From d9514e418443c69809434925b23642d2175810d6 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 3 Feb 2023 16:08:34 +0100
Subject: [PATCH] a lot of bugfixes

---
 CHANGELOG.md                         |  5 +++++
 common/config/devices/addresses.h    |  2 +-
 fsfw                                 |  2 +-
 linux/ObjectFactory.cpp              | 12 ++----------
 mission/controller/AcsController.cpp |  2 +-
 mission/controller/AcsController.h   |  1 +
 mission/system/tree/acsModeTree.h    |  1 -
 7 files changed, 11 insertions(+), 14 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2f0e4447..0ab1a83d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -24,9 +24,14 @@ change warranting a new major release:
 
 - `AcsController`: Parameter fix in `DetumbleParameter`.
 - Set GPS set entries to invalid on MODE_OFF command.
+- Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false
+  properly
+- Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a
+  future fix, the calibration matrices of SUS0 and SUS6 will be swapped.
 
 ## Changed
 
+- `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
 - ACS Subsystem Sequence Mode IDs updated.
   PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
   TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130
diff --git a/common/config/devices/addresses.h b/common/config/devices/addresses.h
index d7056307..c1e65314 100644
--- a/common/config/devices/addresses.h
+++ b/common/config/devices/addresses.h
@@ -9,7 +9,7 @@
 
 namespace addresses {
 /* Logical addresses have uint32_t datatype */
-enum logicalAddresses : address_t {
+enum LogicAddress : address_t {
   PCDU,
 
   MGM_0_LIS3 = objects::MGM_0_LIS3_HANDLER,
diff --git a/fsfw b/fsfw
index 3250bbf2..38789e05 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 3250bbf269b3326683222bb87ce7faecae63ad97
+Subproject commit 38789e053b65cfa14604fc625e7bcc8ca03a3f17
diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp
index a147af26..cf27972f 100644
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@@ -79,11 +79,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #if OBSW_ADD_SUN_SENSORS == 1
   SusFdir* fdir = nullptr;
   std::array<SusHandler*, 12> susHandlers = {};
-  gpioId_t gpioId = gpioIds::CS_SUS_0;
-  if (swap0And6) {
-    gpioId = gpioIds::CS_SUS_6;
-  }
-  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioId, SUS::MAX_CMD_SIZE,
+  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
                                        spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[0] =
       new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
@@ -125,11 +121,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
   susHandlers[5]->setCustomFdir(fdir);
 
-  gpioId = gpioIds::CS_SUS_6;
-  if (swap0And6) {
-    gpioId = gpioIds::CS_SUS_0;
-  }
-  spiCookie = new SpiCookie(addresses::SUS_6, gpioId, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
                             spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[6] =
       new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 8ed396c5..8a58eb90 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -486,9 +486,9 @@ void AcsController::copyMgmData() {
 }
 
 void AcsController::copySusData() {
-  ACS::SensorValues sensorValues;
   {
     PoolReadGuard pg(&sensorValues.susSets[0]);
+
     if (pg.getReadResult() == returnvalue::OK) {
       std::memcpy(susDataRaw.sus0.value, sensorValues.susSets[0].channels.value,
                   6 * sizeof(uint16_t));
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index bc23fdaf..308700e4 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -60,6 +60,7 @@ class AcsController : public ExtendedControllerBase {
   void announceMode(bool recursive);
 
   /* ACS Datasets */
+  ACS::SensorValues sensorValues;
   IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
   // MGMs
   acsctrl::MgmDataRaw mgmDataRaw;
diff --git a/mission/system/tree/acsModeTree.h b/mission/system/tree/acsModeTree.h
index c814ca3a..134a86a7 100644
--- a/mission/system/tree/acsModeTree.h
+++ b/mission/system/tree/acsModeTree.h
@@ -1,6 +1,5 @@
 #include <mission/system/objects/AcsSubsystem.h>
 
-
 namespace satsystem {
 namespace acs {