCS board */
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2", gpio::OUT, gpio::HIGH);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2",
+            gpio::DIR_OUT, gpio::HIGH);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
     /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 3", gpio::OUT, gpio::LOW);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 3",
+            gpio::DIR_OUT, gpio::LOW);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
 
 //    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1",
@@ -47,14 +49,17 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
 //    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
 
     /** The following gpios can take arbitrary initial values */
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4", gpio::OUT, gpio::LOW);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4",
+            gpio::DIR_OUT, gpio::LOW);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 5", gpio::OUT, gpio::LOW);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 5",
+            gpio::DIR_OUT, gpio::LOW);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6", gpio::OUT, gpio::LOW);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6",
+            gpio::DIR_OUT, gpio::LOW);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
     GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_CS,
-            "EN_RW_CS", gpio::OUT, gpio::HIGH);
+            "EN_RW_CS", gpio::DIR_OUT, gpio::HIGH);
     spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
 
     result = gpioComInterface->addGpios(spiMuxGpios);

bsp_q7s/memory/SdCardManager.cpp

@@ -455,3 +455,33 @@ void SdCardManager::setPrintCommandOutput(bool print) {
 
 }
 
+bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
+    SdCardManager::SdStatePair active;
+    ReturnValue_t result = this->getSdCardActiveStatus(active);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
+        return false;
+    }
+    if (sdCard == sd::SLOT_0) {
+        if (active.first == sd::MOUNTED) {
+            return true;
+        }
+        else {
+            return false;
+        }
+    }
+    else if (sdCard == sd::SLOT_1) {
+        if (active.second == sd::MOUNTED) {
+            return true;
+        }
+        else {
+            return false;
+        }
+    }
+    else {
+        sif::debug << "SdCardManager::isSdCardMounted: Unknown SD card specified" << std::endl;
+    }
+    return false;
+}
+
+

bsp_q7s/memory/SdCardManager.h

@@ -195,6 +195,15 @@ public:
 
     void setBlocking(bool blocking);
     void setPrintCommandOutput(bool print);
+
+    /**
+     * @brief   Checks if an SD card is mounted
+     *
+     * @param sdCard    The SD crad to check
+     *
+     * @return  true if mounted, otherwise false
+     */
+    bool isSdCardMounted(sd::SdCard sdCard);
 private:
     CommandExecutor cmdExecutor;
     Operations currentOp = Operations::IDLE;

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

@@ -17,7 +17,7 @@ fi
 
 os_fsfw="linux"
 tgt_bsp="arm/q7s"
-build_dir="build-Debug-Q7S"
+build_dir="build-Release-Q7S"
 build_generator="make"
 if [ "${OS}" = "Windows_NT" ]; then
     python="py"
@@ -28,6 +28,6 @@ fi
 
 echo "Running command (without the leading +):"
 set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}" \
 	-l"${build_dir}"
 # set +x

common/config/commonClassIds.h

@@ -19,10 +19,13 @@ enum commonClassIds: uint8_t {
 	CCSDS_IP_CORE_BRIDGE, //IPCI
 	PTME, //PTME
 	PLOC_UPDATER, //PLUD
+	STR_HELPER, //STRHLP
     GOM_SPACE_HANDLER, //GOMS
     PLOC_MEMORY_DUMPER, //PLMEMDUMP
     PDEC_HANDLER, //PDEC
-    CCSDS_HANDLER, //PDEC
+    CCSDS_HANDLER, //CCSDS
+    ARCSEC_JSON_BASE, //JSONBASE
+    NVM_PARAM_BASE, //NVMB
 	COMMON_CLASS_ID_END // [EXPORT] : [END]
 };
 

common/config/commonObjects.h

@@ -87,10 +87,11 @@ enum commonObjects: uint32_t {
     RW3 = 0x44120249,
     RW4 = 0x44120350,
 
-    START_TRACKER = 0x44130001,
+    STAR_TRACKER = 0x44130001,
 
     PLOC_UPDATER = 0x44330000,
-    PLOC_MEMORY_DUMPER = 0x44330001
+    PLOC_MEMORY_DUMPER = 0x44330001,
+    STR_HELPER = 0x44330002
 };
 }
 

common/config/commonSubsystemIds.h

@@ -18,6 +18,7 @@ enum: uint8_t {
 	PLOC_UPDATER = 117,
 	PLOC_MEMORY_DUMPER = 118,
 	PDEC_HANDLER = 119,
+	STR_HELPER = 120,
 	COMMON_SUBSYSTEM_ID_END
 };
 }

common/config/devConf.h

@@ -12,15 +12,15 @@ namespace spi {
 
 // 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 uint32_t LIS3_TRANSITION_DELAY = 5000;
 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 uint32_t RM3100_TRANSITION_DELAY = 5000;
 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 uint32_t L3G_TRANSITION_DELAY = 5000;
 static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
 
 static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;

fsfw

@@ -1 +1 @@
-Subproject commit ceb87b5abb2992a18266328e0ea34d9af15db7af
+Subproject commit b98c85d33fd79853e674f75dadd0a082a962aee4

generators/bsp_q7s_events.csv

@@ -1,120 +1,140 @@
-2200;STORE_SEND_WRITE_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2200;STORE_SEND_WRITE_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2201;STORE_WRITE_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2201;STORE_WRITE_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2202;STORE_SEND_READ_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2202;STORE_SEND_READ_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2203;STORE_READ_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2203;STORE_READ_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2204;UNEXPECTED_MSG;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2204;UNEXPECTED_MSG;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2205;STORING_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2205;STORING_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2206;TM_DUMP_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2206;TM_DUMP_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2207;STORE_INIT_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2207;STORE_INIT_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2208;STORE_INIT_EMPTY;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2208;STORE_INIT_EMPTY;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2209;STORE_CONTENT_CORRUPTED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2209;STORE_CONTENT_CORRUPTED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2210;STORE_INITIALIZE;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2210;STORE_INITIALIZE;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2211;INIT_DONE;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2211;INIT_DONE;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2212;DUMP_FINISHED;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2212;DUMP_FINISHED;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2213;DELETION_FINISHED;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2213;DELETION_FINISHED;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2214;DELETION_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2214;DELETION_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2215;AUTO_CATALOGS_SENDING_FAILED;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
+2215;AUTO_CATALOGS_SENDING_FAILED;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/tmstorage/TmStoreBackendIF.h
-2600;GET_DATA_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+2600;GET_DATA_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-2601;STORE_DATA_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
+2601;STORE_DATA_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/storagemanager/StorageManagerIF.h
-2800;DEVICE_BUILDING_COMMAND_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2800;DEVICE_BUILDING_COMMAND_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2801;DEVICE_SENDING_COMMAND_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2801;DEVICE_SENDING_COMMAND_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2802;DEVICE_REQUESTING_REPLY_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2802;DEVICE_REQUESTING_REPLY_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2803;DEVICE_READING_REPLY_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2803;DEVICE_READING_REPLY_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2804;DEVICE_INTERPRETING_REPLY_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2804;DEVICE_INTERPRETING_REPLY_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2805;DEVICE_MISSED_REPLY;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2805;DEVICE_MISSED_REPLY;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2806;DEVICE_UNKNOWN_REPLY;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2806;DEVICE_UNKNOWN_REPLY;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2807;DEVICE_UNREQUESTED_REPLY;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2807;DEVICE_UNREQUESTED_REPLY;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2808;INVALID_DEVICE_COMMAND;LOW;Indicates a SW bug in child class.;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2808;INVALID_DEVICE_COMMAND;LOW;Indicates a SW bug in child class.;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2809;MONITORING_LIMIT_EXCEEDED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2809;MONITORING_LIMIT_EXCEEDED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-2810;MONITORING_AMBIGUOUS;HIGH;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
+2810;MONITORING_AMBIGUOUS;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/devicehandlers/DeviceHandlerIF.h
-4201;FUSE_CURRENT_HIGH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h
+4201;FUSE_CURRENT_HIGH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
-4202;FUSE_WENT_OFF;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h
+4202;FUSE_WENT_OFF;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
-4204;POWER_ABOVE_HIGH_LIMIT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h
+4204;POWER_ABOVE_HIGH_LIMIT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
-4205;POWER_BELOW_LOW_LIMIT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/Fuse.h
+4205;POWER_BELOW_LOW_LIMIT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/Fuse.h
-4300;SWITCH_WENT_OFF;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/power/PowerSwitchIF.h
+4300;SWITCH_WENT_OFF;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/power/PowerSwitchIF.h
-5000;HEATER_ON;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h
+5000;HEATER_ON;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
-5001;HEATER_OFF;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h
+5001;HEATER_OFF;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
-5002;HEATER_TIMEOUT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h
+5002;HEATER_TIMEOUT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
-5003;HEATER_STAYED_ON;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h
+5003;HEATER_STAYED_ON;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
-5004;HEATER_STAYED_OFF;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/Heater.h
+5004;HEATER_STAYED_OFF;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/Heater.h
-5200;TEMP_SENSOR_HIGH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5200;TEMP_SENSOR_HIGH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
-5201;TEMP_SENSOR_LOW;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5201;TEMP_SENSOR_LOW;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
-5202;TEMP_SENSOR_GRADIENT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
+5202;TEMP_SENSOR_GRADIENT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/AbstractTemperatureSensor.h
-5901;COMPONENT_TEMP_LOW;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5901;COMPONENT_TEMP_LOW;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
-5902;COMPONENT_TEMP_HIGH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5902;COMPONENT_TEMP_HIGH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
-5903;COMPONENT_TEMP_OOL_LOW;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5903;COMPONENT_TEMP_OOL_LOW;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
-5904;COMPONENT_TEMP_OOL_HIGH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5904;COMPONENT_TEMP_OOL_HIGH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
-5905;TEMP_NOT_IN_OP_RANGE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
+5905;TEMP_NOT_IN_OP_RANGE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/thermal/ThermalComponentIF.h
-7101;FDIR_CHANGED_STATE;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7101;FDIR_CHANGED_STATE;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
-7102;FDIR_STARTS_RECOVERY;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7102;FDIR_STARTS_RECOVERY;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
-7103;FDIR_TURNS_OFF_DEVICE;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
+7103;FDIR_TURNS_OFF_DEVICE;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/fdir/FailureIsolationBase.h
-7201;MONITOR_CHANGED_STATE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
+7201;MONITOR_CHANGED_STATE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
-7202;VALUE_BELOW_LOW_LIMIT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
+7202;VALUE_BELOW_LOW_LIMIT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
-7203;VALUE_ABOVE_HIGH_LIMIT;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
+7203;VALUE_ABOVE_HIGH_LIMIT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
-7204;VALUE_OUT_OF_RANGE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
+7204;VALUE_OUT_OF_RANGE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/monitoring/MonitoringIF.h
-7301;SWITCHING_TM_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datapool/HkSwitchHelper.h
+7301;SWITCHING_TM_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datapool/HkSwitchHelper.h
-7400;CHANGING_MODE;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
+7400;CHANGING_MODE;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
-7401;MODE_INFO;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
+7401;MODE_INFO;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
-7402;FALLBACK_FAILED;HIGH;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
+7402;FALLBACK_FAILED;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
-7403;MODE_TRANSITION_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
+7403;MODE_TRANSITION_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
-7404;CANT_KEEP_MODE;HIGH;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
+7404;CANT_KEEP_MODE;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
-7405;OBJECT_IN_INVALID_MODE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
+7405;OBJECT_IN_INVALID_MODE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
-7406;FORCING_MODE;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
+7406;FORCING_MODE;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
-7407;MODE_CMD_REJECTED;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/modes/HasModesIF.h
+7407;MODE_CMD_REJECTED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/modes/HasModesIF.h
-7506;HEALTH_INFO;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
+7506;HEALTH_INFO;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
-7507;CHILD_CHANGED_HEALTH;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
+7507;CHILD_CHANGED_HEALTH;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
-7508;CHILD_PROBLEMS;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
+7508;CHILD_PROBLEMS;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
-7509;OVERWRITING_HEALTH;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
+7509;OVERWRITING_HEALTH;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
-7510;TRYING_RECOVERY;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
+7510;TRYING_RECOVERY;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
-7511;RECOVERY_STEP;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
+7511;RECOVERY_STEP;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
-7512;RECOVERY_DONE;MEDIUM;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/health/HasHealthIF.h
+7512;RECOVERY_DONE;MEDIUM;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/health/HasHealthIF.h
-7900;RF_AVAILABLE;INFO;A RF available signal was detected. P1: raw RFA state, P2: 0;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7900;RF_AVAILABLE;INFO;A RF available signal was detected. P1: raw RFA state, P2: 0;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
-7901;RF_LOST;INFO;A previously found RF available signal was lost. P1: raw RFA state, P2: 0;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7901;RF_LOST;INFO;A previously found RF available signal was lost. P1: raw RFA state, P2: 0;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
-7902;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7902;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
-7903;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7903;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
-7905;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
+7905;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
-8900;CLOCK_SET;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
+8900;CLOCK_SET;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
-8901;CLOCK_SET_FAILURE;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
+8901;CLOCK_SET_FAILURE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service9TimeManagement.h
-9700;TEST;INFO;;/home/eive/EIVE/Robin/eive-obsw/fsfw/src/fsfw/pus/Service17Test.h
+9700;TEST;INFO;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/src/fsfw/pus/Service17Test.h
-10600;CHANGE_OF_SETUP_PARAMETER;LOW;;/home/eive/EIVE/Robin/eive-obsw/fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
+10600;CHANGE_OF_SETUP_PARAMETER;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/fsfw/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
-10900;GPIO_PULL_HIGH_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h
+10900;GPIO_PULL_HIGH_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
-10901;GPIO_PULL_LOW_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h
+10901;GPIO_PULL_LOW_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
-10902;SWITCH_ALREADY_ON;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h
+10902;SWITCH_ALREADY_ON;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
-10903;SWITCH_ALREADY_OFF;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h
+10903;SWITCH_ALREADY_OFF;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
-10904;MAIN_SWITCH_TIMEOUT;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/HeaterHandler.h
+10904;MAIN_SWITCH_TIMEOUT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/HeaterHandler.h
-11000;MAIN_SWITCH_ON_TIMEOUT;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h
+11000;MAIN_SWITCH_ON_TIMEOUT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
-11001;MAIN_SWITCH_OFF_TIMEOUT;LOW;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h
+11001;MAIN_SWITCH_OFF_TIMEOUT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
-11002;DEPLOYMENT_FAILED;HIGH;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h
+11002;DEPLOYMENT_FAILED;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
-11003;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h
+11003;DEPL_SA1_GPIO_SWTICH_ON_FAILED;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
-11004;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;/home/eive/EIVE/Robin/eive-obsw/linux/devices/SolarArrayDeploymentHandler.h
+11004;DEPL_SA2_GPIO_SWTICH_ON_FAILED;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/devices/SolarArrayDeploymentHandler.h
-11101;MEMORY_READ_RPT_CRC_FAILURE;LOW;;/home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h
+11101;MEMORY_READ_RPT_CRC_FAILURE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
-11102;ACK_FAILURE;LOW;;/home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h
+11102;ACK_FAILURE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
-11103;EXE_FAILURE;LOW;;/home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h
+11103;EXE_FAILURE;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
-11104;CRC_FAILURE_EVENT;LOW;;/home/eive/EIVE/Robin/eive-obsw/mission/devices/PlocMPSoCHandler.h
+11104;CRC_FAILURE_EVENT;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/PlocMPSoCHandler.h
-11201;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
+11201;SELF_TEST_I2C_FAILURE;LOW;Get self test result returns I2C failure P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
-11202;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
+11202;SELF_TEST_SPI_FAILURE;LOW;Get self test result returns SPI failure. This concerns the MTM connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
-11203;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
+11203;SELF_TEST_ADC_FAILURE;LOW;Get self test result returns failure in measurement of current and temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
-11204;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
+11204;SELF_TEST_PWM_FAILURE;LOW;Get self test result returns PWM failure which concerns the coil actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
-11205;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
+11205;SELF_TEST_TC_FAILURE;LOW;Get self test result returns TC failure (system failure) P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
-11206;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
+11206;SELF_TEST_MTM_RANGE_FAILURE;LOW;Get self test result returns failure that MTM values were outside of the expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
-11207;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
+11207;SELF_TEST_COIL_CURRENT_FAILURE;LOW;Get self test result returns failure indicating that the coil current was outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
-11208;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;/home/eive/EIVE/Robin/eive-obsw/mission/devices/IMTQHandler.h
+11208;INVALID_ERROR_BYTE;LOW;Received invalid error byte. This indicates an error of the communication link between IMTQ and OBC.;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/IMTQHandler.h
-11301;ERROR_STATE;HIGH;Reaction wheel signals an error state;/home/eive/EIVE/Robin/eive-obsw/mission/devices/RwHandler.h
+11301;ERROR_STATE;HIGH;Reaction wheel signals an error state;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/mission/devices/RwHandler.h
-11501;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h
+11501;SUPV_MEMORY_READ_RPT_CRC_FAILURE;LOW;PLOC supervisor crc failure in telemetry packet;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
-11502;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h
+11502;SUPV_ACK_FAILURE;LOW;PLOC supervisor received acknowledgment failure report;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
-11503;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h
+11503;SUPV_EXE_FAILURE;LOW;PLOC received execution failure report;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
-11504;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h
+11504;SUPV_CRC_FAILURE_EVENT;LOW;PLOC supervisor reply has invalid crc;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocSupervisorHandler.h
-11600;SANITIZATION_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/memory/SdCardManager.h
+11600;SANITIZATION_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/memory/SdCardManager.h
-11700;UPDATE_FILE_NOT_EXISTS;LOW;;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h
+11700;UPDATE_FILE_NOT_EXISTS;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
-11701;ACTION_COMMANDING_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h
+11701;ACTION_COMMANDING_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
-11702;UPDATE_AVAILABLE_FAILED;LOW;Supervisor handler replied action message indicating a command execution failure of the update available command;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h
+11702;UPDATE_AVAILABLE_FAILED;LOW;Supervisor handler replied action message indicating a command execution failure of the update available command;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
-11703;UPDATE_TRANSFER_FAILED;LOW;Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet);/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h
+11703;UPDATE_TRANSFER_FAILED;LOW;Supervisor handler failed to transfer an update space packet. P1: Parameter holds the number of update packets already sent (inclusive the failed packet);C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
-11704;UPDATE_VERIFY_FAILED;LOW;Supervisor failed to execute the update verify command.;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h
+11704;UPDATE_VERIFY_FAILED;LOW;Supervisor failed to execute the update verify command.;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
-11705;UPDATE_FINISHED;INFO;MPSoC update successful completed;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocUpdater.h
+11705;UPDATE_FINISHED;INFO;MPSoC update successful completed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocUpdater.h
-11800;SEND_MRAM_DUMP_FAILED;LOW;;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocMemoryDumper.h
+11800;SEND_MRAM_DUMP_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
-11801;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocMemoryDumper.h
+11801;MRAM_DUMP_FAILED;LOW;Received completion failure report form PLOC supervisor handler P1: MRAM start address of failing dump command;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
-11802;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;/home/eive/EIVE/Robin/eive-obsw/bsp_q7s/devices/PlocMemoryDumper.h
+11802;MRAM_DUMP_FINISHED;LOW;MRAM dump finished successfully;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/PlocMemoryDumper.h
-11901;INVALID_TC_FRAME;HIGH;;/home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h
+11901;INVALID_TC_FRAME;HIGH;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
-11902;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;/home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h
+11902;INVALID_FAR;HIGH;Read invalid FAR from PDEC after startup;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
-11903;CARRIER_LOCK;INFO;Carrier lock detected;/home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h
+11903;CARRIER_LOCK;INFO;Carrier lock detected;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
-11904;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);/home/eive/EIVE/Robin/eive-obsw/linux/obc/PdecHandler.h
+11904;BIT_LOCK_PDEC;INFO;Bit lock detected (data valid);C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/linux/obc/PdecHandler.h
+12000;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12001;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12002;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12003;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12004;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12005;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12006;FLASH_WRITE_FAILED;LOW;Flash write procedure failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12007;FLASH_READ_FAILED;LOW;Flash read procedure failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12008;FPGA_DOWNLOAD_SUCCESSFUL;LOW;Download of FPGA image successful;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12009;FPGA_DOWNLOAD_FAILED;LOW;Download of FPGA image failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12010;FPGA_UPLOAD_SUCCESSFUL;LOW;Upload of FPGA image successful;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12011;FPGA_UPLOAD_FAILED;LOW;Upload of FPGA image failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12012;STR_HELPER_READING_REPLY_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12013;STR_HELPER_COM_ERROR;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12014;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off)P1: Position of upload or download packet for which no reply was sent;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12015;STR_HELPER_DEC_ERROR;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12016;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12017;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not existP1: Internal state of str helper;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12018;STR_HELPER_SENDING_PACKET_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h
+12019;STR_HELPER_REQUESTING_MSG_FAILED;LOW;;C:\Users\jakob\OneDrive\Work\EIVE\Q7S\Software\eive_obsw/bsp_q7s/devices/startracker/StrHelper.h

generators/bsp_q7s_objects.csv

@@ -27,7 +27,7 @@
 0x44120309;MGM_3_RM3100_HANDLER
 0x44120313;GYRO_3_L3G_HANDLER
 0x44120350;RW4
-0x44130001;START_TRACKER
+0x44130001;STAR_TRACKER
 0x44130045;GPS0_HANDLER
 0x44130146;GPS1_HANDLER
 0x44140014;IMTQ_HANDLER
@@ -39,6 +39,7 @@
 0x443200A5;RAD_SENSOR
 0x44330000;PLOC_UPDATER
 0x44330001;PLOC_MEMORY_DUMPER
+0x44330002;STR_HELPER
 0x44330015;PLOC_MPSOC_HANDLER
 0x44330016;PLOC_SUPERVISOR_HANDLER
 0x444100A2;SOLAR_ARRAY_DEPL_HANDLER

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 120 translations.
+ * @brief    Auto-generated event translation file. Contains 140 translations.
  * @details
- * Generated on: 2021-11-25 14:09:00
+ * Generated on: 2021-12-29 20:24:08
  */
 #include "translateEvents.h"
 
@@ -125,6 +125,26 @@ const char *INVALID_TC_FRAME_STRING = "INVALID_TC_FRAME";
 const char *INVALID_FAR_STRING = "INVALID_FAR";
 const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
 const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
+const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
+const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
+const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
+const char *IMAGE_DOWNLOAD_SUCCESSFUL_STRING = "IMAGE_DOWNLOAD_SUCCESSFUL";
+const char *FLASH_WRITE_SUCCESSFUL_STRING = "FLASH_WRITE_SUCCESSFUL";
+const char *FLASH_READ_SUCCESSFUL_STRING = "FLASH_READ_SUCCESSFUL";
+const char *FLASH_WRITE_FAILED_STRING = "FLASH_WRITE_FAILED";
+const char *FLASH_READ_FAILED_STRING = "FLASH_READ_FAILED";
+const char *FPGA_DOWNLOAD_SUCCESSFUL_STRING = "FPGA_DOWNLOAD_SUCCESSFUL";
+const char *FPGA_DOWNLOAD_FAILED_STRING = "FPGA_DOWNLOAD_FAILED";
+const char *FPGA_UPLOAD_SUCCESSFUL_STRING = "FPGA_UPLOAD_SUCCESSFUL";
+const char *FPGA_UPLOAD_FAILED_STRING = "FPGA_UPLOAD_FAILED";
+const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
+const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
+const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
+const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
+const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
+const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET_FAILED";
+const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
 
 const char * translateEvents(Event event) {
 	switch( (event & 0xffff) ) {
@@ -368,6 +388,46 @@ const char * translateEvents(Event event) {
 		return CARRIER_LOCK_STRING;
 	case(11904):
 		return BIT_LOCK_PDEC_STRING;
+	case(12000):
+		return IMAGE_UPLOAD_FAILED_STRING;
+	case(12001):
+		return IMAGE_DOWNLOAD_FAILED_STRING;
+	case(12002):
+		return IMAGE_UPLOAD_SUCCESSFUL_STRING;
+	case(12003):
+		return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
+	case(12004):
+		return FLASH_WRITE_SUCCESSFUL_STRING;
+	case(12005):
+		return FLASH_READ_SUCCESSFUL_STRING;
+	case(12006):
+		return FLASH_WRITE_FAILED_STRING;
+	case(12007):
+		return FLASH_READ_FAILED_STRING;
+	case(12008):
+		return FPGA_DOWNLOAD_SUCCESSFUL_STRING;
+	case(12009):
+		return FPGA_DOWNLOAD_FAILED_STRING;
+	case(12010):
+		return FPGA_UPLOAD_SUCCESSFUL_STRING;
+	case(12011):
+		return FPGA_UPLOAD_FAILED_STRING;
+	case(12012):
+		return STR_HELPER_READING_REPLY_FAILED_STRING;
+	case(12013):
+		return STR_HELPER_COM_ERROR_STRING;
+	case(12014):
+		return STR_HELPER_NO_REPLY_STRING;
+	case(12015):
+		return STR_HELPER_DEC_ERROR_STRING;
+	case(12016):
+		return POSITION_MISMATCH_STRING;
+	case(12017):
+		return STR_HELPER_FILE_NOT_EXISTS_STRING;
+	case(12018):
+		return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+	case(12019):
+		return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
 	default:
 		return "UNKNOWN_EVENT";
 	}

generators/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief	Auto-generated object translation file.
  * @details
- * Contains 112 translations.
+ * Contains 113 translations.
- * Generated on: 2021-11-22 17:04:51
+ * Generated on: 2021-12-21 17:21:23
  */
 #include "translateObjects.h"
 
@@ -35,7 +35,7 @@ const char *RW3_STRING = "RW3";
 const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
 const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
 const char *RW4_STRING = "RW4";
-const char *START_TRACKER_STRING = "START_TRACKER";
+const char *STAR_TRACKER_STRING = "STAR_TRACKER";
 const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
 const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
 const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
@@ -47,6 +47,7 @@ const char *ACU_HANDLER_STRING = "ACU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
+const char *STR_HELPER_STRING = "STR_HELPER";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
@@ -180,7 +181,7 @@ const char* translateObject(object_id_t object) {
 	case 0x44120350:
 		return RW4_STRING;
 	case 0x44130001:
-		return START_TRACKER_STRING;
+		return STAR_TRACKER_STRING;
 	case 0x44130045:
 		return GPS0_HANDLER_STRING;
 	case 0x44130146:
@@ -203,6 +204,8 @@ const char* translateObject(object_id_t object) {
 		return PLOC_UPDATER_STRING;
 	case 0x44330001:
 		return PLOC_MEMORY_DUMPER_STRING;
+	case 0x44330002:
+		return STR_HELPER_STRING;
 	case 0x44330015:
 		return PLOC_MPSOC_HANDLER_STRING;
 	case 0x44330016:

linux/boardtest/SpiTestClass.cpp

@@ -297,65 +297,65 @@ void SpiTestClass::acsInit() {
     GpiodRegularByChip* gpio = nullptr;
     std::string rpiGpioName = "gpiochip0";
     gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 #elif defined(XIPHOS_Q7S)
     GpiodRegularByLineName* gpio = nullptr;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, "GYRO_0_ADIS",
-            gpio::Direction::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, "GYRO_2_ADIS",
-            gpio::Direction::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     // Enable pins must be pulled low for regular operations
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_0_ENABLE", gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_0_ENABLE", gpio::DIR_OUT,
             gpio::LOW);
     gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_2_ENABLE", gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_2_ENABLE", gpio::DIR_OUT,
             gpio::LOW);
     gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
 #endif

linux/devices/CMakeLists.txt

@@ -1,5 +1,4 @@
 target_sources(${TARGET_NAME} PRIVATE
-	HeaterHandler.cpp
 	SolarArrayDeploymentHandler.cpp
 	SusHandler.cpp
 )

linux/fsfwconfig/FSFWConfig.h.in

@@ -78,6 +78,6 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 #define FSFW_HAL_L3GD20_GYRO_DEBUG              0
 #define FSFW_HAL_RM3100_MGM_DEBUG               0
 #define FSFW_HAL_LIS3MDL_MGM_DEBUG              0
-#define FSFW_HAL_ADIS16507_GYRO_DEBUG           0
+#define FSFW_HAL_ADIS1650X_GYRO_DEBUG           0
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

linux/fsfwconfig/OBSWConfig.h.in

@@ -102,7 +102,6 @@ debugging. */
 #define OBSW_DEBUG_ACU                              0
 #define OBSW_DEBUG_SYRLINKS                         0
 #define OBSW_DEBUG_IMQT                             0
-#define OBSW_DEBUG_ADIS16507                        0
 #define OBSW_DEBUG_RAD_SENSOR                       0
 #define OBSW_DEBUG_SUS                              0
 #define OBSW_DEBUG_RTD                              0
@@ -110,13 +109,13 @@ debugging. */
 #define OBSW_DEBUG_STARTRACKER                      0
 #define OBSW_DEBUG_PLOC_MPSOC                       0
 #define OBSW_DEBUG_PLOC_SUPERVISOR                  0
-#define OBSW_DEBUG_PDEC_HANDLER	                    0
+#define OBSW_DEBUG_PDEC_HANDLER	                    1
 
 /*******************************************************************/
 /** Hardcoded                                                      */
 /*******************************************************************/
-// Leave at one as the BSP is linux. Used by the ADIS16507 device handler
+// Leave at one as the BSP is linux. Used by the ADIS1650X device handler
-#define OBSW_ADIS16507_LINUX_COM_IF     1
+#define OBSW_ADIS1650X_LINUX_COM_IF                 1
 
 #include "OBSWVersion.h"
 
@@ -132,6 +131,7 @@ namespace config {
 /* Add mission configuration flags here */
 static constexpr uint32_t OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE = 50;
 static constexpr uint32_t PLOC_UPDATER_QUEUE_SIZE = 50;
+static constexpr uint32_t STR_IMG_HELPER_QUEUE_SIZE = 50;
 
 static constexpr uint8_t LIVE_TM = 0;
 

linux/fsfwconfig/devices/gpioIds.h

@@ -27,6 +27,8 @@ enum gpioId_t {
 
     GNSS_0_NRESET,
     GNSS_1_NRESET,
+    GNSS_0_ENABLE,
+    GNSS_1_ENABLE,
 
     GYRO_0_ENABLE,
     GYRO_2_ENABLE,

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 120 translations.
+ * @brief    Auto-generated event translation file. Contains 140 translations.
  * @details
- * Generated on: 2021-11-25 14:09:00
+ * Generated on: 2021-12-29 20:24:08
  */
 #include "translateEvents.h"
 
@@ -125,6 +125,26 @@ const char *INVALID_TC_FRAME_STRING = "INVALID_TC_FRAME";
 const char *INVALID_FAR_STRING = "INVALID_FAR";
 const char *CARRIER_LOCK_STRING = "CARRIER_LOCK";
 const char *BIT_LOCK_PDEC_STRING = "BIT_LOCK_PDEC";
+const char *IMAGE_UPLOAD_FAILED_STRING = "IMAGE_UPLOAD_FAILED";
+const char *IMAGE_DOWNLOAD_FAILED_STRING = "IMAGE_DOWNLOAD_FAILED";
+const char *IMAGE_UPLOAD_SUCCESSFUL_STRING = "IMAGE_UPLOAD_SUCCESSFUL";
+const char *IMAGE_DOWNLOAD_SUCCESSFUL_STRING = "IMAGE_DOWNLOAD_SUCCESSFUL";
+const char *FLASH_WRITE_SUCCESSFUL_STRING = "FLASH_WRITE_SUCCESSFUL";
+const char *FLASH_READ_SUCCESSFUL_STRING = "FLASH_READ_SUCCESSFUL";
+const char *FLASH_WRITE_FAILED_STRING = "FLASH_WRITE_FAILED";
+const char *FLASH_READ_FAILED_STRING = "FLASH_READ_FAILED";
+const char *FPGA_DOWNLOAD_SUCCESSFUL_STRING = "FPGA_DOWNLOAD_SUCCESSFUL";
+const char *FPGA_DOWNLOAD_FAILED_STRING = "FPGA_DOWNLOAD_FAILED";
+const char *FPGA_UPLOAD_SUCCESSFUL_STRING = "FPGA_UPLOAD_SUCCESSFUL";
+const char *FPGA_UPLOAD_FAILED_STRING = "FPGA_UPLOAD_FAILED";
+const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED";
+const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR";
+const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY";
+const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR";
+const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH";
+const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS";
+const char *STR_HELPER_SENDING_PACKET_FAILED_STRING = "STR_HELPER_SENDING_PACKET_FAILED";
+const char *STR_HELPER_REQUESTING_MSG_FAILED_STRING = "STR_HELPER_REQUESTING_MSG_FAILED";
 
 const char * translateEvents(Event event) {
 	switch( (event & 0xffff) ) {
@@ -368,6 +388,46 @@ const char * translateEvents(Event event) {
 		return CARRIER_LOCK_STRING;
 	case(11904):
 		return BIT_LOCK_PDEC_STRING;
+	case(12000):
+		return IMAGE_UPLOAD_FAILED_STRING;
+	case(12001):
+		return IMAGE_DOWNLOAD_FAILED_STRING;
+	case(12002):
+		return IMAGE_UPLOAD_SUCCESSFUL_STRING;
+	case(12003):
+		return IMAGE_DOWNLOAD_SUCCESSFUL_STRING;
+	case(12004):
+		return FLASH_WRITE_SUCCESSFUL_STRING;
+	case(12005):
+		return FLASH_READ_SUCCESSFUL_STRING;
+	case(12006):
+		return FLASH_WRITE_FAILED_STRING;
+	case(12007):
+		return FLASH_READ_FAILED_STRING;
+	case(12008):
+		return FPGA_DOWNLOAD_SUCCESSFUL_STRING;
+	case(12009):
+		return FPGA_DOWNLOAD_FAILED_STRING;
+	case(12010):
+		return FPGA_UPLOAD_SUCCESSFUL_STRING;
+	case(12011):
+		return FPGA_UPLOAD_FAILED_STRING;
+	case(12012):
+		return STR_HELPER_READING_REPLY_FAILED_STRING;
+	case(12013):
+		return STR_HELPER_COM_ERROR_STRING;
+	case(12014):
+		return STR_HELPER_NO_REPLY_STRING;
+	case(12015):
+		return STR_HELPER_DEC_ERROR_STRING;
+	case(12016):
+		return POSITION_MISMATCH_STRING;
+	case(12017):
+		return STR_HELPER_FILE_NOT_EXISTS_STRING;
+	case(12018):
+		return STR_HELPER_SENDING_PACKET_FAILED_STRING;
+	case(12019):
+		return STR_HELPER_REQUESTING_MSG_FAILED_STRING;
 	default:
 		return "UNKNOWN_EVENT";
 	}

linux/fsfwconfig/objects/translateObjects.cpp

@@ -1,8 +1,8 @@
 /**
  * @brief	Auto-generated object translation file.
  * @details
- * Contains 112 translations.
+ * Contains 113 translations.
- * Generated on: 2021-11-22 17:04:51
+ * Generated on: 2021-12-21 17:21:23
  */
 #include "translateObjects.h"
 
@@ -35,7 +35,7 @@ const char *RW3_STRING = "RW3";
 const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER";
 const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER";
 const char *RW4_STRING = "RW4";
-const char *START_TRACKER_STRING = "START_TRACKER";
+const char *STAR_TRACKER_STRING = "STAR_TRACKER";
 const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
 const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
 const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER";
@@ -47,6 +47,7 @@ const char *ACU_HANDLER_STRING = "ACU_HANDLER";
 const char *RAD_SENSOR_STRING = "RAD_SENSOR";
 const char *PLOC_UPDATER_STRING = "PLOC_UPDATER";
 const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER";
+const char *STR_HELPER_STRING = "STR_HELPER";
 const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
 const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
 const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
@@ -180,7 +181,7 @@ const char* translateObject(object_id_t object) {
 	case 0x44120350:
 		return RW4_STRING;
 	case 0x44130001:
-		return START_TRACKER_STRING;
+		return STAR_TRACKER_STRING;
 	case 0x44130045:
 		return GPS0_HANDLER_STRING;
 	case 0x44130146:
@@ -203,6 +204,8 @@ const char* translateObject(object_id_t object) {
 		return PLOC_UPDATER_STRING;
 	case 0x44330001:
 		return PLOC_MEMORY_DUMPER_STRING;
+	case 0x44330002:
+		return STR_HELPER_STRING;
 	case 0x44330015:
 		return PLOC_MPSOC_HANDLER_STRING;
 	case 0x44330016:

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -415,37 +415,37 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 #if OBSW_ADD_RW == 1
     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 * 0.5, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW1, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW1, length * 0.65, 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 * 0.6, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW2, length * 0.5, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW2, length * 0.7, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW2, length * 0.65, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW2, length * 0.85, DeviceHandlerIF::GET_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 * 0.6, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW3, length * 0.5, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW3, length * 0.7, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW3, length * 0.65, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW3, length * 0.85, DeviceHandlerIF::GET_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 * 0.6, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW4, length * 0.5, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW4, length * 0.7, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW4, length * 0.65, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW4, length * 0.85, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
 #if OBSW_ADD_ACS_BOARD == 1
-    bool enableAside = false;
+    bool enableAside = true;
-    bool enableBside = true;
+    bool enableBside = false;
     if(enableAside) {
         // A side
         thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
-        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
+        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25,
                 DeviceHandlerIF::SEND_WRITE);
         thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
                 DeviceHandlerIF::GET_WRITE);
@@ -568,7 +568,6 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
 ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
     // Length of a communication cycle
     uint32_t length = thisSequence->getPeriodMs();
-    static_cast<void>(length);
     bool uartPstEmpty = true;
 
 #if OBSW_ADD_PLOC_MPSOC == 1
@@ -649,11 +648,11 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
 
 #if OBSW_ADD_STAR_TRACKER == 1
     uartPstEmpty = false;
-    thisSequence->addSlot(objects::START_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::START_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::START_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::START_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::START_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
     if(uartPstEmpty) {

linux/obc/PdecHandler.cpp

@@ -262,7 +262,7 @@ bool PdecHandler::checkFrameAna(uint32_t pdecFar) {
     }
     case(FrameAna_t::FRAME_DIRTY): {
         triggerEvent(INVALID_TC_FRAME, FRAME_DIRTY);
-        sif::debug << "PdecHandler::checkFrameAna: Frame dirty" << std::endl;
+        sif::warning << "PdecHandler::checkFrameAna: Frame dirty" << std::endl;
         break;
     }
     case(FrameAna_t::FRAME_ILLEGAL): {
@@ -314,50 +314,50 @@ void PdecHandler::handleIReason(uint32_t pdecFar, ReturnValue_t parameter1) {
     switch(ireason) {
     case(IReason_t::NO_REPORT): {
         triggerEvent(INVALID_TC_FRAME, parameter1, NO_REPORT);
-        sif::debug << "PdecHandler::handleIReason: No illegal report" << std::endl;
+        sif::info << "PdecHandler::handleIReason: No illegal report" << std::endl;
         break;
     }
     case(IReason_t::ERROR_VERSION_NUMBER): {
         triggerEvent(INVALID_TC_FRAME, parameter1, ERROR_VERSION_NUMBER);
-        sif::debug << "PdecHandler::handleIReason: Error in version number and reserved A and B "
+        sif::info << "PdecHandler::handleIReason: Error in version number and reserved A and B "
                 << "fields" << std::endl;
         break;
     }
     case(IReason_t::ILLEGAL_COMBINATION): {
         triggerEvent(INVALID_TC_FRAME, parameter1, ILLEGAL_COMBINATION);
-        sif::debug << "PdecHandler::handleIReason: Illegal combination (AC) of bypass and control "
+        sif::info << "PdecHandler::handleIReason: Illegal combination (AC) of bypass and control "
                 << "command flags" << std::endl;
         break;
     }
     case(IReason_t::INVALID_SC_ID): {
         triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_SC_ID);
-        sif::debug << "PdecHandler::handleIReason: Invalid spacecraft identifier " << std::endl;
+        sif::info << "PdecHandler::handleIReason: Invalid spacecraft identifier " << std::endl;
         break;
     }
     case(IReason_t::INVALID_VC_ID_MSB): {
         triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_MSB);
-        sif::debug << "PdecHandler::handleIReason: VC identifier bit 0 to 4 did not match "
+        sif::info << "PdecHandler::handleIReason: VC identifier bit 0 to 4 did not match "
                 << std::endl;
         break;
     }
     case(IReason_t::INVALID_VC_ID_LSB): {
         triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_VC_ID_LSB);
-        sif::debug << "PdecHandler::handleIReason: VC identifier bit 5 did not match " << std::endl;
+        sif::info << "PdecHandler::handleIReason: VC identifier bit 5 did not match " << std::endl;
         break;
     }
     case(IReason_t::NS_NOT_ZERO): {
         triggerEvent(INVALID_TC_FRAME, parameter1, NS_NOT_ZERO);
-        sif::debug << "PdecHandler::handleIReason: N(S) of BC or BD frame not set to all zeros"
+        sif::info << "PdecHandler::handleIReason: N(S) of BC or BD frame not set to all zeros"
                 << std::endl;
         break;
     }
     case(IReason_t::INCORRECT_BC_CC): {
         triggerEvent(INVALID_TC_FRAME, parameter1, INVALID_BC_CC);
-        sif::debug << "PdecHandler::handleIReason: Invalid BC control command format" << std::endl;
+        sif::info << "PdecHandler::handleIReason: Invalid BC control command format" << std::endl;
         break;
     }
     default: {
-        sif::debug << "PdecHandler::handleIReason: Invalid reason id" << std::endl;
+        sif::info << "PdecHandler::handleIReason: Invalid reason id" << std::endl;
         break;
     }
     }
@@ -373,7 +373,7 @@ void PdecHandler::handleNewTc() {
     }
 #if OBSW_DEBUG_PDEC_HANDLER == 1
     unsigned int mapId = tcSegment[0] & MAP_ID_MASK;
-    sif::debug << "PdecHandler::handleNewTc: Received TC segment with map ID " << mapId
+    sif::info << "PdecHandler::handleNewTc: Received TC segment with map ID " << mapId
             << std::endl;
     printTC(tcLength);
 #endif /* OBSW_DEBUG_PDEC_HANDLER */
@@ -460,7 +460,7 @@ void PdecHandler::printTC(uint32_t tcLength) {
         tcSegmentStream << std::setfill('0') << std::setw(2) << std::hex
                 << static_cast<unsigned int>(tcSegment[idx]);
     }
-    sif::debug << tcSegmentStream.str() << std::endl;
+    sif::info << tcSegmentStream.str() << std::endl;
 }
 
 uint8_t PdecHandler::calcMapAddrEntry(uint8_t moduleId) {
@@ -484,6 +484,10 @@ uint32_t PdecHandler::getClcw() {
     return *(registerBaseAddress + PDEC_CLCW_OFFSET);
 }
 
+uint32_t PdecHandler::getPdecMon() {
+    return *(registerBaseAddress + PDEC_MON_OFFSET);
+}
+
 void PdecHandler::printClcw() {
     uint32_t clcw = getClcw();
     uint8_t type = static_cast<uint8_t>((clcw >> 31) & 0x1);
@@ -525,6 +529,39 @@ void PdecHandler::printClcw() {
             << "0x" << static_cast<unsigned int>(repValue) << std::endl;
 }
 
+void PdecHandler::printPdecMon() {
+	uint32_t pdecMon = getPdecMon();
+	uint32_t tc0ChannelStatus = (pdecMon & TC0_STATUS_MASK) >> TC0_STATUS_POS;
+	uint32_t tc1ChannelStatus = (pdecMon & TC1_STATUS_MASK) >> TC1_STATUS_POS;
+	uint32_t tc2ChannelStatus = (pdecMon & TC2_STATUS_MASK) >> TC2_STATUS_POS;
+	uint32_t tc3ChannelStatus = (pdecMon & TC3_STATUS_MASK) >> TC3_STATUS_POS;
+	uint32_t tc4ChannelStatus = (pdecMon & TC4_STATUS_MASK) >> TC4_STATUS_POS;
+	uint32_t tc5ChannelStatus = (pdecMon & TC5_STATUS_MASK) >> TC5_STATUS_POS;
+	uint32_t lock = (pdecMon & LOCK_MASK) >> LOCK_POS;
+	sif::info << std::setw(30) << std::left << "TC0 status: " << getMonStatusString(tc0ChannelStatus) << std::endl;
+	sif::info << std::setw(30) << std::left << "TC1 status: " << getMonStatusString(tc1ChannelStatus) << std::endl;
+	sif::info << std::setw(30) << std::left << "TC2 status: " << getMonStatusString(tc2ChannelStatus) << std::endl;
+	sif::info << std::setw(30) << std::left << "TC3 status: " << getMonStatusString(tc3ChannelStatus) << std::endl;
+	sif::info << std::setw(30) << std::left << "TC4 status: " << getMonStatusString(tc4ChannelStatus) << std::endl;
+	sif::info << std::setw(30) << std::left << "TC5 status: " << getMonStatusString(tc5ChannelStatus) << std::endl;
+	sif::info << std::setw(30) << std::left << "Start sequence lock: " << lock << std::endl;
+}
+
+std::string PdecHandler::getMonStatusString(uint32_t status) {
+	switch(status) {
+	case TC_CHANNEL_INACTIVE:
+		return std::string("inactive");
+	case TC_CHANNEL_ACTIVE:
+		return std::string("active");
+	case TC_CHANNEL_TIMEDOUT:
+		return std::string("timed out");
+	default:
+		sif::warning << "PdecHandler::getMonStatusString: Invalid status" << std::endl;
+		return std::string();
+		break;
+	}
+}
+
 
 ReturnValue_t PdecHandler::executeAction(ActionId_t actionId,
         MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
@@ -532,6 +569,9 @@ ReturnValue_t PdecHandler::executeAction(ActionId_t actionId,
     case PRINT_CLCW:
         printClcw();
         return EXECUTION_FINISHED;
+    case PRINT_PDEC_MON:
+        printPdecMon();
+        return EXECUTION_FINISHED;
     default:
         return COMMAND_NOT_IMPLEMENTED;
     }

linux/obc/PdecHandler.h

@@ -61,16 +61,6 @@ public:
     ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                 const uint8_t* data, size_t size) override;
 
-    /**
-     * brief    Returns the 32-bit wide communication link control word (CLCW)
-     */
-    uint32_t getClcw();
-
-    /**
-     * @rief    Reads and prints the CLCW. Can be useful for debugging.
-     */
-    void printClcw();
-
     static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PDEC_HANDLER;
 
     //! [EXPORT] : [COMMENT] Frame acceptance report signals an invalid frame
@@ -119,6 +109,8 @@ private:
 
     // Action IDs
     static const ActionId_t PRINT_CLCW = 0;
+    // Print PDEC monitor register
+    static const ActionId_t PRINT_PDEC_MON = 1;
 
     static const uint8_t STAT_POSITION = 31;
     static const uint8_t FRAME_ANA_POSITION = 28;
@@ -129,6 +121,28 @@ private:
     static const uint32_t FRAME_ANA_MASK = 0x70000000;
     static const uint32_t IREASON_MASK = 0x0E000000;
 
+    static const uint32_t TC_CHANNEL_INACTIVE = 0x0;
+    static const uint32_t TC_CHANNEL_ACTIVE = 0x1;
+    static const uint32_t TC_CHANNEL_TIMEDOUT = 0x2;
+
+    static const uint32_t TC0_STATUS_MASK = 0x3;
+    static const uint32_t TC1_STATUS_MASK = 0xC;
+    static const uint32_t TC2_STATUS_MASK = 0x300;
+    static const uint32_t TC3_STATUS_MASK = 0xC00;
+    static const uint32_t TC4_STATUS_MASK = 0x30000;
+    static const uint32_t TC5_STATUS_MASK = 0xc00000;
+    // Lock register set to 1 when start sequence has been found (CLTU is beeing processed)
+    static const uint32_t LOCK_MASK = 0xc00000;
+
+    static const uint32_t TC0_STATUS_POS = 0;
+    static const uint32_t TC1_STATUS_POS = 2;
+    static const uint32_t TC2_STATUS_POS = 4;
+    static const uint32_t TC3_STATUS_POS = 6;
+    static const uint32_t TC4_STATUS_POS = 8;
+    static const uint32_t TC5_STATUS_POS = 10;
+    // Lock register set to 1 when start sequence has been found (CLTU is beeing processed)
+    static const uint32_t LOCK_POS = 12;
+
     /**
      * UIO is 4 byte aligned. Thus offset is calculated with "true offset" / 4
      * Example: PDEC_FAR = 0x2840 => Offset in virtual address space is 0xA10
@@ -138,7 +152,7 @@ private:
     static const uint32_t PDEC_BFREE_OFFSET = 0xA24;
     static const uint32_t PDEC_BPTR_OFFSET = 0xA25;
     static const uint32_t PDEC_SLEN_OFFSET = 0xA26;
-    static const uint32_t PDEC_MON = 0xA27;
+    static const uint32_t PDEC_MON_OFFSET = 0xA27;
 
 #if BOARD_TE0720 == 1
     static const int CONFIG_MEMORY_MAP_SIZE = 0x400;
@@ -330,6 +344,29 @@ private:
      */
     uint8_t getOddParity(uint8_t number);
 
+    /**
+	 * brief    Returns the 32-bit wide communication link control word (CLCW)
+	 */
+	uint32_t getClcw();
+
+	/**
+	 * @brief	Returns the PDEC monitor register content
+	 *
+	 */
+	uint32_t getPdecMon();
+
+	/**
+	 * @brief    Reads and prints the CLCW. Can be useful for debugging.
+	 */
+	void printClcw();
+
+	/**
+	 * @brief	Prints monitor register information to debug console.
+	 */
+	void printPdecMon();
+
+	std::string getMonStatusString(uint32_t status);
+
     object_id_t tcDestinationId;
 
     AcceptsTelecommandsIF* tcDestination = nullptr;

misc/eclipse/.cproject

@@ -19,7 +19,7 @@
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
-							<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
+							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Debug-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
 							<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.813737526" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.both.asm.option.include.paths.596367416" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
@@ -406,6 +406,9 @@
 					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.MakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.autotools.core.ErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">

misc/eclipse/Host/eive-mingw-debug-cmake.launch

@@ -18,7 +18,7 @@
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
     <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build-Debug-Host/eive_obsw.exe"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build-Debug-Host/eive-obsw.exe"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive-obsw"/>
     <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443"/>

mission/devices/ACUHandler.cpp

@@ -16,6 +16,11 @@ ReturnValue_t ACUHandler::buildNormalDeviceCommand(
     return buildCommandFromCommand(*id, NULL, 0);
 }
 
+void ACUHandler::fillCommandAndReplyMap() {
+    GomspaceDeviceHandler::fillCommandAndReplyMap();
+    this->insertInCommandMap(PRINT_CHANNEL_STATS);
+}
+
 void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
 
     parseHkTableReply(packet);
@@ -266,3 +271,38 @@ ReturnValue_t ACUHandler::initializeLocalDataPool(
 
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+ReturnValue_t ACUHandler::deviceSpecificCommand(DeviceCommandId_t cmd) {
+    switch(cmd) {
+    case PRINT_CHANNEL_STATS: {
+        printChannelStats();
+        return RETURN_OK;
+    }
+    default: {
+        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+    }
+    }
+}
+
+void ACUHandler::printChannelStats() {
+    PoolReadGuard pg(&acuHkTableDataset);
+    sif::info << "ACU Info: Current [mA], Voltage [mV]" << std::endl;
+    sif::info << std::setw(8) << std::left << "Ch0" << std::dec << "| " <<
+            static_cast<unsigned int>(acuHkTableDataset.currentInChannel0.value) <<
+            std::setw(15) << std::right << acuHkTableDataset.voltageInChannel0.value << std::endl;
+    sif::info << std::setw(8) << std::left << "Ch1" << std::dec << "| " <<
+            static_cast<unsigned int>(acuHkTableDataset.currentInChannel1.value)  <<
+            std::setw(15) << std::right << acuHkTableDataset.voltageInChannel1.value << std::endl;
+    sif::info << std::setw(8) << std::left << "Ch2" << std::dec << "| " <<
+            static_cast<unsigned int>(acuHkTableDataset.currentInChannel2.value)  <<
+            std::setw(15) << std::right << acuHkTableDataset.voltageInChannel2.value << std::endl;
+    sif::info << std::setw(8) << std::left << "Ch3" << std::dec << "| " <<
+            static_cast<unsigned int>(acuHkTableDataset.currentInChannel3.value)  <<
+            std::setw(15) << std::right << acuHkTableDataset.voltageInChannel3.value << std::endl;
+    sif::info << std::setw(8) << std::left << "Ch4" << std::dec << "| " <<
+            static_cast<unsigned int>(acuHkTableDataset.currentInChannel4.value)  <<
+            std::setw(15) << std::right << acuHkTableDataset.voltageInChannel4.value << std::endl;
+    sif::info << std::setw(8) << std::left << "Ch5" << std::dec << "| " <<
+            static_cast<unsigned int>(acuHkTableDataset.currentInChannel5.value)  <<
+            std::setw(15) << std::right << acuHkTableDataset.voltageInChannel5.value << std::endl;
+}

mission/devices/ACUHandler.h

@@ -3,6 +3,7 @@
 
 #include "GomspaceDeviceHandler.h"
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include "fsfw/datapool/PoolReadGuard.h"
 
 /**
  * @brief   Handler for the ACU from Gomspace. Monitors and controls the battery charging via
@@ -25,8 +26,14 @@ protected:
      */
     virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
 
+    virtual void fillCommandAndReplyMap() override;
+
+    virtual ReturnValue_t deviceSpecificCommand(DeviceCommandId_t cmd) override;
+
 private:
 
+    static const DeviceCommandId_t PRINT_CHANNEL_STATS = 51;
+
     ACU::HkTableDataset acuHkTableDataset;
 
     /**
@@ -34,6 +41,11 @@ private:
      *          the values in the acuHkTableDataset.
      */
     void parseHkTableReply(const uint8_t *packet);
+
+    /**
+     * @brief   Prints channel statistics (current and voltage) to console
+     */
+    void printChannelStats();
 };
 
 #endif /* MISSION_DEVICES_ACUHANDLER_H_ */

mission/devices/CMakeLists.txt

@@ -10,11 +10,11 @@ target_sources(${TARGET_NAME} PUBLIC
 	SyrlinksHkHandler.cpp
 	Max31865PT1000Handler.cpp
 	IMTQHandler.cpp
+	HeaterHandler.cpp
 	PlocMPSoCHandler.cpp
 	RadiationSensorHandler.cpp
-	GyroADIS16507Handler.cpp
+	GyroADIS1650XHandler.cpp
 	RwHandler.cpp
-	StarTrackerHandler.cpp
 )
 
 

mission/devices/GomspaceDeviceHandler.cpp

@@ -87,7 +87,7 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
         break;
     }
     default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+        return deviceSpecificCommand(deviceCommand);
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
@@ -398,6 +398,10 @@ LocalPoolDataSetBase* GomspaceDeviceHandler::getDataSetHandle(sid_t sid) {
     }
 }
 
+ReturnValue_t GomspaceDeviceHandler::deviceSpecificCommand(DeviceCommandId_t cmd) {
+    return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+}
+
 void GomspaceDeviceHandler::setModeNormal() {
     mode = MODE_NORMAL;
 }

mission/devices/GomspaceDeviceHandler.h

@@ -73,7 +73,7 @@ protected:
     virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id)
     override;
     ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
-    void fillCommandAndReplyMap() override;
+    virtual 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,
@@ -105,6 +105,11 @@ protected:
 
     virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 
+    /**
+     * @brief   Can be used by gomspace devices to implement device specific commands.
+     */
+    virtual ReturnValue_t deviceSpecificCommand(DeviceCommandId_t cmd);
+
 private:
 
     /**

mission/devices/GyroADIS1650XHandler.cpp

@@ -1,8 +1,8 @@
-#include "GyroADIS16507Handler.h"
+#include "GyroADIS1650XHandler.h"
 #include <fsfw/action/HasActionsIF.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 
-#if OBSW_ADIS16507_LINUX_COM_IF == 1
+#if OBSW_ADIS1650X_LINUX_COM_IF == 1
 #include "fsfw_hal/linux/utility.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
@@ -11,15 +11,15 @@
 #include <unistd.h>
 #endif
 
-GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
+GyroADIS1650XHandler::GyroADIS1650XHandler(object_id_t objectId,
-        object_id_t deviceCommunication, CookieIF * comCookie):
+        object_id_t deviceCommunication, CookieIF * comCookie, ADIS1650X::Type type):
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
+        DeviceHandlerBase(objectId, deviceCommunication, comCookie), adisType(type),
-        configDataset(this), breakCountdown() {
+        primaryDataset(this), configDataset(this), breakCountdown() {
-#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
+#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
     debugDivider = new PeriodicOperationDivider(5);
 #endif
 
-#if OBSW_ADIS16507_LINUX_COM_IF == 1
+#if OBSW_ADIS1650X_LINUX_COM_IF == 1
     SpiCookie* cookie = dynamic_cast<SpiCookie*>(comCookie);
     if(cookie != nullptr) {
         cookie->setCallbackMode(&spiSendCallback, this);
@@ -27,11 +27,11 @@ GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
 #endif
 }
 
-void GyroADIS16507Handler::doStartUp() {
+void GyroADIS1650XHandler::doStartUp() {
     // Initial 310 ms start up time after power-up
     if(internalState == InternalState::STARTUP) {
         if(not commandExecuted) {
-            breakCountdown.setTimeout(ADIS16507::START_UP_TIME);
+            breakCountdown.setTimeout(ADIS1650X::START_UP_TIME);
             commandExecuted = true;
         }
         if(breakCountdown.hasTimedOut()) {
@@ -54,20 +54,20 @@ void GyroADIS16507Handler::doStartUp() {
     }
 }
 
-void GyroADIS16507Handler::doShutDown() {
+void GyroADIS1650XHandler::doShutDown() {
     commandExecuted = false;
     setMode(_MODE_POWER_DOWN);
 }
 
-ReturnValue_t GyroADIS16507Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t GyroADIS1650XHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-    *id = ADIS16507::READ_SENSOR_DATA;
+    *id = ADIS1650X::READ_SENSOR_DATA;
     return buildCommandFromCommand(*id, nullptr, 0);
 }
 
-ReturnValue_t GyroADIS16507Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t GyroADIS1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
     switch(internalState) {
     case(InternalState::CONFIG): {
-        *id = ADIS16507::READ_OUT_CONFIG;
+        *id = ADIS1650X::READ_OUT_CONFIG;
         buildCommandFromCommand(*id, nullptr, 0);
         break;
     }
@@ -85,79 +85,79 @@ ReturnValue_t GyroADIS16507Handler::buildTransitionDeviceCommand(DeviceCommandId
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t GyroADIS16507Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+ReturnValue_t GyroADIS1650XHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
         const uint8_t *commandData, size_t commandDataLen) {
     switch(deviceCommand) {
-    case(ADIS16507::READ_OUT_CONFIG): {
+    case(ADIS1650X::READ_OUT_CONFIG): {
-        this->rawPacketLen = ADIS16507::CONFIG_READOUT_SIZE;
+        this->rawPacketLen = ADIS1650X::CONFIG_READOUT_SIZE;
         uint8_t regList[5];
-        regList[0] = ADIS16507::DIAG_STAT_REG;
+        regList[0] = ADIS1650X::DIAG_STAT_REG;
-        regList[1] = ADIS16507::FILTER_CTRL_REG;
+        regList[1] = ADIS1650X::FILTER_CTRL_REG;
-        regList[2] = ADIS16507::MSC_CTRL_REG;
+        regList[2] = ADIS1650X::MSC_CTRL_REG;
-        regList[3] = ADIS16507::DEC_RATE_REG;
+        regList[3] = ADIS1650X::DEC_RATE_REG;
-        regList[4] = ADIS16507::PROD_ID_REG;
+        regList[4] = ADIS1650X::PROD_ID_REG;
         prepareReadCommand(regList, sizeof(regList));
         this->rawPacket = commandBuffer.data();
         break;
     }
-    case(ADIS16507::READ_SENSOR_DATA): {
+    case(ADIS1650X::READ_SENSOR_DATA): {
         if(breakCountdown.isBusy()) {
             // A glob command is pending and sensor data can't be read currently
             return NO_REPLY_EXPECTED;
         }
-        std::memcpy(commandBuffer.data(), ADIS16507::BURST_READ_ENABLE.data(),
+        std::memcpy(commandBuffer.data(), ADIS1650X::BURST_READ_ENABLE.data(),
-                ADIS16507::BURST_READ_ENABLE.size());
+                ADIS1650X::BURST_READ_ENABLE.size());
         std::memset(commandBuffer.data() + 2, 0, 10 * 2);
-        this->rawPacketLen = ADIS16507::SENSOR_READOUT_SIZE;
+        this->rawPacketLen = ADIS1650X::SENSOR_READOUT_SIZE;
         this->rawPacket = commandBuffer.data();
         break;
     }
-    case(ADIS16507::SELF_TEST_SENSORS): {
+    case(ADIS1650X::SELF_TEST_SENSORS): {
         if(breakCountdown.isBusy()) {
             // Another glob command is pending
             return HasActionsIF::IS_BUSY;
         }
-        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::SENSOR_SELF_TEST, 0x00);
+        prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::SENSOR_SELF_TEST, 0x00);
-        breakCountdown.setTimeout(ADIS16507::SELF_TEST_BREAK);
+        breakCountdown.setTimeout(ADIS1650X::SELF_TEST_BREAK);
         break;
     }
-    case(ADIS16507::SELF_TEST_MEMORY): {
+    case(ADIS1650X::SELF_TEST_MEMORY): {
         if(breakCountdown.isBusy()) {
             // Another glob command is pending
             return HasActionsIF::IS_BUSY;
         }
-        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::FLASH_MEMORY_TEST, 0x00);
+        prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::FLASH_MEMORY_TEST, 0x00);
-        breakCountdown.setTimeout(ADIS16507::FLASH_MEMORY_TEST_BREAK);
+        breakCountdown.setTimeout(ADIS1650X::FLASH_MEMORY_TEST_BREAK);
         break;
     }
-    case(ADIS16507::UPDATE_NV_CONFIGURATION): {
+    case(ADIS1650X::UPDATE_NV_CONFIGURATION): {
         if(breakCountdown.isBusy()) {
             // Another glob command is pending
             return HasActionsIF::IS_BUSY;
         }
-        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::FLASH_MEMORY_UPDATE, 0x00);
+        prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::FLASH_MEMORY_UPDATE, 0x00);
-        breakCountdown.setTimeout(ADIS16507::FLASH_MEMORY_UPDATE_BREAK);
+        breakCountdown.setTimeout(ADIS1650X::FLASH_MEMORY_UPDATE_BREAK);
         break;
     }
-    case(ADIS16507::RESET_SENSOR_CONFIGURATION): {
+    case(ADIS1650X::RESET_SENSOR_CONFIGURATION): {
         if(breakCountdown.isBusy()) {
             // Another glob command is pending
             return HasActionsIF::IS_BUSY;
         }
-        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::FACTORY_CALIBRATION, 0x00);
+        prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::FACTORY_CALIBRATION, 0x00);
-        breakCountdown.setTimeout(ADIS16507::FACTORY_CALIBRATION_BREAK);
+        breakCountdown.setTimeout(ADIS1650X::FACTORY_CALIBRATION_BREAK);
         break;
     }
-    case(ADIS16507::SW_RESET): {
+    case(ADIS1650X::SW_RESET): {
         if(breakCountdown.isBusy()) {
             // Another glob command is pending
             return HasActionsIF::IS_BUSY;
         }
-        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::SOFTWARE_RESET, 0x00);
+        prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::SOFTWARE_RESET, 0x00);
-        breakCountdown.setTimeout(ADIS16507::SW_RESET_BREAK);
+        breakCountdown.setTimeout(ADIS1650X::SW_RESET_BREAK);
         break;
     }
-    case(ADIS16507::PRINT_CURRENT_CONFIGURATION): {
+    case(ADIS1650X::PRINT_CURRENT_CONFIGURATION): {
 #if OBSW_VERBOSE_LEVEL >= 1
         PoolReadGuard pg(&configDataset);
         sif::info << "ADIS16507 Sensor configuration: DIAG_STAT: 0x" << std::hex << std::setw(4) <<
@@ -172,39 +172,43 @@ ReturnValue_t GyroADIS16507Handler::buildCommandFromCommand(DeviceCommandId_t de
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-void GyroADIS16507Handler::fillCommandAndReplyMap() {
+void GyroADIS1650XHandler::fillCommandAndReplyMap() {
-    insertInCommandAndReplyMap(ADIS16507::READ_SENSOR_DATA, 1, &primaryDataset);
+    insertInCommandAndReplyMap(ADIS1650X::READ_SENSOR_DATA, 1, &primaryDataset);
-    insertInCommandAndReplyMap(ADIS16507::READ_OUT_CONFIG, 1, &configDataset);
+    insertInCommandAndReplyMap(ADIS1650X::READ_OUT_CONFIG, 1, &configDataset);
-    insertInCommandAndReplyMap(ADIS16507::SELF_TEST_SENSORS, 1);
+    insertInCommandAndReplyMap(ADIS1650X::SELF_TEST_SENSORS, 1);
-    insertInCommandAndReplyMap(ADIS16507::SELF_TEST_MEMORY, 1);
+    insertInCommandAndReplyMap(ADIS1650X::SELF_TEST_MEMORY, 1);
-    insertInCommandAndReplyMap(ADIS16507::UPDATE_NV_CONFIGURATION, 1);
+    insertInCommandAndReplyMap(ADIS1650X::UPDATE_NV_CONFIGURATION, 1);
-    insertInCommandAndReplyMap(ADIS16507::RESET_SENSOR_CONFIGURATION, 1);
+    insertInCommandAndReplyMap(ADIS1650X::RESET_SENSOR_CONFIGURATION, 1);
-    insertInCommandAndReplyMap(ADIS16507::SW_RESET, 1);
+    insertInCommandAndReplyMap(ADIS1650X::SW_RESET, 1);
-    insertInCommandAndReplyMap(ADIS16507::PRINT_CURRENT_CONFIGURATION, 1);
+    insertInCommandAndReplyMap(ADIS1650X::PRINT_CURRENT_CONFIGURATION, 1);
 }
 
-ReturnValue_t GyroADIS16507Handler::scanForReply(const uint8_t *start, size_t remainingSize,
+ReturnValue_t GyroADIS1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
         DeviceCommandId_t *foundId, size_t *foundLen) {
-    /* For SPI, the ID will always be the one of the last sent command. */
+    // For SPI, the ID will always be the one of the last sent command
     *foundId = this->getPendingCommand();
     *foundLen = this->rawPacketLen;
 
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t GyroADIS16507Handler::interpretDeviceReply(DeviceCommandId_t id,
+ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
         const uint8_t *packet) {
     switch(id) {
-    case(ADIS16507::READ_OUT_CONFIG): {
+    case(ADIS1650X::READ_OUT_CONFIG): {
-        PoolReadGuard rg(&configDataset);
+
         uint16_t readProdId = packet[10] << 8 | packet[11];
-        if (readProdId != ADIS16507::PROD_ID) {
+        if(((adisType == ADIS1650X::Type::ADIS16507) and
+                (readProdId != ADIS1650X::PROD_ID_16507)) or
+                ((adisType == ADIS1650X::Type::ADIS16505) and
+                        (readProdId != ADIS1650X::PROD_ID_16505))) {
 #if OBSW_VERBOSE_LEVEL >= 1
-            sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Invalid product ID!"
+            sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
-                    << std::endl;
+                    << readProdId << std::endl;
 #endif
             return HasReturnvaluesIF::RETURN_FAILED;
         }
+        PoolReadGuard rg(&configDataset);
         configDataset.diagStatReg.value = packet[2] << 8 | packet[3];
         configDataset.filterSetting.value =  packet[4] << 8 | packet[5];
         configDataset.mscCtrlReg.value = packet[6] << 8 | packet[7];
@@ -215,7 +219,7 @@ ReturnValue_t GyroADIS16507Handler::interpretDeviceReply(DeviceCommandId_t id,
         }
         break;
     }
-    case(ADIS16507::READ_SENSOR_DATA): {
+    case(ADIS1650X::READ_SENSOR_DATA): {
         return handleSensorData(packet);
     }
 
@@ -224,26 +228,25 @@ ReturnValue_t GyroADIS16507Handler::interpretDeviceReply(DeviceCommandId_t id,
 }
 
 
-ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
+ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
     BurstModes burstMode = getBurstMode();
     switch(burstMode) {
     case(BurstModes::BURST_16_BURST_SEL_1):
     case(BurstModes::BURST_32_BURST_SEL_1): {
-        sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Analysis with BURST_SEL1"
+        sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Analysis with BURST_SEL1"
                 " not implemented!" << std::endl;
         return HasReturnvaluesIF::RETURN_OK;
     }
     case(BurstModes::BURST_16_BURST_SEL_0): {
         uint16_t checksum = packet[20] << 8 | packet[21];
-        /* Now verify the read checksum with the expected checksum
+        // Now verify the read checksum with the expected checksum according to datasheet p. 20
-        according to datasheet p. 20 */
         uint16_t calcChecksum = 0;
         for(size_t idx = 2; idx < 20; idx ++) {
             calcChecksum += packet[idx];
         }
         if(checksum != calcChecksum) {
 #if OBSW_VERBOSE_LEVEL >= 1
-            sif::warning << "GyroADIS16507Handler::interpretDeviceReply: "
+            sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: "
                     "Invalid checksum detected!" << std::endl;
 #endif
             return HasReturnvaluesIF::RETURN_FAILED;
@@ -260,23 +263,32 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
             PoolReadGuard pg(&primaryDataset);
             int16_t angVelocXRaw = packet[4] << 8 | packet[5];
             primaryDataset.angVelocX.value = static_cast<float>(angVelocXRaw) / INT16_MAX *
-                    ADIS16507::GYRO_RANGE;
+                    ADIS1650X::GYRO_RANGE;
             int16_t angVelocYRaw = packet[6] << 8 | packet[7];
             primaryDataset.angVelocY.value = static_cast<float>(angVelocYRaw) / INT16_MAX *
-                    ADIS16507::GYRO_RANGE;
+                    ADIS1650X::GYRO_RANGE;
             int16_t angVelocZRaw = packet[8] << 8 | packet[9];
             primaryDataset.angVelocZ.value = static_cast<float>(angVelocZRaw) / INT16_MAX *
-                    ADIS16507::GYRO_RANGE;
+                    ADIS1650X::GYRO_RANGE;
 
+            float accelScaling = 0;
+            if(adisType == ADIS1650X::Type::ADIS16507) {
+                accelScaling = ADIS1650X::ACCELEROMETER_RANGE_16507;
+            } else if(adisType == ADIS1650X::Type::ADIS16505) {
+                accelScaling = ADIS1650X::ACCELEROMETER_RANGE_16505;
+            } else {
+                sif::warning << "GyroADIS1650XHandler::handleSensorData: "
+                        "Unknown ADIS type" << std::endl;
+            }
             int16_t accelXRaw = packet[10] << 8 | packet[11];
             primaryDataset.accelX.value = static_cast<float>(accelXRaw) / INT16_MAX *
-                    ADIS16507::ACCELEROMETER_RANGE;
+                    accelScaling;
             int16_t accelYRaw = packet[12] << 8 | packet[13];
             primaryDataset.accelY.value = static_cast<float>(accelYRaw) / INT16_MAX *
-                    ADIS16507::ACCELEROMETER_RANGE;
+                    accelScaling;
             int16_t accelZRaw = packet[14] << 8 | packet[15];
             primaryDataset.accelZ.value = static_cast<float>(accelZRaw) / INT16_MAX *
-                    ADIS16507::ACCELEROMETER_RANGE;
+                    accelScaling;
 
             int16_t temperatureRaw = packet[16] << 8 | packet[17];
             primaryDataset.temperature.value = static_cast<float>(temperatureRaw) * 0.1;
@@ -284,13 +296,13 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
             primaryDataset.setValidity(true, true);
         }
 
-#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
+#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
         if(debugDivider->checkAndIncrement()) {
-            sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
+            sif::info << "GyroADIS1650XHandler: Angular velocities in deg / s" << std::endl;
             sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
             sif::info << "Y: " << primaryDataset.angVelocY.value << std::endl;
             sif::info << "Z: " << primaryDataset.angVelocZ.value << std::endl;
-            sif::info << "GyroADIS16507Handler: Accelerations in m / s^2: " << std::endl;
+            sif::info << "GyroADIS1650XHandler: Accelerations in m / s^2: " << std::endl;
             sif::info << "X: " << primaryDataset.accelX.value << std::endl;
             sif::info << "Y: " << primaryDataset.accelY.value << std::endl;
             sif::info << "Z: " << primaryDataset.accelZ.value << std::endl;
@@ -306,15 +318,15 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-uint32_t GyroADIS16507Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+uint32_t GyroADIS1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
-    return 5000;
+    return 10000;
 }
 
-void GyroADIS16507Handler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
+void GyroADIS1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
         uint8_t valueTwo) {
     uint8_t secondReg = startReg + 1;
-    startReg |= ADIS16507::WRITE_MASK;
+    startReg |= ADIS1650X::WRITE_MASK;
-    secondReg |= ADIS16507::WRITE_MASK;
+    secondReg |= ADIS1650X::WRITE_MASK;
     commandBuffer[0] = startReg;
     commandBuffer[1] = valueOne;
     commandBuffer[2] = secondReg;
@@ -323,7 +335,7 @@ void GyroADIS16507Handler::prepareWriteCommand(uint8_t startReg, uint8_t valueOn
     this->rawPacket = commandBuffer.data();
 }
 
-void GyroADIS16507Handler::prepareReadCommand(uint8_t *regList, size_t len) {
+void GyroADIS1650XHandler::prepareReadCommand(uint8_t *regList, size_t len) {
     for(size_t idx = 0; idx < len; idx++) {
         commandBuffer[idx * 2] = regList[idx];
         commandBuffer[idx * 2 + 1] = 0x00;
@@ -332,29 +344,29 @@ void GyroADIS16507Handler::prepareReadCommand(uint8_t *regList, size_t len) {
     commandBuffer[len * 2 + 1] = 0x00;
 }
 
-ReturnValue_t GyroADIS16507Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+ReturnValue_t GyroADIS1650XHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
         LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(ADIS16507::ANG_VELOC_X, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_X, new PoolEntry<double>({0.0}));
-    localDataPoolMap.emplace(ADIS16507::ANG_VELOC_Y, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Y, new PoolEntry<double>({0.0}));
-    localDataPoolMap.emplace(ADIS16507::ANG_VELOC_Z, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Z, new PoolEntry<double>({0.0}));
-    localDataPoolMap.emplace(ADIS16507::ACCELERATION_X, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::ACCELERATION_X, new PoolEntry<double>({0.0}));
-    localDataPoolMap.emplace(ADIS16507::ACCELERATION_Y, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Y, new PoolEntry<double>({0.0}));
-    localDataPoolMap.emplace(ADIS16507::ACCELERATION_Z, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Z, new PoolEntry<double>({0.0}));
-    localDataPoolMap.emplace(ADIS16507::TEMPERATURE, new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::TEMPERATURE, new PoolEntry<float>({0.0}));
 
-    localDataPoolMap.emplace(ADIS16507::DIAG_STAT_REGISTER, new PoolEntry<uint16_t>());
+    localDataPoolMap.emplace(ADIS1650X::DIAG_STAT_REGISTER, new PoolEntry<uint16_t>());
-    localDataPoolMap.emplace(ADIS16507::FILTER_SETTINGS, new PoolEntry<uint8_t>());
+    localDataPoolMap.emplace(ADIS1650X::FILTER_SETTINGS, new PoolEntry<uint8_t>());
-    localDataPoolMap.emplace(ADIS16507::MSC_CTRL_REGISTER, new PoolEntry<uint16_t>());
+    localDataPoolMap.emplace(ADIS1650X::MSC_CTRL_REGISTER, new PoolEntry<uint16_t>());
-    localDataPoolMap.emplace(ADIS16507::DEC_RATE_REGISTER, new PoolEntry<uint16_t>());
+    localDataPoolMap.emplace(ADIS1650X::DEC_RATE_REGISTER, new PoolEntry<uint16_t>());
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-GyroADIS16507Handler::BurstModes GyroADIS16507Handler::getBurstMode() {
+GyroADIS1650XHandler::BurstModes GyroADIS1650XHandler::getBurstMode() {
     configDataset.mscCtrlReg.read();
     uint16_t currentCtrlReg = configDataset.mscCtrlReg.value;
     configDataset.mscCtrlReg.commit();
-    if((currentCtrlReg & ADIS16507::BURST_32_BIT) == ADIS16507::BURST_32_BIT) {
+    if((currentCtrlReg & ADIS1650X::BURST_32_BIT) == ADIS1650X::BURST_32_BIT) {
-        if((currentCtrlReg & ADIS16507::BURST_SEL_BIT) == ADIS16507::BURST_SEL_BIT) {
+        if((currentCtrlReg & ADIS1650X::BURST_SEL_BIT) == ADIS1650X::BURST_SEL_BIT) {
             return BurstModes::BURST_32_BURST_SEL_1;
         }
         else {
@@ -362,7 +374,7 @@ GyroADIS16507Handler::BurstModes GyroADIS16507Handler::getBurstMode() {
         }
     }
     else {
-        if((currentCtrlReg & ADIS16507::BURST_SEL_BIT) == ADIS16507::BURST_SEL_BIT) {
+        if((currentCtrlReg & ADIS1650X::BURST_SEL_BIT) == ADIS1650X::BURST_SEL_BIT) {
             return BurstModes::BURST_16_BURST_SEL_1;
         }
         else {
@@ -371,11 +383,11 @@ GyroADIS16507Handler::BurstModes GyroADIS16507Handler::getBurstMode() {
     }
 }
 
-#if OBSW_ADIS16507_LINUX_COM_IF == 1
+#if OBSW_ADIS1650X_LINUX_COM_IF == 1
 
-ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *cookie,
+ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *cookie,
         const uint8_t *sendData, size_t sendLen, void *args) {
-    GyroADIS16507Handler* handler = reinterpret_cast<GyroADIS16507Handler*>(args);
+    GyroADIS1650XHandler* handler = reinterpret_cast<GyroADIS1650XHandler*>(args);
     if(handler == nullptr) {
         sif::error << "GyroADIS16507Handler::spiSendCallback: Passed handler pointer is invalid!"
                 << std::endl;
@@ -383,10 +395,10 @@ ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *
     }
     DeviceCommandId_t currentCommand = handler->getPendingCommand();
     switch(currentCommand) {
-    case(ADIS16507::READ_SENSOR_DATA): {
+    case(ADIS1650X::READ_SENSOR_DATA): {
         return comIf->performRegularSendOperation(cookie, sendData, sendLen);
     }
-    case(ADIS16507::READ_OUT_CONFIG):
+    case(ADIS1650X::READ_OUT_CONFIG):
     default: {
         ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
         int retval = 0;
@@ -451,7 +463,7 @@ ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *
 
             idx += 2;
             if(idx < sendLen) {
-                usleep(ADIS16507::STALL_TIME_MICROSECONDS);
+                usleep(ADIS1650X::STALL_TIME_MICROSECONDS);
             }
             spi_ioc_transfer* transferStruct = cookie->getTransferStructHandle();
             transferStruct->tx_buf += 2;
@@ -466,4 +478,4 @@ ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-#endif /* OBSW_ADIS16507_LINUX_COM_IF == 1 */
+#endif /* OBSW_ADIS1650X_LINUX_COM_IF == 1 */

mission/devices/GyroADIS1650XHandler.h

@@ -3,12 +3,12 @@
 
 #include "OBSWConfig.h"
 #include "FSFWConfig.h"
-#include "devicedefinitions/GyroADIS16507Definitions.h"
+#include "devicedefinitions/GyroADIS1650XDefinitions.h"
 
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
-#if OBSW_ADIS16507_LINUX_COM_IF == 1
+#if OBSW_ADIS1650X_LINUX_COM_IF == 1
 class SpiComIF;
 class SpiCookie;
 #endif
@@ -19,12 +19,12 @@ class SpiCookie;
  * Flight manual:
  * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/ADIS16507_Gyro
  */
-class GyroADIS16507Handler: public DeviceHandlerBase {
+class GyroADIS1650XHandler: public DeviceHandlerBase {
 public:
-    GyroADIS16507Handler(object_id_t objectId, object_id_t deviceCommunication,
+    GyroADIS1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
-            CookieIF * comCookie);
+            CookieIF* comCookie, ADIS1650X::Type type);
 
-    /* DeviceHandlerBase abstract function implementation */
+    // DeviceHandlerBase abstract function implementation
     void doStartUp() override;
     void doShutDown() override;
     ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
@@ -42,7 +42,7 @@ public:
 
 private:
     std::array<uint8_t, 32> commandBuffer;
-
+    ADIS1650X::Type adisType;
     AdisGyroPrimaryDataset primaryDataset;
     AdisGyroConfigDataset configDataset;
 
@@ -66,12 +66,12 @@ private:
 
     BurstModes getBurstMode();
 
-#if OBSW_ADIS16507_LINUX_COM_IF == 1
+#if OBSW_ADIS1650X_LINUX_COM_IF == 1
     static ReturnValue_t spiSendCallback(SpiComIF* comIf, SpiCookie *cookie,
             const uint8_t *sendData, size_t sendLen, void* args);
 #endif
 
-#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
+#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
     PeriodicOperationDivider* debugDivider;
 #endif
     Countdown breakCountdown;

mission/devices/Max31865PT1000Handler.cpp

@@ -7,10 +7,10 @@
 
 Max31865PT1000Handler::Max31865PT1000Handler(object_id_t objectId, object_id_t comIF,
         CookieIF *comCookie):
-        DeviceHandlerBase(objectId, comIF, comCookie), sensorDataset(this),
+        DeviceHandlerBase(objectId, comIF, comCookie),
-        sensorDatasetSid(sensorDataset.getSid()) {
+        sensorDataset(this), sensorDatasetSid(sensorDataset.getSid()) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    debugDivider = new PeriodicOperationDivider(0);
+    debugDivider = new PeriodicOperationDivider(10);
 #endif
 }
 
@@ -68,12 +68,21 @@ void Max31865PT1000Handler::doStartUp() {
 
     if(internalState == InternalState::REQUEST_LOW_THRESHOLD) {
         if(commandExecuted) {
-            setMode(MODE_ON);
+            internalState = InternalState::CLEAR_FAULT_BYTE;
-            setMode(MODE_NORMAL);
-            internalState = InternalState::RUNNING;
             commandExecuted = false;
         }
     }
+    if(internalState == InternalState::CLEAR_FAULT_BYTE) {
+        if(commandExecuted) {
+            commandExecuted = false;
+            internalState = InternalState::RUNNING;
+            if(instantNormal) {
+                setMode(MODE_NORMAL);
+            } else {
+                setMode(_MODE_TO_ON);
+            }
+        }
+    }
 }
 
 void Max31865PT1000Handler::doShutDown() {
@@ -91,6 +100,10 @@ ReturnValue_t Max31865PT1000Handler::buildNormalDeviceCommand(
         *id = Max31865Definitions::REQUEST_FAULT_BYTE;
         return buildCommandFromCommand(*id, nullptr, 0);
     }
+    else if(internalState == InternalState::CLEAR_FAULT_BYTE) {
+        *id = Max31865Definitions::CLEAR_FAULT_BYTE;
+        return buildCommandFromCommand(*id, nullptr, 0);
+    }
     else {
         return DeviceHandlerBase::NOTHING_TO_SEND;
     }
@@ -128,6 +141,10 @@ ReturnValue_t Max31865PT1000Handler::buildTransitionDeviceCommand(
         *id = Max31865Definitions::REQUEST_LOW_THRESHOLD;
         return buildCommandFromCommand(*id, nullptr, 0);
     }
+    case(InternalState::CLEAR_FAULT_BYTE): {
+        *id = Max31865Definitions::CLEAR_FAULT_BYTE;
+        return buildCommandFromCommand(*id, nullptr, 0);
+    }
 
     default:
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -155,6 +172,13 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(
             return DeviceHandlerIF::NO_COMMAND_DATA;
         }
     }
+    case(Max31865Definitions::CLEAR_FAULT_BYTE): {
+        commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::CONFIG_CMD);
+        commandBuffer[1] = Max31865Definitions::CLEAR_FAULT_BIT_VAL;
+        DeviceHandlerBase::rawPacketLen = 2;
+        DeviceHandlerBase::rawPacket = commandBuffer.data();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
     case(Max31865Definitions::REQUEST_CONFIG): {
         commandBuffer[0] = static_cast<uint8_t>(
                 Max31865Definitions::REQUEST_CONFIG);
@@ -233,6 +257,7 @@ void Max31865PT1000Handler::fillCommandAndReplyMap() {
     insertInCommandAndReplyMap(Max31865Definitions::REQUEST_RTD, 3,
             &sensorDataset);
     insertInCommandAndReplyMap(Max31865Definitions::REQUEST_FAULT_BYTE, 3);
+    insertInCommandAndReplyMap(Max31865Definitions::CLEAR_FAULT_BYTE, 3);
 }
 
 ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start,
@@ -290,6 +315,15 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start,
             *foundLen = 2;
             internalState = InternalState::RUNNING;
         }
+        else if(internalState == InternalState::CLEAR_FAULT_BYTE) {
+            *foundId = Max31865Definitions::CLEAR_FAULT_BYTE;
+            *foundLen = 2;
+            if(mode == _MODE_START_UP) {
+                commandExecuted = true;
+            } else {
+                internalState = InternalState::RUNNING;
+            }
+        }
         else {
             *foundId = Max31865Definitions::REQUEST_CONFIG;
             *foundLen = configReplySize;
@@ -306,10 +340,11 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
         if(packet[1] != DEFAULT_CONFIG) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             // it propably would be better if we at least try one restart..
-            sif::error << "Max31865PT1000Handler: Object ID: " << std::hex << this->getObjectId()
+            sif::error << "Max31865PT1000Handler: 0x" << std::hex << this->getObjectId()
-            		<< ": Invalid configuration reply!" << std::endl;
+                    << ": Invalid configuration reply" << std::endl;
 #else
-            sif::printError("Max31865PT1000Handler: Invalid configuration reply!\n");
+            sif::printError("Max31865PT1000Handler: %04x: Invalid configuration reply!\n",
+                    this->getObjectId());
 #endif
             return HasReturnvaluesIF::RETURN_OK;
         }
@@ -360,9 +395,14 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
     case(Max31865Definitions::REQUEST_RTD): {
         // first bit of LSB reply byte is the fault bit
         uint8_t faultBit = packet[2] & 0b0000'0001;
-        if(faultBit == 1) {
+        if(resetFaultBit) {
+            internalState = InternalState::CLEAR_FAULT_BYTE;
+            resetFaultBit = false;
+        }
+        else if(faultBit == 1) {
             // Maybe we should attempt to restart it?
             internalState = InternalState::REQUEST_FAULT_BYTE;
+            resetFaultBit = true;
         }
 
         // RTD value consists of last seven bits of the LSB reply byte and
@@ -495,6 +535,12 @@ ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+void Max31865PT1000Handler::setInstantNormal(bool instantNormal) {
+    this->instantNormal = instantNormal;
+}
+
 void Max31865PT1000Handler::modeChanged() {
+    if(mode == MODE_OFF) {
         internalState = InternalState::NONE;
     }
+}

mission/devices/Max31865PT1000Handler.h

@@ -45,6 +45,7 @@ public:
 	// 8. 1 for 50 Hz filter, 0 for 60 Hz filter (noise rejection filter)
 	static constexpr uint8_t DEFAULT_CONFIG = 0b11000001;
 
+	void setInstantNormal(bool instantNormal);
 	/**
 	 * Expected temperature range is -100 C and 100 C.
 	 * If there are temperatures beyond this range there must be a fault.
@@ -59,7 +60,7 @@ public:
 	static constexpr float RTD_RREF_PT1000 = 4020.0; //!< Ohm
 	static constexpr float RTD_RESISTANCE0_PT1000 = 1000.0; //!< Ohm
 protected:
-	/* DeviceHandlerBase abstract function implementation */
+	// DeviceHandlerBase abstract function implementation
 	void doStartUp() override;
 	void doShutDown() override;
 	ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
@@ -85,6 +86,7 @@ protected:
 
 private:
 	uint8_t switchId = 0;
+	bool instantNormal = true;
 
 	enum class InternalState {
 		NONE,
@@ -96,12 +98,14 @@ private:
 		REQUEST_LOW_THRESHOLD,
 		REQUEST_CONFIG,
 		RUNNING,
-		REQUEST_FAULT_BYTE
+		REQUEST_FAULT_BYTE,
+		CLEAR_FAULT_BYTE
 	};
 
 	InternalState internalState = InternalState::NONE;
 	bool commandExecuted = false;
 
+	bool resetFaultBit = false;
 	dur_millis_t startTime = 0;
 	uint8_t faultByte = 0;
 	std::array<uint8_t, 3> commandBuffer { 0 };

mission/devices/RwHandler.cpp

@@ -197,7 +197,7 @@ ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize
 ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
 
     /** Check result code */
-    if (*(packet + 1) == RwDefinitions::ERROR) {
+    if (*(packet + 1) == RwDefinitions::STATE_ERROR) {
 		sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: "
 				<< id << std::endl;
         return EXECUTION_FAILED;
@@ -369,7 +369,7 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
     offset += 1;
     statusSet.clcMode = *(packet + offset);
 
-    if (statusSet.state == RwDefinitions::ERROR) {
+    if (statusSet.state == RwDefinitions::STATE_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.

mission/devices/RwHandler.h

@@ -46,6 +46,8 @@ public:
     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);
+    //! [EXPORT] : [COMMENT] Expected a start marker as first byte
+    static const ReturnValue_t NO_START_MARKER = MAKE_RETURN_CODE(0xB6);
 
 protected:
 	void doStartUp() override;

mission/devices/StarTrackerHandler.cpp

@@ -1,216 +0,0 @@
-#include "StarTrackerHandler.h"
-#include "OBSWConfig.h"
-
-#include <fsfw/globalfunctions/CRC.h>
-#include <fsfw/datapool/PoolReadGuard.h>
-
-extern "C" {
-    #include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>
-    #include "common/misc.h"
-}
-
-StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
-        CookieIF * comCookie) :
-        DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this) {
-    if (comCookie == NULL) {
-        sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
-    }
-    slipInit();
-}
-
-StarTrackerHandler::~StarTrackerHandler() {
-}
-
-void StarTrackerHandler::doStartUp() {
-
-#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
-    setMode(MODE_NORMAL);
-#else
-    setMode(_MODE_TO_ON);
-#endif
-}
-
-void StarTrackerHandler::doShutDown() {
-    setMode(_MODE_POWER_DOWN);
-}
-
-ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
-    switch (internalState) {
-    case InternalState::TEMPERATURE_REQUEST:
-        *id = StarTracker::REQ_TEMPERATURE;
-        break;
-    default:
-        sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid internal step"
-                << std::endl;
-        break;
-    }
-    return buildCommandFromCommand(*id, NULL, 0);
-}
-
-ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
-    return NOTHING_TO_SEND;
-}
-
-ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t * commandData, size_t commandDataLen) {
-
-    switch (deviceCommand) {
-    case (StarTracker::REQ_TEMPERATURE): {
-        prepareTemperatureRequest();
-        return RETURN_OK;
-    }
-    default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
-    return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-void StarTrackerHandler::fillCommandAndReplyMap() {
-    /** Reply lengths are unknown because of the slip encoding. Thus always maximum reply size
-      * is specified */
-	this->insertInCommandAndReplyMap(StarTracker::REQ_TEMPERATURE, 1, &temperatureSet,
-			StarTracker::MAX_FRAME_SIZE * 2 + 2);
-}
-
-ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t remainingSize,
-        DeviceCommandId_t *foundId, size_t *foundLen) {
-
-    uint32_t decodedLength = 0;
-
-    for (size_t idx = 0; idx < remainingSize; idx++) {
-        enum arc_dec_result decResult = arc_transport_decode_body(*(start + idx), &slipInfo,
-                decodedFrame, &decodedLength);
-
-        switch (decResult) {
-        case ARC_DEC_INPROGRESS: {
-            continue;
-        }
-        case ARC_DEC_ASYNC: {
-            sif::debug << "StarTrackerHandler::scanForReply: Received asynchronous tm" << std::endl;
-            /** No asynchronous replies are expected as of now */
-            return RETURN_FAILED;
-        }
-        case ARC_DEC_ERROR_FRAME_SHORT:
-            return REPLY_TOO_SHORT;
-        case ARC_DEC_ERROR_CHECKSUM:
-            return CRC_FAILURE;
-        case ARC_DEC_SYNC: {
-            /** Reset length of SLIP struct for next frame */
-            slipInfo.length = 0;
-            break;
-        }
-        default:
-            sif::debug << "StarTrackerHandler::scanForReply: Unknown result code" << std::endl;
-            break;
-        }
-    }
-
-    switch (decodedFrame[1]) {
-    case (static_cast<uint8_t>(StarTracker::REQ_TEMPERATURE)): {
-        *foundLen = decodedLength;
-        *foundId = StarTracker::REQ_TEMPERATURE;
-        break;
-    }
-    default: {
-        sif::debug << "StarTrackerHandler::scanForReply: Reply contains invalid reply id"
-                << std::endl;
-        return RETURN_FAILED;
-        break;
-    }
-    }
-
-    return RETURN_OK;
-}
-
-ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-
-    switch (id) {
-    case (StarTracker::REQ_TEMPERATURE): {
-        handleTemperatureTm();
-        break;
-    }
-    default: {
-        sif::debug << "StarTrackerHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
-        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
-    }
-    }
-
-    return RETURN_OK;
-}
-
-void StarTrackerHandler::setNormalDatapoolEntriesInvalid() {
-
-}
-
-uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
-    return 5000;
-}
-
-ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-        LocalDataPoolManager& poolManager) {
-
-    localDataPoolMap.emplace(StarTracker::STATUS, new PoolEntry<uint8_t>( { 0 }));
-    localDataPoolMap.emplace(StarTracker::TICKS, new PoolEntry<uint32_t>( { 0 }));
-    localDataPoolMap.emplace(StarTracker::TIME, new PoolEntry<uint64_t>( { 0 }));
-    localDataPoolMap.emplace(StarTracker::MCU_TEMPERATURE, new PoolEntry<float>( { 0 }));
-    localDataPoolMap.emplace(StarTracker::CMOS_TEMPERATURE, new PoolEntry<float>( { 0 }));
-
-    return RETURN_OK;
-}
-
-size_t StarTrackerHandler::getNextReplyLength(DeviceCommandId_t commandId){
-    return StarTracker::MAX_FRAME_SIZE;
-}
-
-void StarTrackerHandler::slipInit() {
-    slipInfo.buffer = rxBuffer;
-    slipInfo.maxlength = StarTracker::MAX_FRAME_SIZE;
-    slipInfo.length = 0;
-    slipInfo.unescape_next = 0;
-    slipInfo.prev_state = SLIP_COMPLETE;
-}
-
-void StarTrackerHandler::prepareTemperatureRequest() {
-    uint32_t length = 0;
-    arc_tm_pack_temperature_req(commandBuffer, &length);
-    uint32_t encLength = 0;
-    arc_transport_encode_body(commandBuffer, length, encBuffer, &encLength);
-    rawPacket = encBuffer;
-    rawPacketLen = encLength;
-}
-
-void StarTrackerHandler::handleTemperatureTm() {
-    PoolReadGuard rg(&temperatureSet);
-    uint32_t offset = 1;
-    temperatureSet.status = *(decodedFrame + offset);
-    offset += 1;
-    if(temperatureSet.status.value != 0) {
-        sif::warning << "StarTrackerHandler::handleTemperatureTm: Reply error: "
-                << static_cast<unsigned int>(temperatureSet.status.value) << std::endl;
-        triggerEvent(TM_REPLY_ERROR, temperatureSet.status.value);
-    }
-    temperatureSet.ticks = *(decodedFrame + offset) << 24
-            | *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
-            | *(decodedFrame + offset + 3);
-    offset += 4;
-    temperatureSet.time = static_cast<uint64_t>(*(decodedFrame + offset)) << 56
-            | static_cast<uint64_t>(*(decodedFrame + offset + 1)) << 48
-            | static_cast<uint64_t>(*(decodedFrame + offset + 2)) << 40
-            | static_cast<uint64_t>(*(decodedFrame + offset + 3)) << 32
-            | *(decodedFrame + offset + 4) << 24 | *(decodedFrame + offset + 5) << 16
-            | *(decodedFrame + offset + 6) << 8 | *(decodedFrame + offset + 7);
-    offset += 8;
-    temperatureSet.mcuTemperature = *(decodedFrame + offset) << 24
-            | *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
-            | *(decodedFrame + offset + 3);
-    offset += 4;
-    temperatureSet.cmosTemperature = *(decodedFrame + offset) << 24
-            | *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
-            | *(decodedFrame + offset + 3);
-#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: "
-            << temperatureSet.mcuTemperature << " °C" << std::endl;
-#endif
-}

mission/devices/StarTrackerHandler.h

@@ -1,100 +0,0 @@
-#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
-#define MISSION_DEVICES_STARTRACKERHANDLER_H_
-
-#include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <mission/devices/devicedefinitions/StarTrackerDefinitions.h>
-#include <thirdparty/arcsec_star_tracker/common/SLIP.h>
-
-/**
- * @brief	This is the device handler for the star tracker from arcsec.
- *
- * @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
- *                     Arbeitsdaten/08_Used%20Components/ArcSec_KULeuven_Startracker/
- *                     Sagitta%201.0%20Datapack&fileid=659181
- *
- * @author	J. Meier
- */
-class StarTrackerHandler: 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.
-	 */
-	StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
-	virtual ~StarTrackerHandler();
-
-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;
-
-	/**
-	 * @brief   Overwritten here to always read all available data from the UartComIF.
-	 */
-	virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
-
-private:
-
-	static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
-
-	//! [EXPORT] : [COMMENT] Received reply is too short
-    static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB0);
-	//! [EXPORT] : [COMMENT] Received reply with invalid CRC
-    static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB0);
-
-    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
-
-    //! [EXPORT] : [COMMENT] Result code of tm reply indicates an error
-    static const ReturnValue_t TM_REPLY_ERROR = MAKE_RETURN_CODE(0xA0);
-    //! P1: TM id
-
-    StarTracker::TemperatureSet temperatureSet;
-
-	uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
-	uint8_t rxBuffer[StarTracker::MAX_FRAME_SIZE];
-	uint8_t decodedFrame[StarTracker::MAX_FRAME_SIZE];
-
-	/** Size of buffer derived from the egse source code */
-	uint8_t encBuffer[StarTracker::MAX_FRAME_SIZE * 2 + 2];
-
-	slip_decode_state slipInfo;
-
-	enum class InternalState {
-	    TEMPERATURE_REQUEST
-    };
-
-	InternalState internalState = InternalState::TEMPERATURE_REQUEST;
-
-	/**
-	 * @brief   This function initializes the serial link ip protocol struct slipInfo.
-	 */
-	void slipInit();
-
-	void prepareTemperatureRequest();
-
-	/**
-	 * @brief   This function handles the telemetry reply of a temperature request.
-	 */
-	void handleTemperatureTm();
-};
-
-#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -25,7 +25,10 @@ static const uint8_t REBOOT_PORT = 4;
 static const uint8_t PARAM_PORT = 7;
 static const uint8_t P60_PORT_GNDWDT_RESET = 9;
 
-/* Device commands are derived from the rparam.h of the gomspace lib */
+/**
+ * Device commands are derived from the rparam.h of the gomspace lib..
+ * IDs above 50 are reserved for device specific commands.
+ */
 static const DeviceCommandId_t PING = 1; //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t NONE = 2; // Set when no command is pending
 static const DeviceCommandId_t REBOOT = 4; //!< [EXPORT] : [COMMAND]

mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h

@@ -6,17 +6,24 @@
 
 #include <cstddef>
 
-namespace ADIS16507 {
+namespace ADIS1650X {
+
+enum class Type {
+    ADIS16505,
+    ADIS16507
+};
 
 static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
 static constexpr uint8_t WRITE_MASK = 0b1000'0000;
 
 static constexpr uint32_t GYRO_RANGE = 125;
-static constexpr uint32_t ACCELEROMETER_RANGE = 392;
+static constexpr uint32_t ACCELEROMETER_RANGE_16507 = 392;
+static constexpr float ACCELEROMETER_RANGE_16505 = 78.4;
 
 static constexpr uint32_t STALL_TIME_MICROSECONDS = 16;
 
-static constexpr uint16_t PROD_ID = 16507;
+static constexpr uint16_t PROD_ID_16507 = 16507;
+static constexpr uint16_t PROD_ID_16505 = 16505;
 
 static constexpr std::array<uint8_t, 2> BURST_READ_ENABLE = {0x68, 0x00};
 
@@ -95,31 +102,31 @@ public:
 
     /** Constructor  for data users like controllers */
     AdisGyroPrimaryDataset(object_id_t adisId):
-        StaticLocalDataSet(sid_t(adisId, ADIS16507::ADIS_DATASET_ID)) {
+        StaticLocalDataSet(sid_t(adisId, ADIS1650X::ADIS_DATASET_ID)) {
         setAllVariablesReadOnly();
     }
 
     /* Angular velocities in degrees per second (DPS) */
     lp_var_t<double> angVelocX = lp_var_t<double>(sid.objectId,
-            ADIS16507::ANG_VELOC_X, this);
+            ADIS1650X::ANG_VELOC_X, this);
     lp_var_t<double> angVelocY = lp_var_t<double>(sid.objectId,
-            ADIS16507::ANG_VELOC_Y, this);
+            ADIS1650X::ANG_VELOC_Y, this);
     lp_var_t<double> angVelocZ = lp_var_t<double>(sid.objectId,
-            ADIS16507::ANG_VELOC_Z, this);
+            ADIS1650X::ANG_VELOC_Z, this);
     lp_var_t<double> accelX = lp_var_t<double>(sid.objectId,
-            ADIS16507::ACCELERATION_X, this);
+            ADIS1650X::ACCELERATION_X, this);
     lp_var_t<double> accelY = lp_var_t<double>(sid.objectId,
-            ADIS16507::ACCELERATION_Y, this);
+            ADIS1650X::ACCELERATION_Y, this);
     lp_var_t<double> accelZ = lp_var_t<double>(sid.objectId,
-            ADIS16507::ACCELERATION_Z, this);
+            ADIS1650X::ACCELERATION_Z, this);
     lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
-            ADIS16507::TEMPERATURE, this);
+            ADIS1650X::TEMPERATURE, this);
 private:
 
-    friend class GyroADIS16507Handler;
+    friend class GyroADIS1650XHandler;
     /** Constructor for the data creator */
     AdisGyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
-            StaticLocalDataSet(hkOwner, ADIS16507::ADIS_DATASET_ID) {}
+            StaticLocalDataSet(hkOwner, ADIS1650X::ADIS_DATASET_ID) {}
 };
 
 class AdisGyroConfigDataset: public StaticLocalDataSet<5> {
@@ -127,20 +134,20 @@ public:
 
     /** Constructor  for data users like controllers */
     AdisGyroConfigDataset(object_id_t adisId):
-        StaticLocalDataSet(sid_t(adisId, ADIS16507::ADIS_CFG_DATASET_ID)) {
+        StaticLocalDataSet(sid_t(adisId, ADIS1650X::ADIS_CFG_DATASET_ID)) {
         setAllVariablesReadOnly();
     }
 
     lp_var_t<uint16_t> diagStatReg = lp_var_t<uint16_t>(sid.objectId,
-            ADIS16507::DIAG_STAT_REGISTER);
+            ADIS1650X::DIAG_STAT_REGISTER);
-    lp_var_t<uint8_t> filterSetting = lp_var_t<uint8_t>(sid.objectId, ADIS16507::FILTER_SETTINGS);
+    lp_var_t<uint8_t> filterSetting = lp_var_t<uint8_t>(sid.objectId, ADIS1650X::FILTER_SETTINGS);
-    lp_var_t<uint16_t> mscCtrlReg = lp_var_t<uint16_t>(sid.objectId, ADIS16507::MSC_CTRL_REGISTER);
+    lp_var_t<uint16_t> mscCtrlReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::MSC_CTRL_REGISTER);
-    lp_var_t<uint16_t> decRateReg = lp_var_t<uint16_t>(sid.objectId, ADIS16507::DEC_RATE_REGISTER);
+    lp_var_t<uint16_t> decRateReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DEC_RATE_REGISTER);
 private:
-    friend class GyroADIS16507Handler;
+    friend class GyroADIS1650XHandler;
     /** Constructor for the data creator */
     AdisGyroConfigDataset(HasLocalDataPoolIF* hkOwner):
-            StaticLocalDataSet(hkOwner, ADIS16507::ADIS_CFG_DATASET_ID) {}
+            StaticLocalDataSet(hkOwner, ADIS1650X::ADIS_CFG_DATASET_ID) {}
 };
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_ */

mission/devices/devicedefinitions/Max31865Definitions.h

@@ -17,13 +17,17 @@ enum PoolIds: lp_id_t {
 static constexpr DeviceCommandId_t CONFIG_CMD = 0x80;
 static constexpr DeviceCommandId_t WRITE_HIGH_THRESHOLD = 0x83;
 static constexpr DeviceCommandId_t WRITE_LOW_THRESHOLD = 0x85;
+
 static constexpr DeviceCommandId_t REQUEST_CONFIG = 0x00;
 static constexpr DeviceCommandId_t REQUEST_RTD = 0x01;
 static constexpr DeviceCommandId_t REQUEST_HIGH_THRESHOLD = 0x03;
 static constexpr DeviceCommandId_t REQUEST_LOW_THRESHOLD = 0x05;
 static constexpr DeviceCommandId_t REQUEST_FAULT_BYTE = 0x07;
 
+static constexpr DeviceCommandId_t CLEAR_FAULT_BYTE = 0x08;
+
 static constexpr uint32_t MAX31865_SET_ID = REQUEST_RTD;
+static constexpr uint8_t CLEAR_FAULT_BIT_VAL = 0b0000'0010;
 
 static constexpr size_t MAX_REPLY_SIZE = 5;
 

mission/devices/devicedefinitions/RwDefinitions.h

@@ -46,7 +46,7 @@ enum PoolIds: lp_id_t {
 };
 
 enum States: uint8_t {
-    ERROR,
+    STATE_ERROR,
     IDLE,
     COASTING,
     RUNNING_SPEED_STABLE,

mission/devices/devicedefinitions/StarTrackerDefinitions.h

@@ -1,64 +0,0 @@
-#ifndef MISSION_STARTRACKER_DEFINITIONS_H_
-#define MISSION_STARTRACKER_DEFINITIONS_H_
-
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
-#include <fsfw/datapoollocal/LocalPoolVariable.h>
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
-#include "objects/systemObjectList.h"
-
-namespace StarTracker {
-
-/** This is the address of the star tracker */
-static const uint8_t ADDRESS = 33;
-
-enum PoolIds: lp_id_t {
-    STATUS,
-    TICKS,
-    TIME,
-    MCU_TEMPERATURE,
-    CMOS_TEMPERATURE
-};
-
-
-
-static const DeviceCommandId_t REQ_TEMPERATURE = 25;
-
-static const uint32_t TEMPERATURE_SET_ID = REQ_TEMPERATURE;
-
-/** Max size of unencoded frame */
-static const size_t MAX_FRAME_SIZE = 1200;
-
-static const uint8_t TEMPERATURE_SET_ENTRIES = 5;
-
-/**
- * @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<uint8_t> status = lp_var_t<uint8_t>(sid.objectId,
-            PoolIds::STATUS, this);
-    lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId,
-            PoolIds::TICKS, this);
-    /** Unix time in microseconds */
-    lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId,
-            PoolIds::TIME, this);
-    lp_var_t<float> mcuTemperature = lp_var_t<float>(sid.objectId,
-            PoolIds::MCU_TEMPERATURE, this);
-    lp_var_t<float> cmosTemperature = lp_var_t<float>(sid.objectId,
-            PoolIds::CMOS_TEMPERATURE, this);
-};
-
-}
-
-#endif /* MISSION_STARTRACKER_DEFINITIONS_H_ */
-

mission/memory/NVMParameterBase.h

@@ -7,7 +7,7 @@
 #include <string>
 #include <filesystem>
 
-class NVMParameterBase {
+class NVMParameterBase : public HasReturnvaluesIF {
 public:
     virtual~ NVMParameterBase() {}
 
@@ -34,12 +34,18 @@ public:
     ReturnValue_t setValue(std::string key, T value);
 
     template<typename T>
-    T getValue(std::string key) const;
+    ReturnValue_t getValue(std::string key, T* value) const;
 
     void printKeys() const;
     void print() const;
 
 private:
+
+    static const uint8_t INTERFACE_ID = CLASS_ID::NVM_PARAM_BASE;
+
+    //! [EXPORT] : [COMMENT] Specified key does not exist in json file
+    static const ReturnValue_t KEY_NOT_EXISTS = MAKE_RETURN_CODE(0xA0);
+
     nlohmann::json json;
     std::vector<std::string> keys;
     std::string fullName;
@@ -62,8 +68,12 @@ inline ReturnValue_t NVMParameterBase::setValue(std::string key, T value) {
 }
 
 template<typename T>
-inline T NVMParameterBase::getValue(std::string key) const {
+inline ReturnValue_t NVMParameterBase::getValue(std::string key, T* value) const {
-    return json[key];
+    if (!json.contains(key)) {
+        return KEY_NOT_EXISTS;
+    }
+    *value = json[key];
+    return RETURN_OK;
 }
 
 #endif /* BSP_Q7S_CORE_NVMPARAMS_NVMPARAMIF_H_ */

mission/tmtc/CCSDSHandler.cpp

@@ -84,11 +84,15 @@ ReturnValue_t CCSDSHandler::initialize() {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "CCSDSHandler::initialize: Invalid event manager" << std::endl;
 #endif
-        return RETURN_FAILED;
+        return ObjectManagerIF::CHILD_INIT_FAILED;
     }
     result = manager->registerListener(eventQueue->getId());
     if (result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "CCSDSHandler::initialize: Failed to register CCSDS handler as event "
+                "listener" << std::endl;
+#endif
+        return ObjectManagerIF::CHILD_INIT_FAILED;;
     }
     result = manager->subscribeToEventRange(eventQueue->getId(),
             event::getEventId(PdecHandler::CARRIER_LOCK),

mission/utility/CMakeLists.txt

@@ -1,5 +1,6 @@
 target_sources(${TARGET_NAME} PUBLIC
 	TmFunnel.cpp
+	Timestamp.cpp
 )
 
 

mission/utility/Timestamp.cpp

@@ -0,0 +1,28 @@
+#include "Timestamp.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+
+Timestamp::Timestamp() {
+    ReturnValue_t result = Clock::getDateAndTime(&time);
+    if (result != RETURN_OK) {
+        sif::warning << "Timestamp::Timestamp: Failed to get time" << std::endl;
+    }
+}
+
+Timestamp::~Timestamp() {
+}
+
+std::string Timestamp::str() {
+    timestamp << std::to_string(time.year) << "-"
+                    << std::setw(2) << std::setfill('0')
+                    << std::to_string(time.month) << "-"
+                    << std::setw(2) << std::setfill('0')
+                    << std::to_string(time.day) << "--"
+                    << std::setw(2) << std::setfill('0')
+                    << std::to_string(time.hour) << "-"
+                    << std::setw(2) << std::setfill('0')
+                    << std::to_string(time.minute) << "-"
+                    << std::setw(2) << std::setfill('0')
+                    << std::to_string(time.second) << "--";
+    return timestamp.str();
+}
+

mission/utility/Timestamp.h

@@ -0,0 +1,30 @@
+#ifndef MISSION_UTILITY_TIMESTAMP_H_
+#define MISSION_UTILITY_TIMESTAMP_H_
+
+#include <string>
+#include <sstream>
+#include <iomanip>
+#include "fsfw/timemanager/Clock.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+
+/**
+ * @brief   This class generates timestamps for files.
+ *
+ * @author  J. Meier
+ */
+class Timestamp : public HasReturnvaluesIF {
+public:
+    Timestamp();
+    virtual ~Timestamp();
+
+    /**
+     * @brief   Returns the timestamp string
+     */
+    std::string str();
+
+private:
+    std::stringstream timestamp;
+    Clock::TimeOfDay_t time;
+};
+
+#endif /* MISSION_UTILITY_TIMESTAMP_H_ */

thirdparty/arcsec_star_tracker

@@ -1 +1 @@
-Subproject commit 2d10c6b85ea4cab4f4baf1918c51d54eee4202c2
+Subproject commit f596c53315f1f81facb28faec3150612a5ad2ca0

tmtc

@@ -1 +1 @@
-Subproject commit 1d374230b34606d8b6aa4df1335befec316a1e35
+Subproject commit 734dc5aef88d9fef4ad59817b6ea315db954205c