tmp1075 handler, wip

bsp_q7s/InitMission.cpp

@@ -125,17 +125,21 @@ void InitMission::initTasks(){
 		sif::error << "Object add component failed" << std::endl;
 	}
 
-//	PeriodicTaskIF* P60DockTask = TaskFactory::instance()->
+	//TODO: Add handling of missed deadlines
-//			createPeriodicTask("P60Dock Task", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE*4,
+	/* Polling Sequence Table Default */
-//					1.6, nullptr);
+	FixedTimeslotTaskIF * PollingSequenceTableTaskDefault =
-//	result = P60DockTask->addComponent(objects::P60DOCK_HANDLER);
+			TaskFactory::instance()->createFixedTimeslotTask("PST_TASK_DEFAULT",
-//	if(result!=HasReturnvaluesIF::RETURN_OK){
+					50, PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 3.0,
-//		sif::error << "Object add component failed" << std::endl;
+					nullptr);
-//	}
+	result = pst::pollingSequenceInitDefault(PollingSequenceTableTaskDefault);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "InitMission::initTasks: Creating PST failed!"
+				<< std::endl;
+	}
 
 	FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()->
 			createFixedTimeslotTask("GS_PST_TASK", 50,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 1.0, nullptr);
+					PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 3.0, nullptr);
 	result = pst::gomspacePstInit(GomSpacePstTask);
 	if(result != HasReturnvaluesIF::RETURN_OK) {
 		sif::error << "InitMission::initTasks: GomSpace PST initialization "
@@ -161,7 +165,8 @@ void InitMission::initTasks(){
 	UdpBridgeTask->startTask();
 	UdpPollingTask->startTask();
 
-	GomSpacePstTask->startTask();
+//	GomSpacePstTask->startTask();
+	PollingSequenceTableTaskDefault->startTask();
 
 	PusVerification->startTask();
 	PusEvents->startTask();
@@ -169,8 +174,6 @@ void InitMission::initTasks(){
 	PusMedPrio->startTask();
 	PusLowPrio->startTask();
 
-//	P60DockTask->startTask();
-
 #if OBSW_ADD_TEST_CODE == 1
 //	TestTimeslotTask->startTask();
 #endif

bsp_q7s/ObjectFactory.cpp

@@ -13,12 +13,15 @@
 
 #include <mission/core/GenericFactory.h>
 #include <mission/devices/GomspaceDeviceHandler.h>
+#include <mission/devices/Tmp1075Handler.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/utility/TmFunnel.h>
 
 #include <bsp_q7s/comIF/cookies/CspCookie.h>
+#include <bsp_q7s/comIF/cookies/I2cCookie.h>
 #include <bsp_q7s/comIF/CspComIF.h>
+#include <bsp_q7s/comIF/I2cComIF.h>
 
 void Factory::setStaticFrameworkObjectIds() {
 	PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@@ -52,9 +55,12 @@ void ObjectFactory::produce(){
 			addresses::PDU2);
 	CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
 				addresses::ACU);
+	I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
+			TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
 
     /* Communication interfaces */
 	new CspComIF(objects::CSP_COM_IF);
+	new I2cComIF(objects::I2C_COM_IF);
 
     /* Device Handler */
 	new GomspaceDeviceHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
@@ -69,6 +75,11 @@ void ObjectFactory::produce(){
 	new GomspaceDeviceHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
 				acuCspCookie, ACU::MAX_CONFIGTABLE_ADDRESS,
 				ACU::MAX_HKTABLE_ADDRESS);
+	Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
+			objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
+			i2cCookieTmp1075tcs1);
+	tmp1075Handler_1->setStartUpImmediately();
+
 
 	new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
 			objects::CCSDS_PACKET_DISTRIBUTOR,

bsp_q7s/comIF/CMakeLists.txt

@@ -1,6 +1,8 @@
 target_sources(${TARGET_NAME} PRIVATE
 	cookies/CspCookie.cpp
+	cookies/I2cCookie.cpp
 	CspComIF.cpp
+	I2cComIF.cpp
 )
 
 

bsp_q7s/comIF/I2cComIF.cpp

@@ -0,0 +1,158 @@
+#include <bsp_q7s/comIF/I2cComIF.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <linux/i2c-dev.h>
+#include <errno.h>
+#include <string.h>
+
+
+I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
+}
+
+I2cComIF::~I2cComIF() {}
+
+ReturnValue_t I2cComIF::initializeInterface(CookieIF * cookie) {
+	if(cookie == nullptr) {
+		return NULLPOINTER;
+	}
+	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+	if(i2cCookie == nullptr) {
+	    sif::error << "I2cComIF: Invalid I2C Cookie!"
+	            << std::endl;
+	    return NULLPOINTER;
+	}
+
+	address_t i2cAddress = i2cCookie->getAddress();
+
+	int fd;
+	std::string deviceFile = i2cCookie->getDeviceFile();
+	/* Opening i2c device in non-blocking mode */
+	fd = open("/dev/i2c-0", O_RDWR);
+	if (fd < 0) {
+		sif::error << "I2cComIF: Opening i2c device failed with error code "
+				<< errno << ". Error description: " << strerror(errno)
+				<< std::endl;
+	}
+
+	if (ioctl(fd, I2C_SLAVE, i2cAddress) < 0) {
+		sif::error << "I2cComIF: Specifying target device failed with error "
+				<< "code " << errno << ". Error description "
+				<< strerror(errno) << std::endl;
+	}
+
+	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+	if(i2cDeviceMapIter == i2cDeviceMap.end()) {
+		size_t maxReplyLen = i2cCookie->getMaxReplyLen();
+		I2cInstance_t i2cInstance = {fd, std::vector<uint8_t>(maxReplyLen), 0};
+		i2cDeviceMap.emplace(i2cAddress, i2cInstance);
+	}
+	else {
+		sif::error << "I2cComIF: Device with address " << i2cAddress
+				<< "already in use" << std::endl;
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
+        const uint8_t *sendData, size_t sendLen) {
+
+	if(sendData == nullptr) {
+	    sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
+	            << std::endl;
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(sendLen == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+	if(i2cCookie == nullptr) {
+		sif::error << "I2cComIF::sendMessasge: Invalid I2C Cookie!"
+				<< std::endl;
+		return NULLPOINTER;
+	}
+
+	address_t i2cAddress = i2cCookie->getAddress();
+	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+	if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+		sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
+				<< "registered in i2cDeviceMap" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	int fd = i2cDeviceMapIter->second.fileDescriptor;
+
+	if (write(fd, sendData, sendLen) != (int)sendLen) {
+		sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
+				"device with error code " << errno << ". Error description: "
+				<< strerror(errno) << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
+		size_t requestLen) {
+
+	if (requestLen == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+	if(i2cCookie == nullptr) {
+		sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!"
+				<< std::endl;
+		return NULLPOINTER;
+	}
+
+	address_t i2cAddress = i2cCookie->getAddress();
+	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+	if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+		sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
+				<< "registered in i2cDeviceMap" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	int fd = i2cDeviceMapIter->second.fileDescriptor;
+	uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
+
+	if (read(fd, replyBuffer, requestLen) != (int)requestLen) {
+		sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
+				<< "device failed with error code " << errno <<". Description"
+				<< " of error: " << strerror(errno) << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	i2cDeviceMapIter->second.replyLen = requestLen;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
+		uint8_t **buffer, size_t* size) {
+	I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
+	if(i2cCookie == nullptr) {
+		sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!"
+				<< std::endl;
+		return NULLPOINTER;
+	}
+
+	address_t i2cAddress = i2cCookie->getAddress();
+	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+	if (i2cDeviceMapIter == i2cDeviceMap.end()) {
+		sif::error << "I2cComIF::getReplyBuffer: i2cAddress of Cookie not "
+				<< "registered in i2cDeviceMap" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	*buffer = i2cDeviceMapIter->second.replyBuffer.data();
+	*size = i2cDeviceMapIter->second.replyLen;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}

bsp_q7s/comIF/I2cComIF.h

@@ -0,0 +1,49 @@
+#ifndef BSP_Q7S_COMIF_I2COMIF_H_
+#define BSP_Q7S_COMIF_I2COMIF_H_
+
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <bsp_q7s/comIF/cookies/I2cCookie.h>
+
+#include <unordered_map>
+#include <vector>
+
+/**
+ * @brief 	This is the communication interface for i2c devices connected
+ * 			to a system running a linux OS.
+ *
+ * @author 	J. Meier
+ */
+class I2cComIF: public DeviceCommunicationIF, public SystemObject {
+public:
+	I2cComIF(object_id_t objectId);
+
+	virtual ~I2cComIF();
+
+	ReturnValue_t initializeInterface(CookieIF * cookie) override;
+	ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+			size_t sendLen) override;
+	ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+	ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+	        size_t requestLen) override;
+	ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+			size_t *size) override;
+
+private:
+
+	typedef struct I2cInstance {
+		int fileDescriptor;
+		std::vector<uint8_t> replyBuffer;
+		size_t replyLen;
+	} I2cInstance_t;
+
+	using I2cDeviceMap = std::unordered_map<address_t, I2cInstance_t>;
+	using I2cDeviceMapIter = I2cDeviceMap::iterator;
+
+	/* In this map all i2c devices will be registered with their address and
+	 * the appropriate file descriptor will be stored */
+	I2cDeviceMap i2cDeviceMap;
+	I2cDeviceMapIter i2cDeviceMapIter;
+};
+
+#endif /* BSP_Q7S_COMIF_I2COMIF_H_ */

bsp_q7s/comIF/cookies/I2cCookie.cpp

@@ -0,0 +1,21 @@
+#include <bsp_q7s/comIF/cookies/I2cCookie.h>
+
+I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
+		std::string deviceFile_) :
+		i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(
+				deviceFile_) {
+}
+
+address_t I2cCookie::getAddress() const {
+	return i2cAddress;
+}
+
+size_t I2cCookie::getMaxReplyLen() const {
+	return maxReplyLen;
+}
+
+std::string I2cCookie::getDeviceFile() const {
+	return deviceFile;
+}
+
+I2cCookie::~I2cCookie() {}

bsp_q7s/comIF/cookies/I2cCookie.h

@@ -0,0 +1,37 @@
+#ifndef SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_
+#define SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <string>
+
+/**
+ * @brief   Cookie for the i2cDeviceComIF.
+ *
+ * @author 	J. Meier
+ */
+class I2cCookie: public CookieIF {
+public:
+
+	/**
+	 * @brief	Constructor for the I2C cookie.
+	 * @param i2cAddress_	The i2c address of the target device.
+	 * @param maxReplyLen	The maximum expected length of a reply from the
+	 * 						target device.
+	 */
+	I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
+			std::string deviceFile_);
+
+	virtual ~I2cCookie();
+
+	address_t getAddress() const;
+	size_t getMaxReplyLen() const;
+	std::string getDeviceFile() const;
+
+private:
+
+	address_t i2cAddress = 0;
+	size_t maxReplyLen = 0;
+	std::string deviceFile;
+};
+
+#endif

etl

@@ -1 +1 @@
-Subproject commit f6ce3f59bd9da826817d79947165991ca8655b22
+Subproject commit 1ac3b77ef40aa783024d15185ee8ff41ae04a73e

fsfw

@@ -1 +1 @@
-Subproject commit 1ac2479b28c1114b0876123e0db4155abfbf06fe
+Subproject commit bd5cc7ae3ea53040cc832b5d756846d21613d91a

fsfwconfig/devices/addresses.h

@@ -15,6 +15,8 @@ namespace addresses {
 	enum logicalAddresses: address_t {
 		PCDU,
 
+		TMP1075_TCS_1 = 72,
+		TMP1075_TCS_2 = 73,
 		/* Dummy and Test Addresses */
 		DUMMY_ECHO = 129,
 		DUMMY_GPS0  = 130,

fsfwconfig/objects/systemObjectList.h

@@ -31,12 +31,15 @@ namespace objects {
 		/* 0x49 ('I') for Communication Interfaces **/
 		ARDUINO_COM_IF = 0x49000001,
 		CSP_COM_IF = 0x49000002,
+		I2C_COM_IF = 0x49000003,
 
 		/* 0x44 ('D') for device handlers */
 		P60DOCK_HANDLER = 0x44000001,
 		PDU1_HANDLER = 0x44000002,
 		PDU2_HANDLER = 0x44000003,
-		ACU_HANDLER = 0x44000004
+		ACU_HANDLER = 0x44000004,
+		TMP1075_HANDLER_1 = 0x44000005,
+		TMP1075_HANDLER_2 = 0x44000006
 	};
 }
 

fsfwconfig/pollingsequence/PollingSequenceFactory.cpp

@@ -10,14 +10,16 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
 	/* Length of a communication cycle */
 	uint32_t length = thisSequence->getPeriodMs();
 
-    thisSequence->addSlot(objects::DUMMY_HANDLER,
+    thisSequence->addSlot(objects::TMP1075_HANDLER_1,
-            length * 0,  DeviceHandlerIF::SEND_WRITE);
+                length * 0,  DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::DUMMY_HANDLER,
+    thisSequence->addSlot(objects::TMP1075_HANDLER_1,
-            length * 0.25, DeviceHandlerIF::GET_WRITE);
+                length * 0.2,  DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::DUMMY_HANDLER,
+    thisSequence->addSlot(objects::TMP1075_HANDLER_1,
-            length * 0.5,  DeviceHandlerIF::SEND_READ);
+                length * 0.4, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::DUMMY_HANDLER,
+    thisSequence->addSlot(objects::TMP1075_HANDLER_1,
-            length * 0.75, DeviceHandlerIF::GET_READ);
+                length * 0.6,  DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::TMP1075_HANDLER_1,
+            length * 0.8, DeviceHandlerIF::GET_READ);
 
 	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
 		return HasReturnvaluesIF::RETURN_OK;
@@ -42,40 +44,40 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
 	            length * 0,  DeviceHandlerIF::PERFORM_OPERATION);
 
 	thisSequence->addSlot(objects::P60DOCK_HANDLER,
-	            length * 0,  DeviceHandlerIF::SEND_WRITE);
+	            length * 0.2,  DeviceHandlerIF::SEND_WRITE);
 	thisSequence->addSlot(objects::PDU1_HANDLER,
-	            length * 0,  DeviceHandlerIF::SEND_WRITE);
+	            length * 0.2,  DeviceHandlerIF::SEND_WRITE);
 	thisSequence->addSlot(objects::PDU2_HANDLER,
-	            length * 0,  DeviceHandlerIF::SEND_WRITE);
+	            length * 0.2,  DeviceHandlerIF::SEND_WRITE);
 	thisSequence->addSlot(objects::ACU_HANDLER,
-	            length * 0,  DeviceHandlerIF::SEND_WRITE);
+	            length * 0.2,  DeviceHandlerIF::SEND_WRITE);
 
 	thisSequence->addSlot(objects::P60DOCK_HANDLER,
-			length * 0.25, DeviceHandlerIF::GET_WRITE);
+			length * 0.4, DeviceHandlerIF::GET_WRITE);
 	thisSequence->addSlot(objects::PDU1_HANDLER,
-			length * 0.25, DeviceHandlerIF::GET_WRITE);
+			length * 0.4, DeviceHandlerIF::GET_WRITE);
 	thisSequence->addSlot(objects::PDU2_HANDLER,
-			length * 0.25, DeviceHandlerIF::GET_WRITE);
+			length * 0.4, DeviceHandlerIF::GET_WRITE);
 	thisSequence->addSlot(objects::ACU_HANDLER,
-			length * 0.25, DeviceHandlerIF::GET_WRITE);
+			length * 0.4, DeviceHandlerIF::GET_WRITE);
 
 	thisSequence->addSlot(objects::P60DOCK_HANDLER,
-			length * 0.5,  DeviceHandlerIF::SEND_READ);
+			length * 0.6,  DeviceHandlerIF::SEND_READ);
 	thisSequence->addSlot(objects::PDU1_HANDLER,
-			length * 0.5,  DeviceHandlerIF::SEND_READ);
+			length * 0.6,  DeviceHandlerIF::SEND_READ);
 	thisSequence->addSlot(objects::PDU2_HANDLER,
-			length * 0.5,  DeviceHandlerIF::SEND_READ);
+			length * 0.6,  DeviceHandlerIF::SEND_READ);
 	thisSequence->addSlot(objects::ACU_HANDLER,
-			length * 0.5,  DeviceHandlerIF::SEND_READ);
+			length * 0.6,  DeviceHandlerIF::SEND_READ);
 
 	thisSequence->addSlot(objects::P60DOCK_HANDLER,
-			length * 0.75, DeviceHandlerIF::GET_READ);
+			length * 0.8, DeviceHandlerIF::GET_READ);
 	thisSequence->addSlot(objects::PDU1_HANDLER,
-			length * 0.75, DeviceHandlerIF::GET_READ);
+			length * 0.8, DeviceHandlerIF::GET_READ);
 	thisSequence->addSlot(objects::PDU2_HANDLER,
-			length * 0.75, DeviceHandlerIF::GET_READ);
+			length * 0.8, DeviceHandlerIF::GET_READ);
 	thisSequence->addSlot(objects::ACU_HANDLER,
-			length * 0.75, DeviceHandlerIF::GET_READ);
+			length * 0.8, DeviceHandlerIF::GET_READ);
 
 	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
 		return HasReturnvaluesIF::RETURN_OK;

mission/controller/ThermalController.cpp

@@ -0,0 +1,49 @@
+#include "ThermalController.h"
+#include <mission/devices/devicedefinitions/ThermalSensorPacket.h>
+
+ThermalController::ThermalController(object_id_t objectId):
+        ExtendedControllerBase(objectId, objects::NO_OBJECT),
+        thermalControllerSet(objectId) {
+}
+
+ReturnValue_t ThermalController::handleCommandMessage(
+        CommandMessage *message) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void ThermalController::performControlOperation() {
+
+}
+
+void ThermalController::handleChangedDataset(sid_t sid,
+        store_address_t storeId) {
+    if(sid == sid_t(TSensorDefinitions::ObjIds::TEST_HKB_HANDLER,
+            TSensorDefinitions::THERMAL_SENSOR_SET_ID)) {
+        sif::info << "Update registered!" << std::endl;
+    }
+}
+
+ReturnValue_t ThermalController::initializeAfterTaskCreation() {
+    ReturnValue_t result =
+            ExtendedControllerBase::initializeAfterTaskCreation();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "ThermalController::initializeAfterTaskCreation: Base"
+                << " class initialization failed!" << std::endl;
+    }
+    HasLocalDataPoolIF* testHkbHandler = objectManager->get<HasLocalDataPoolIF>(
+            TSensorDefinitions::ObjIds::TEST_HKB_HANDLER);
+    if(testHkbHandler == nullptr) {
+        sif::warning << "ThermalController::initializeAfterTaskCreation: Test"
+                << " HKB Handler invalid!" << std::endl;
+    }
+    // Test normal notifications without data packet first.
+    testHkbHandler->getHkManagerHandle()->subscribeForSetUpdateMessages(
+            TSensorDefinitions::THERMAL_SENSOR_SET_ID,
+            this->getObjectId(), commandQueue->getId(), false);
+    return result;
+}
+
+ReturnValue_t ThermalController::checkModeCommand(Mode_t mode,
+        Submode_t submode, uint32_t *msToReachTheMode) {
+    return HasReturnvaluesIF::RETURN_OK;
+}

mission/controller/ThermalController.h

@@ -0,0 +1,33 @@
+#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
+#define MISSION_CONTROLLER_THERMALCONTROLLER_H_
+
+#include <fsfw/controller/ExtendedControllerBase.h>
+#include "ctrldefinitions/ThermalCtrlPackets.h"
+
+
+class ThermalController: public ExtendedControllerBase {
+public:
+	ThermalController(object_id_t objectId);
+private:
+
+	// TODO: Add stubs for thermal components. Each device / assembly with one
+	// or multiple redundant sensors will have a thermal component.
+
+	/** ExtendedControllerBase overrides */
+    virtual ReturnValue_t handleCommandMessage(
+            CommandMessage *message) override;
+
+    virtual void performControlOperation() override;
+
+    virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+            uint32_t *msToReachTheMode) override;
+
+    ReturnValue_t initializeAfterTaskCreation() override;
+
+    void handleChangedDataset(sid_t sid, store_address_t storeId) override;
+
+    ThermalCtrl::ThermalControllerTemperatureSet thermalControllerSet;
+};
+
+
+#endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */

mission/devices/CMakeLists.txt

@@ -4,6 +4,7 @@ target_sources(${TARGET_NAME} PUBLIC
 	MGMHandlerLIS3MDL.cpp
 	MGMHandlerRM3100.cpp
 	GomspaceDeviceHandler.cpp
+	Tmp1075Handler.cpp
 )
 
 

mission/devices/GomspaceDeviceHandler.cpp

@@ -70,9 +70,9 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
 		}
 	}
 	default:
-		break;
+		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
 	}
-	return HasReturnvaluesIF::RETURN_OK;
+	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 void GomspaceDeviceHandler::fillCommandAndReplyMap(){

mission/devices/Tmp1075Handler.cpp

@@ -0,0 +1,134 @@
+#include <mission/devices/Tmp1075Handler.h>
+#include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
+
+Tmp1075Handler::Tmp1075Handler(object_id_t objectId, object_id_t comIF,
+		CookieIF * comCookie) :
+		DeviceHandlerBase(objectId, comIF, comCookie), dataset(
+				this) {
+	if (comCookie == NULL) {
+		sif::error << "Tmp1075Handler: Invalid com cookie" << std::endl;
+	}
+}
+
+Tmp1075Handler::~Tmp1075Handler() {
+}
+
+
+void Tmp1075Handler::doStartUp(){
+	if(mode == _MODE_START_UP){
+		setMode(MODE_NORMAL);
+	}
+}
+
+void Tmp1075Handler::doShutDown(){
+
+}
+
+ReturnValue_t Tmp1075Handler::buildNormalDeviceCommand(
+		DeviceCommandId_t * id) {
+
+	if(communicationStep == CommunicationStep::START_ADC_CONVERSION) {
+		*id = TMP1075::START_ADC_CONVERSION;
+		communicationStep = CommunicationStep::GET_TEMPERATURE;
+		return buildCommandFromCommand(*id, NULL, 0);
+	}
+	else {
+		*id = TMP1075::GET_TEMP;
+		communicationStep = CommunicationStep::START_ADC_CONVERSION;
+		return buildCommandFromCommand(*id, NULL, 0);
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Tmp1075Handler::buildTransitionDeviceCommand(
+		DeviceCommandId_t * id){
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Tmp1075Handler::buildCommandFromCommand(
+		DeviceCommandId_t deviceCommand, const uint8_t * commandData,
+		size_t commandDataLen) {
+	switch(deviceCommand) {
+	case(TMP1075::START_ADC_CONVERSION): {
+		std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
+		prepareAdcConversionCommand();
+		rawPacket = cmdBuffer;
+		rawPacketLen = TMP1075::CFGR_CMD_SIZE;
+		return RETURN_OK;
+	}
+	case(TMP1075::GET_TEMP): {
+		std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
+		prepareGetTempCommand();
+		rawPacket = cmdBuffer;
+		rawPacketLen = TMP1075::POINTER_REG_SIZE;
+		rememberCommandId = TMP1075::GET_TEMP;
+		return RETURN_OK;
+	}
+	default:
+		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+	}
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+void Tmp1075Handler::fillCommandAndReplyMap(){
+	this->insertInCommandMap(TMP1075::START_ADC_CONVERSION);
+	this->insertInCommandAndReplyMap(TMP1075::GET_TEMP, 1, &dataset,
+			TMP1075::GET_TEMP_REPLY_SIZE);
+}
+
+ReturnValue_t Tmp1075Handler::scanForReply(const uint8_t *start,
+        size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
+	switch(rememberCommandId) {
+	case(TMP1075::GET_TEMP):
+			*foundId = TMP1075::GET_TEMP;
+			*foundLen = TMP1075::GET_TEMP_REPLY_SIZE;
+			rememberCommandId = TMP1075::NONE;
+		break;
+	default:
+		return IGNORE_REPLY_DATA;
+	}
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Tmp1075Handler::interpretDeviceReply(DeviceCommandId_t id,
+        const uint8_t *packet) {
+	switch (id) {
+	case TMP1075::GET_TEMP: {
+		int16_t tempValueRaw = packet[1] << 8 | packet[0] >> 4;
+		float tempValue = ((static_cast<float>(tempValueRaw)) * 0.0625);
+#if OBSW_ENHANCED_PRINTOUT == 1
+		sif::info << "Tmp1075: Temperature: " << tempValue<< " °C" << std::endl;
+#endif
+        ReturnValue_t result = dataset.read(20);
+        if(result == HasReturnvaluesIF::RETURN_OK) {
+            dataset.temperatureCelcius = tempValue;
+            dataset.commit(20);
+        }
+		break;
+	}
+
+	default: {
+		return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
+	}
+
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void Tmp1075Handler::setNormalDatapoolEntriesInvalid(){
+
+}
+
+void Tmp1075Handler::prepareAdcConversionCommand(){
+	cmdBuffer[0] = TMP1075::CFGR_ADDR;
+	cmdBuffer[1] = TMP1075::ONE_SHOT_MODE >> 8;
+	cmdBuffer[2] = TMP1075::ONE_SHOT_MODE & 0xFF;
+}
+
+void Tmp1075Handler::prepareGetTempCommand(){
+	cmdBuffer[0] = TMP1075::TEMP_REG_ADDR;
+}
+
+uint32_t Tmp1075Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
+	return 0;
+}

mission/devices/Tmp1075Handler.h

@@ -0,0 +1,66 @@
+#ifndef MISSION_DEVICES_TMP1075HANDLER_H_
+#define MISSION_DEVICES_TMP1075HANDLER_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
+
+/**
+ * @brief	This is the device handler class for the tmp1075 temperature sensor.
+ *
+ * @details	The tmp1075 communicates via I2C. After the address byte and the
+ * 			read and write bit, a pointer address must be sent to the device.
+ * 			This pointer address is stored in the pointer register of the
+ * 			tmp1075 and defines to which address following data bytes will
+ * 			be written or from which address data will be read.
+ *
+ * @author	J. Meier
+ */
+class Tmp1075Handler: public DeviceHandlerBase {
+public:
+
+	Tmp1075Handler(object_id_t objectId, object_id_t comIF,
+			CookieIF * comCookie);
+	virtual ~Tmp1075Handler();
+
+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;
+
+private:
+
+	/**
+	 * @brief	Function fills cmdBuffer with command to start the adc
+	 * 			conversion for a new temperature value.
+	 */
+	void prepareAdcConversionCommand();
+
+	void prepareGetTempCommand();
+
+	enum class CommunicationStep {
+		START_ADC_CONVERSION,
+		GET_TEMPERATURE
+	};
+
+	TMP1075::Tmp1075Dataset dataset;
+
+	static const uint8_t MAX_CMD_LEN = 3;
+
+	uint8_t rememberRequestedSize = 0;
+	uint8_t rememberCommandId = TMP1075::NONE;
+	uint8_t cmdBuffer[MAX_CMD_LEN];
+	CommunicationStep communicationStep =
+			CommunicationStep::START_ADC_CONVERSION;
+};
+
+#endif /* MISSION_DEVICES_TMP1075HANDLER_H_ */

mission/devices/devicedefinitions/Tmp1075Definitions.h

@@ -0,0 +1,51 @@
+#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_TMP1075DEFINITIONS_H_
+#define MISSION_DEVICES_DEVICEDEFINITIONS_TMP1075DEFINITIONS_H_
+
+namespace TMP1075 {
+	static const uint8_t TEMP_REG_ADDR = 0x0;
+	static const uint8_t CFGR_ADDR = 0x1;
+
+	/* Writing this information to the configuration register sets the tmp1075
+	 * to shutdown mode and starts a single temperature conversion */
+	static const uint16_t ONE_SHOT_MODE = 0x8100;
+
+	static const DeviceCommandId_t NONE = 0x0; // Set when no command is pending
+	static const DeviceCommandId_t GET_TEMP = 0x1;
+	static const DeviceCommandId_t START_ADC_CONVERSION = 0x2;
+
+	static const uint8_t GET_TEMP_REPLY_SIZE = 2;
+	static const uint8_t CFGR_CMD_SIZE = 3;
+	static const uint8_t POINTER_REG_SIZE = 1;
+
+	static const lp_id_t TEMPERATURE_C = GET_TEMP;
+	static const uint32_t DATA_SET_ID = 0x0;
+
+	static const uint8_t MAX_REPLY_LENGTH = GET_TEMP_REPLY_SIZE;
+
+class Tmp1075Dataset:
+		public StaticLocalDataSet<sizeof(float)> {
+public:
+	/**
+	 * Constructor used by owner and data creators like device handlers.
+	 * @param owner
+	 * @param setId
+	 */
+	Tmp1075Dataset(HasLocalDataPoolIF* owner):
+		StaticLocalDataSet(owner, DATA_SET_ID) {
+	}
+
+	/**
+	 * Constructor used by data users like controllers.
+	 * @param sid
+	 */
+	Tmp1075Dataset(object_id_t objectId):
+		StaticLocalDataSet(sid_t(objectId, DATA_SET_ID)) {
+	}
+
+	lp_var_t<float> temperatureCelcius = lp_var_t<float>(hkManager->getOwner(),
+			TEMPERATURE_C, this);
+};
+}
+
+
+#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_TMP1075DEFINITIONS_H_ */

tmtc

@@ -1 +1 @@
-Subproject commit b1dc449ccfd7de558a87ebc7aae77b1eaf32c934
+Subproject commit eb9deae5abd5d6d6f016f7864dc37c9825aabb43