From f2c7bfc94299d5b87af0dfb0a0c27e41490f4c68 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Sat, 10 Apr 2021 22:22:39 +0200
Subject: [PATCH] resolved merge conflicts

---
 bsp_rpi/InitMission.cpp          | 58 +-------------------------------
 fsfw_hal                         |  2 +-
 linux/boardtest/SpiTestClass.cpp |  8 ++---
 linux/boardtest/SpiTestClass.h   |  2 +-
 4 files changed, 6 insertions(+), 64 deletions(-)

diff --git a/bsp_rpi/InitMission.cpp b/bsp_rpi/InitMission.cpp
index 091f6bbd..40c38e6c 100644
--- a/bsp_rpi/InitMission.cpp
+++ b/bsp_rpi/InitMission.cpp
@@ -3,13 +3,9 @@
 
 #include <fsfwconfig/objects/systemObjectList.h>
 #include <fsfwconfig/OBSWConfig.h>
-<<<<<<< HEAD
-#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
+#include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
 
-=======
->>>>>>> develop
 #include <mission/utility/InitMission.h>
-
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
@@ -17,10 +13,6 @@
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
-<<<<<<< HEAD
-=======
-#include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
->>>>>>> develop
 
 #include <iostream>
 
@@ -124,8 +116,6 @@ void initmission::initTasks() {
     result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
-<<<<<<< HEAD
-=======
     }
 
     PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
@@ -135,24 +125,6 @@ void initmission::initTasks() {
         initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
     }
 
-#if RPI_TEST_ACS_BOARD == 1
-    FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
-            "ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
-    result = pst::pollingSequenceAcsTest(acsTask);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
->>>>>>> develop
-    }
-#endif /* RPI_TEST_ACS_BOARD == 1 */
-
-<<<<<<< HEAD
-    PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
-            "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-    result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
-    }
-
 #if RPI_TEST_ACS_BOARD == 1
     FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
             "ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
@@ -188,34 +160,6 @@ void initmission::initTasks() {
     udpBridgeTask->startTask();
     udpPollingTask->startTask();
 
-=======
-    PeriodicTaskIF* testTask = factory->createPeriodicTask(
-            "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-#if OBSW_ADD_TEST_CODE == 1
-    result = testTask->addComponent(objects::TEST_TASK);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
-    }
-#endif /* OBSW_ADD_TEST_CODE == 1 */
-#if RPI_ADD_SPI_TEST == 1
-    result = testTask->addComponent(objects::SPI_TEST);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
-    }
-#endif /* RPI_ADD_SPI_TEST == 1 */
-#if RPI_ADD_GPIO_TEST == 1
-    result = testTask->addComponent(objects::LIBGPIOD_TEST);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
-    }
-#endif /* RPI_ADD_GPIO_TEST == 1 */
-
-    sif::info << "Starting tasks.." << std::endl;
-    tmTcDistributor->startTask();
-    udpBridgeTask->startTask();
-    udpPollingTask->startTask();
-
->>>>>>> develop
     pusVerification->startTask();
     pusEvents->startTask();
     pusHighPrio->startTask();
diff --git a/fsfw_hal b/fsfw_hal
index a12f0363..14fe3257 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit a12f036339ab2f6716fae4ba95e3205f0b827271
+Subproject commit 14fe32572d62db9d19707dc1f9bb6fecb1993b73
diff --git a/linux/boardtest/SpiTestClass.cpp b/linux/boardtest/SpiTestClass.cpp
index dc7ca931..387c7eb5 100644
--- a/linux/boardtest/SpiTestClass.cpp
+++ b/linux/boardtest/SpiTestClass.cpp
@@ -329,7 +329,6 @@ void SpiTestClass::acsInit() {
     gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
-}
 #elif defined(XIPHOS_Q7S)
     std::string q7sGpioName5 = "gpiochip5";
     std::string q7sGpioName6 = "gpiochip6";
@@ -362,10 +361,9 @@ void SpiTestClass::acsInit() {
             gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 #endif
-if(gpioIF != nullptr) {
-    gpioIF->addGpios(gpioCookie);
-}
-
+    if(gpioIF != nullptr) {
+        gpioIF->addGpios(gpioCookie);
+    }
 }
 
 void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
diff --git a/linux/boardtest/SpiTestClass.h b/linux/boardtest/SpiTestClass.h
index 9c6305f6..f93eb9c2 100644
--- a/linux/boardtest/SpiTestClass.h
+++ b/linux/boardtest/SpiTestClass.h
@@ -39,7 +39,7 @@ private:
 
     /* ACS board specific variables */
 #ifdef RASPBERRY_PI
-    uint8_t mgm0Lis3ChipSelect = 0;
+    uint8_t mgm0Lis3mdlChipSelect = 0;
     uint8_t mgm1Rm3100ChipSelect = 1;
     uint8_t gyro0AdisChipSelect = 5;
     uint8_t gyro1L3gd20ChipSelect = 6;