Merge pull request 'Update to v1.8.0' (#100) from develop into main

Reviewed-on: #100

.clang-format

@@ -1,8 +0,0 @@
----
-BasedOnStyle: Google
-IndentWidth: 2
----
-Language: Cpp
-ColumnLimit: 100
-ReflowComments: true
----

.gitignore

@@ -8,9 +8,6 @@
 !misc/eclipse/**/.cproject
 !misc/eclipse/**/.project
 
-#vscode
-/.vscode
-
 # Python
 __pycache__
 .idea

CMakeLists.txt

@@ -13,32 +13,34 @@ cmake_minimum_required(VERSION 3.13)
 
 set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
+if(TGT_BSP MATCHES "arm/q7s")
+    option(EIVE_BUILD_WATCHDOG "Compile the OBSW watchdog insted" OFF)
+    option(BUILD_Q7S_SIMPLE_MODE OFF "Simple mode with a minimal main function")
+endif()
 
-option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
+option(ADD_ETL_LIB "Add ETL library" ON)
-option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
+option(ADD_JSON_LIB "Add JSON library" ON)
-
 option(EIVE_SYSROOT_MAGIC "Perform sysroot magic which might not be necessary" OFF)
-option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
 
 if(NOT FSFW_OSAL)
-	set(FSFW_OSAL linux CACHE STRING "OS for the FSFW.")
+	set(FSFW_OSAL host CACHE STRING "OS for the FSFW.")
 endif()
 
-if(TGT_BSP)
 if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
     option(LINUX_CROSS_COMPILE ON)
-        option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
-    elseif(TGT_BSP MATCHES "arm/q7s")
-        option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
-    endif()
 endif()
 
 # Perform steps like loading toolchain files where applicable.
 include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
 
+set(PROJECT_NAME_TO_SET eive-obsw-$ENV{USERNAME})
+if(EIVE_BUILD_WATCHDOG)
+    set(PROJECT_NAME_TO_SET eive-watchdog)
+endif()
+
 # Project Name
-project(eive-obsw ASM C CXX)
+project(${PROJECT_NAME_TO_SET} ASM C CXX)
 
 ################################################################################
 # Pre-Sources preparation
@@ -49,42 +51,34 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
 
 # Set names and variables
-set(OBSW_NAME ${CMAKE_PROJECT_NAME})
+set(TARGET_NAME ${CMAKE_PROJECT_NAME}) 
-set(WATCHDOG_NAME eive-watchdog)
-set(SIMPLE_OBSW_NAME eive-simple)
-set(UNITTEST_NAME eive-unittest)
 set(LIB_FSFW_NAME fsfw)
-set(LIB_EIVE_MISSION eive-mission)
 set(LIB_ETL_NAME etl)
 set(LIB_CSP_NAME libcsp)
 set(LIB_LWGPS_NAME lwgps)
 set(LIB_ARCSEC wire)
 set(THIRD_PARTY_FOLDER thirdparty)
 set(LIB_CXX_FS -lstdc++fs)
-set(LIB_CATCH2 Catch2)
-set(LIB_GPS gps)
 set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
 
 # Set path names
 set(FSFW_PATH fsfw)
+set(MISSION_PATH mission)
 set(TEST_PATH test/testtasks)
-set(UNITTEST_PATH unittest)
 set(LINUX_PATH linux)
 set(COMMON_PATH common)
 set(WATCHDOG_PATH watchdog)
 set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
-set(UNITTEST_CFG_PATH ${UNITTEST_PATH}/testcfg)
 
-set(LIB_EIVE_MISSION_PATH mission)
+set(FSFW_HAL_LIB_PATH fsfw_hal)
-set(LIB_CSP_PATH ${THIRD_PARTY_FOLDER}/libcsp)
+set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
-set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
+set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
-set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
+set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)
-set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps)
+set(ARCSEC_LIB_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
-set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
 set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
 
 set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
-set(EIVE_ADD_LINUX_FILES False)
+set(ADD_LINUX_FILES False)
 
 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
@@ -93,11 +87,11 @@ pre_source_hw_os_config()
 
 if(TGT_BSP)
     if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
-        OR TGT_BSP MATCHES "arm/beagleboneblack" OR TGT_BSP MATCHES "arm/egse"
+        OR TGT_BSP MATCHES "arm/beagleboneblack"
     )
         set(FSFW_CONFIG_PATH "linux/fsfwconfig")
         if(NOT BUILD_Q7S_SIMPLE_MODE)
-            set(EIVE_ADD_LINUX_FILES TRUE)
+            set(ADD_LINUX_FILES TRUE)
             set(ADD_CSP_LIB TRUE)
             set(FSFW_HAL_ADD_LINUX ON)
         endif()
@@ -109,12 +103,6 @@ if(TGT_BSP)
         set(FSFW_HAL_ADD_RASPBERRY_PI ON)
     endif()
     
-    if(TGT_BSP MATCHES "arm/egse")
-        # Used by configure file
-        set(EGSE ON)
-        set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
-    endif()
-    
     if(TGT_BSP MATCHES "arm/beagleboneblack")
         # Used by configure file
         set(BEAGLEBONEBLACK ON)
@@ -129,19 +117,17 @@ else()
     set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
 endif()
 
-
 # Configuration files
+if(NOT EIVE_BUILD_WATCHDOG)
     configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
     configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
     configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
     if(TGT_BSP MATCHES "arm/q7s")
         configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
-elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
+    elseif(TGT_BSP MATCHES "arm/raspberrypi")
         configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
     endif()
-
+endif()
-
-
 configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
 
 # Set common config path for FSFW
@@ -150,30 +136,120 @@ set(FSFW_ADDITIONAL_INC_PATHS
     ${CMAKE_CURRENT_BINARY_DIR}
 )
 
-# Check whether the user has already installed Catch2 first
-find_package(Catch2 3)
-
 ################################################################################
 # Executable and Sources
 ################################################################################
 
-#global compiler options need to be set before adding executables
+# Add executable
-if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+add_executable(${TARGET_NAME})
-	add_compile_options(
+
-		"-Wall"
+if(ADD_ETL_LIB)
-		"-Wextra"
+    add_subdirectory(${ETL_LIB_PATH})
-		"-Wimplicit-fallthrough=1"
+endif()
-		"-Wno-unused-parameter"
+
-		"-Wno-psabi"
+if(ADD_JSON_LIB)
+    add_subdirectory(${LIB_JSON_PATH})
+endif()
+
+if(NOT EIVE_BUILD_WATCHDOG)
+    if(ADD_LINUX_FILES)
+        add_subdirectory(${LINUX_PATH})
+    endif()
+    add_subdirectory(${BSP_PATH})
+    add_subdirectory(${COMMON_PATH})
+    if(ADD_CSP_LIB)
+        add_subdirectory(${CSP_LIB_PATH})
+    endif()
+endif()
+
+if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
+    add_subdirectory(${LWGPS_LIB_PATH})
+    add_subdirectory(${FSFW_PATH})
+    add_subdirectory(${MISSION_PATH})
+    add_subdirectory(${TEST_PATH})
+    add_subdirectory(${ARCSEC_LIB_PATH})
+endif()
+
+if(EIVE_BUILD_WATCHDOG)
+    add_subdirectory(${WATCHDOG_PATH})
+endif()
+
+################################################################################
+# Post-Sources preparation
+################################################################################
+
+set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux)
+
+if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
+    # Add libraries for all sources.
+    target_link_libraries(${TARGET_NAME} PRIVATE
+        ${LIB_FSFW_NAME}
+        ${LIB_OS_NAME}
+        ${LIB_LWGPS_NAME}
     )
+
+    if(TGT_BSP MATCHES "arm/q7s")
+        target_link_libraries(${TARGET_NAME} PRIVATE
+            ${LIB_ARCSEC}
+        )
+    endif()
+endif()
+
+if(NOT EIVE_BUILD_WATCHDOG)
+    if(ADD_CSP_LIB)
+        target_link_libraries(${TARGET_NAME} PRIVATE
+            ${LIB_CSP_NAME}
+        )
+    endif()
+endif()
+
+if(ADD_ETL_LIB)
+    target_link_libraries(${TARGET_NAME} PRIVATE
+        ${LIB_ETL_NAME}
+    )
+endif()
+
+if(ADD_JSON_LIB)
+    target_link_libraries(${TARGET_NAME} PRIVATE
+        ${LIB_JSON_NAME}
+    )
+endif()
+
+target_link_libraries(${TARGET_NAME} PRIVATE
+    ${LIB_CXX_FS}
+)
+
+# Add include paths for all sources.
+target_include_directories(${TARGET_NAME} PRIVATE
+	${CMAKE_CURRENT_SOURCE_DIR}
+	${FSFW_CONFIG_PATH}
+	${CMAKE_CURRENT_BINARY_DIR}
+	${ARCSEC_LIB_PATH}
+)	
+
+if(TGT_BSP MATCHES "arm/q7s")
+    target_include_directories(${TARGET_NAME} PRIVATE
+        ${ARCSEC_LIB_PATH}
+    )
+endif()
+
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+	set(WARNING_FLAGS
+		-Wall
+		-Wextra
+		-Wimplicit-fallthrough=1
+		-Wno-unused-parameter
+		-Wno-psabi
+	)
+	
 	# Remove unused sections.
-	add_compile_options(
+	target_compile_options(${TARGET_NAME} PRIVATE
 		"-ffunction-sections"
 		"-fdata-sections"
 	)
 
 	# Removed unused sections.
-	add_link_options(
+	target_link_options(${TARGET_NAME} PRIVATE
 		"-Wl,--gc-sections"
 	)
 	
@@ -181,162 +257,15 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 	set(COMPILER_FLAGS "/permissive-")
 endif()
 
-# Not installed, so use FetchContent to download and provide Catch2
-if(NOT Catch2_FOUND)
-    include(FetchContent)
-
-    FetchContent_Declare(
-        Catch2
-        GIT_REPOSITORY https://github.com/catchorg/Catch2.git
-        GIT_TAG        v3.0.0-preview4
-    )
-
-    FetchContent_MakeAvailable(Catch2)
-    #fixes regression -preview4, to be confirmed in later releases
-    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
-    set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
-    set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
-endif()
-
-
-
-add_library(${LIB_EIVE_MISSION})
-
-
-# Add main executable
-add_executable(${OBSW_NAME})
-if(EIVE_CREATE_UNIQUE_OBSW_BIN)
-    set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME}-$ENV{USERNAME})
-else()
-    set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
-endif()
-set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})
-
-#watchdog
-add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
-add_subdirectory(${WATCHDOG_PATH}) 
-target_link_libraries(${WATCHDOG_NAME} PUBLIC
-    ${LIB_CXX_FS}
-)
-target_include_directories(${WATCHDOG_NAME} PUBLIC
-    ${CMAKE_BINARY_DIR}
-)
-
-#unittests
-add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
-
-
-
-if(EIVE_ADD_ETL_LIB)
-    add_subdirectory(${LIB_ETL_PATH})
-endif()
-
-if(EIVE_ADD_JSON_LIB)
-    add_subdirectory(${LIB_JSON_PATH})
-endif()
-
-
- 
-if(EIVE_ADD_LINUX_FILES)
-    add_subdirectory(${LIB_ARCSEC_PATH})
-    add_subdirectory(${LINUX_PATH})
-endif()
-add_subdirectory(${BSP_PATH})
-if(ADD_CSP_LIB)
-    add_subdirectory(${LIB_CSP_PATH})
-endif()
-
-
-add_subdirectory(${COMMON_PATH})
-
-
-
-add_subdirectory(${LIB_LWGPS_PATH})
-add_subdirectory(${FSFW_PATH})
-add_subdirectory(${LIB_EIVE_MISSION_PATH})
-add_subdirectory(${TEST_PATH})
-
-
-add_subdirectory(${UNITTEST_PATH})
-
-
-################################################################################
-# Post-Sources preparation
-################################################################################
-
-
-
-# Add libraries
-target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-    ${LIB_FSFW_NAME}
-    ${LIB_LWGPS_NAME}
-    ${LIB_OS_NAME}
-)
-
-target_link_libraries(${OBSW_NAME} PRIVATE
-    ${LIB_EIVE_MISSION}
-)
-
-if(TGT_BSP MATCHES "arm/q7s")
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_ARCSEC}
-        ${LIB_GPS}
-    )
-endif()
-
-target_link_libraries(${UNITTEST_NAME} PRIVATE
-    Catch2
-    ${LIB_EIVE_MISSION}
-)
-
-if(TGT_BSP MATCHES "arm/egse")
-    target_link_libraries(${OBSW_NAME} PRIVATE
-	    ${LIB_ARCSEC}
-	)
-endif()
-
-if(ADD_CSP_LIB)
-    target_link_libraries(${OBSW_NAME} PRIVATE
-        ${LIB_CSP_NAME}
-    )
-endif()
-
-
-if(EIVE_ADD_ETL_LIB)
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_ETL_NAME}
-    )
-endif()
-
-if(EIVE_ADD_JSON_LIB)
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_JSON_NAME}
-    )
-endif()
-
-target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-    ${LIB_CXX_FS}
-)
-
-# Add include paths for all sources.
-target_include_directories(${LIB_EIVE_MISSION} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-	${FSFW_CONFIG_PATH}
-	${CMAKE_CURRENT_BINARY_DIR}
-	${LIB_ARCSEC_PATH}
-)
-
-if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/egse")
-    target_include_directories(${LIB_EIVE_MISSION} PUBLIC
-        ${ARCSEC_LIB_PATH}
-    )
-endif()
-
 if(CMAKE_VERBOSE)
 	message(STATUS "Warning flags: ${WARNING_FLAGS}")
 endif()
 		 
 
+# Compile options for all sources.
+target_compile_options(${TARGET_NAME} PRIVATE
+	${WARNING_FLAGS}
+)
 
 if(${CMAKE_CROSSCOMPILING})
 	include (${CMAKE_SCRIPT_PATH}/HardwareOsPostConfig.cmake)
@@ -368,12 +297,11 @@ string(CONCAT POST_BUILD_COMMENT
 )
 
 add_custom_command(
-   TARGET ${OBSW_NAME}
+   TARGET ${TARGET_NAME}
    POST_BUILD
-   COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
+   COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
    COMMENT ${POST_BUILD_COMMENT}
 )
 
-
 include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
 set_build_type()

Justfile

@@ -1,12 +0,0 @@
-python_script := './cmake/scripts/cmake-build-cfg.py'
-
-default: q7s-debug-make
-
-q7s-debug-make:
-	{{python_script}} -o linux -g make -b debug -t "arm/q7s" -l build-Debug-Q7S
-
-q7s-release-make:
-	{{python_script}} -o linux -g make -b release -t "arm/q7s" -l build-Release-Q7S
-
-q7s-debug-ninja:
-	{{python_script}} -o linux -g ninja -b debug -t "arm/q7s" -l build-Debug-Q7S

README.md

@@ -11,18 +11,13 @@
 4. [Useful and Common Host Commands](#host-commands)
 5. [Setting up Prerequisites](#set-up-prereq)
 6. [Remote Debugging](#remote-debugging)
-6. [Remote Reset](#remote-reset)
+7. [Direct Debugging](#direct-debugging)
-8. [TMTC testing](#tmtc-testing)
+8. [Transfering Files to the Q7S](#file-transfer)
-9. [Direct Debugging](#direct-debugging)
+9. [Q7S OBC](#q7s)
-10. [Transfering Files to the Q7S](#file-transfer)
+10. [Static Code Analysis](#static-code-analysis)
-11. [Q7S OBC](#q7s)
+11. [Eclipse](#eclipse)
-12. [Static Code Analysis](#static-code-analysis)
+12. [Running the OBSW on a Raspberry Pi](#rpi)
-13. [Eclipse](#eclipse)
+13. [FSFW](#fsfw)
-14. [Running the OBSW on a Raspberry Pi](#rpi)
-15. [Running OBSW on EGSE](#egse)
-16. [Manually preparing sysroots to compile gpsd](#gpsd)
-17. [FSFW](#fsfw)
-18. [Coding Style](#coding-style)
 
 # <a id="general"></a> General information
 
@@ -40,7 +35,7 @@ Target systems:
      relevant pages. The most recent datasheet can be found 
      [here](https://trac2.xiphos.ca/manual/wiki/Q7RevB/UserManual).
    * Linux OS built with Yocto 2.5
-   * [Linux Kernel](https://github.com/XiphosSystemsCorp/linux-xlnx.git) . EIVE version can be found
+   * Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git . EIVE version can be found
      [here](https://github.com/spacefisch/linux-xlnx) . Pre-compiled files can be
      found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/q7s-linux-components&fileid=777299).
    * Q7S base project can be found [here](https://egit.irs.uni-stuttgart.de/eive/q7s-base)
@@ -107,7 +102,7 @@ When using Windows, run theses steps in MSYS2.
 
    ```sh
    mkdir build-Debug-Q7S && cd build-Debug-Q7S
-   cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..
+   cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DOS_FSFW=linux ..
    cmake --build . -j
    ```
 
@@ -122,7 +117,8 @@ When using Windows, run theses steps in MSYS2.
    This will invoke a Python script which in turn invokes CMake with the correct
    arguments to configure CMake for Q7S cross-compilation.
    
-   There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
+   You can build the hosted variant of the OBSW by replacing `-DOS_FSFW=linux` with 
+   `-DOS_FSFW=host`. There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
    or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`.
    
 5. Build the software with
@@ -161,47 +157,20 @@ automatically.
 
 ### Q7S OBSW
 
-The EIVE OBSW is the default target if no target is specified.
-
 ```sh
 mkdir build-Debug-Q7S && cd build-Debug-Q7S
-cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
+cmake -DTGT_BSP=arm/q7s -DFSFW_OSAL=linux -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```
 
 ### Q7S Watchdog
 
-To build the EIVE watchdog, the corresponding target must be specified in the build command.
-The configure steps do not need to be repeated if the folder has already been configured.
-
 ```sh
-mkdir build-Debug-Watchdog && cd build-Debug-Watchdog
+mkdir build-Debug-Q7S && cd build-Debug-Q7S
-cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
+cmake -DTGT_BSP=arm/q7s -DFSFW_OSAL=linux -DEIVE_BUILD_WATCHDOG=ON -DCMAKE_BUILD_TYPE=Debug ..
-cmake --build . --target eive-watchdog -j
-```
-
-### Hosted
-
-You can also use the FSFW OSAL `host` to build on Windows or for generic OSes.
-Note: Currently this is not supported.
-
-```sh
-mkdir build-Debug-Host && cd build-Debug-Host
-cmake -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```
 
-### Unittests
-
-To build the unittests, the corresponding target must be specified in the build command.
-The configure steps do not need to be repeated if the folder has already been configured.
-
-```sh
-mkdir build-Debug-Unittest && cd build-Debug-Unittest
-cmake ..
-cmake --build . --target eive-unittests -j
-```
-
 ## Connect to EIVE flatsat
 
 ### DNS
@@ -442,24 +411,12 @@ Beagle Bone Black for download here
 Download it and unzip it somewhere in the Xilinx installation folder.
 You can use the following command if `wget` can be used or for CI/CD:
 
-```sh
+```
-wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/SyXpdBBQX32xPgE/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
+wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/agnJGYeRf6fw2ci/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
 ```
 
 Then, create a new environmental variables `Q7S_SYSROOT` and set it to the local system root path.
 
-### Updating system root for CI
-
-If the system root is updated, it needs to be manually updated on the buggy file server.
-If access on `buggy.irs.uni-stuttgart.de` is possible with `ssh` and the rootfs in the cloud
-[was updated](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs&fileid=831849)
-as well, you can update the rootfs like this:
-
-```sh
-cd /var/www/eive/tools
-wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/SyXpdBBQX32xPgE/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
-```
-
 ## Setting up UNIX environment for real-time functionalities
 
 Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities 
@@ -557,10 +514,10 @@ ssh root@192.168.133.10
 ```
 
 If this has not been done yet, you can access the serial
-console of the Q7S like this
+console of the Q7S like this to set it
 
 ```sh
-picocom -b 115200 /dev/q7sSerial
+picocom -b 115200 /dev/ttyUSB0
 ```
 
 The flatsat has the aliases and shell scripts `q7s_ssh` and `q7s_serial` for this task as well.
@@ -597,63 +554,6 @@ 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
-CADU frames. To make the CADU frames receivabel by the
-[TMTC porgram](https://egit.irs.uni-stuttgart.de/eive/eive-tmtc), a python script is running as
-`systemd` service named `tmtc_bridge` on the flatsat PC which forwards TCP commands to the TCP
-server of the OBC and reads CADU frames from a serial interface.
-
-You can check whether the service is running the following command on the flatsat PC
-
-```sh
-systemctl status tmtc_bridge
-```
-
-The PUS packets transported with the CADU frames are extracted
-and forwared to the TMTC program's TCP client. The code of the TMTC bridge can be found
-[here](https://egit.irs.uni-stuttgart.de/eive/tmtc-bridge). To connect the TMTC program to the
-TMTC-bridge a port forwarding from a host must be set up with the following command:
-
-```sh
-ssh -L 1537:127.0.0.1:7100 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t bash
-```
-
-You can print the output of the `systemd` service with
-
-```sh
-journalctl -u tmtc_bridge
-```
-
-This can be helpful to determine whether any TCs arrive or TMs are coming back.
-
-Note: The encoding of the TM packets and conversion of CADU frames takes some time.
-Thus the replies are received with a larger delay compared to a direct TCP connection.
-
 # <a id="direct-debugging"></a> Direct Debugging
 
 1. Assign static IP address to Q7S
@@ -1066,7 +966,26 @@ cat file.bin | hexdump -v -n X
 
 ## Preparation of a fresh rootfs and SD card
 
-See [q7s-package repository README](https://egit.irs.uni-stuttgart.de/eive/q7s-package)
+This section summarizes important changes between a fresh rootfs and the current
+EIVE implementation
+
+### rootfs
+
+- Mount point `/mnt/sd0` created for SD card 0. Created with `mkdir`
+- Mount point `/mnt/sd1` created for SD card 1. Created with `mkdir`
+- Folder `scripts` in `/home/root` folder.
+- `scripts` folder currently contains a few shell helper scripts
+- Folder `profile.d` in `/etc` folder which contains the `path-set.sh` script
+  which is sourced at software startup
+- Library `libwire.so` in `/usr/lib` folder
+
+### SD Cards
+
+- Folder `bin` for binaries, for example the OBSW
+- Folder `misc` for miscellaneous files. Contains `ls` for directory listings
+- Folder `tc` for telecommands
+- Folder `tm` for telemetry
+- Folder `xdi` for XDI components (e.g. for firmware or device tree updates)
 
 # <a id="static-code-analysis"></a> Running cppcheck on the Software
 
@@ -1114,7 +1033,7 @@ The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debu
 1. Install the TCF agent plugin in Eclipse from
    the [releases](https://www.eclipse.org/tcf/downloads.php). Go to
    Help &rarr; Install New Software and use the download page, for
-   example https://download.eclipse.org/tools/tcf/releases/1.7/1.7.0/ to search for the plugin and install it. You can find the newest version [here](https://www.eclipse.org/tcf/downloads.php)
+   example https://download.eclipse.org/tools/tcf/releases/1.6/1.6.2/ to search for the plugin and install it.
 
 2. Go to Window &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**. 
    Here, the Q7S should show up if the local port forwarding was set up as explained previously.
@@ -1153,38 +1072,6 @@ sudo apt-get install gpiod libgpiod-dev
 
 to install the required GPIO libraries before cloning the system root folder.
 
-# <a id="egse"></a> Running OBSW on EGSE
-The EGSE is a test system from arcsec build arround a raspberry pi 4 to test the star tracker. The IP address of the EGSE (raspberry pi) is 192.168.18.31. An ssh session can be opened with
-````
-ssh pi@192.168.18.31
-````
-Password: raspberry
-
-To run the obsw perform the following steps:
-1. Build the cmake EGSE Configuration 
-   * the sysroots for the EGSE can be found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/egse&fileid=1190471)
-   * toolchain for linux host can be downloaded from [here](https://github.com/Pro/raspi-toolchain)
-   * toolchain for windows host from [here](https://gnutoolchains.com/raspberry/) (the raspios-buster-armhf toolchain is the right one for the EGSE)
-2. Disable the ser2net systemd service on the EGSE
-````sh
-$ sudo systemctl stop ser2net.service
-````
-3. Power on the star tracker by running
-````sh
-$ ~/powerctrl/enable0.sh`
-````
-4. Run portforwarding script for tmtc tcp connection and tcf agent on host PC
-````sh
-$ ./scripts/egse-port.sh
-````
-5. The star tracker can be powered off by running
-````sh
-$ ~/powerctrl/disable0.sh
-````
-
-# <a id="gpsd"></a> Manually preparing sysroots to compile gpsd
-Copy all header files from [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/gpsd&fileid=1189985) to the /usr/include directory and all static libraries to /usr/lib.
-
 # <a id="fsfw"></a> Flight Software Framework (FSFW)
 
 An EIVE fork of the FSFW is submodules into this repository.
@@ -1204,15 +1091,3 @@ git merge upstream/master
 
 Alternatively, changes from other upstreams (forks) and branches can be merged like that
 in the same way.
-
-# <a id="coding-style"></a> Coding Style
-* the formatting is based on the clang-format tools
-## Setting up eclipse auto-fromatter with clang-format
-1. Help &rarr; Install New Software &rarr; Add
-2. In location insert the link http://www.cppstyle.com/luna
-3. The software package CppStyle should now be available for installation
-4. On windows download the clang-formatting tools from https://llvm.org/builds/. On linux clang-format can be installed with the package manager.
-5. Navigate to Preferences &rarr; C/C++ &rarr; CppStyle 
-6. Insert the path to the clang-format executable
-7. Under C/C++ &rarr; Code Style &rarr; Formatter, change the formatter to CppStyle (clang-format)
-8. Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f

automation/Dockerfile-q7s

@@ -2,9 +2,7 @@ FROM ubuntu:focal
 
 RUN apt-get update
 RUN apt-get --yes upgrade
-#tzdata is a dependency, won't install otherwise
+RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl
-ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind libgps-dev
 
 # Q7S root filesystem, required for cross-compilation.
 RUN mkdir -p /usr/rootfs; \
@@ -16,5 +14,6 @@ RUN mkdir -p /usr/tools; \
 curl https://buggy.irs.uni-stuttgart.de/eive/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.gz \
     | tar -xz -C /usr/tools
 
+
 ENV Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
 ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"

automation/Jenkinsfile

@@ -1,36 +1,48 @@
 pipeline {
-    environment {
+    agent any
-        BUILDDIR_Q7 = 'build_q7'
-        BUILDDIR_LINUX = 'build_linux'
-    }
-    agent {
-        docker {
-            image 'eive-obsw-ci:d2'
-            args '--sysctl fs.mqueue.msg_max=100'
-        }
-    }
     stages {
-        stage('Clean') {
+        stage('Build Container') {
+            when {
+                changeset "automation/Dockerfile-q7s"
+                branch 'develop'
+            }
             steps {
-                sh 'rm -rf $BUILDDIR_Q7'
+                sh 'docker build -t eive-fsw-build-q7s:gcc8 - < automation/Dockerfile-q7s'
-                sh 'rm -rf $BUILDDIR_LINUX'
+
+            }
+        }
+        stage('Clean') {
+            when {
+                anyOf {
+                    changelog 'cleanCI'
+                    changeset '*.cmake'
+                    changeset 'CMakeLists.txt'
+                }
+            }
+            steps {
+                sh 'rm -rf build-q7s-debug'
             }
         }
         stage('Build Q7S') {
+            agent {
+                docker {
+                    image 'eive-fsw-build-q7s:gcc8'
+                    reuseNode true
+                }
+            }
             steps {
-                dir(BUILDDIR_Q7) {
+                dir('build-q7s-debug') {
-                    sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..'
+                    sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=linux ..'
                     sh 'cmake --build . -j'
                 }
             }
         }
-        stage('Unittests') {
+        stage('Deploy') {
+            when {
+                tag 'v*.*.*'
+            }
             steps {
-                dir(BUILDDIR_LINUX) {
+                sh 'echo Deploying'
-                    sh 'cmake ..'
-                    sh 'cmake --build . -t eive-unittest -j'
-                    sh './eive-unittest'
-                }
             }
         }
     }

bsp_egse/CMakeLists.txt

@@ -1,7 +0,0 @@
-target_sources(${OBSW_NAME} PUBLIC
-	InitMission.cpp
-	main.cpp
-	ObjectFactory.cpp
-)
-
-add_subdirectory(boardconfig)

bsp_egse/InitMission.cpp

@@ -1,192 +0,0 @@
-#include "InitMission.h"
-
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
-#include <fsfw/tasks/FixedTimeslotTaskIF.h>
-#include <fsfw/tasks/PeriodicTaskIF.h>
-#include <fsfw/tasks/TaskFactory.h>
-#include <mission/utility/InitMission.h>
-
-#include <iostream>
-
-#include "OBSWConfig.h"
-#include "ObjectFactory.h"
-#include "objects/systemObjectList.h"
-#include "pollingsequence/pollingSequenceFactory.h"
-
-ServiceInterfaceStream sif::debug("DEBUG");
-ServiceInterfaceStream sif::info("INFO");
-ServiceInterfaceStream sif::warning("WARNING");
-ServiceInterfaceStream sif::error("ERROR");
-
-ObjectManagerIF* objectManager = nullptr;
-
-void initmission::initMission() {
-  sif::info << "Make sure the systemd service ser2net on the egse has been stopped "
-            << "(alias stop-ser2net)" << std::endl;
-  sif::info << "Make sure the power lines of the star tracker have been enabled "
-            << "(alias enable-startracker)" << std::endl;
-  sif::info << "Building global objects.." << std::endl;
-  /* Instantiate global object manager and also create all objects */
-  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
-  sif::info << "Initializing all objects.." << std::endl;
-  ObjectManager::instance()->initialize();
-
-  /* This function creates and starts all tasks */
-  initTasks();
-}
-
-void initmission::initTasks() {
-  TaskFactory* factory = TaskFactory::instance();
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  if (factory == nullptr) {
-    /* Should never happen ! */
-    return;
-  }
-#if OBSW_PRINT_MISSED_DEADLINES == 1
-  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
-#else
-  void (*missedDeadlineFunc)(void) = nullptr;
-#endif
-
-  /* TMTC Distribution */
-  PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
-      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-  result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-  result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-
-  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-      "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Add component TMTC Bridge failed" << std::endl;
-  }
-  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
-      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Add component TMTC Polling failed" << std::endl;
-  }
-
-  /* PUS Services */
-  std::vector<PeriodicTaskIF*> pusTasks;
-  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
-
-  std::vector<PeriodicTaskIF*> pstTasks;
-  FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
-      "STAR_TRACKER_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
-  result = pst::pstUart(pst);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
-  }
-  pstTasks.push_back(pst);
-
-  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
-      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = strHelperTask->addComponent(objects::STR_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
-  }
-  pstTasks.push_back(strHelperTask);
-
-  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
-    for (const auto& task : taskVector) {
-      if (task != nullptr) {
-        task->startTask();
-      } else {
-        sif::error << "Task in vector " << name << " is invalid!" << std::endl;
-      }
-    }
-  };
-
-  sif::info << "Starting tasks.." << std::endl;
-  tmtcDistributor->startTask();
-  tmtcBridgeTask->startTask();
-  tmtcPollingTask->startTask();
-
-  taskStarter(pstTasks, "PST Tasks");
-  taskStarter(pusTasks, "PUS Tasks");
-
-  sif::info << "Tasks started.." << std::endl;
-}
-
-void initmission::createPusTasks(TaskFactory& factory,
-                                 TaskDeadlineMissedFunction missedDeadlineFunc,
-                                 std::vector<PeriodicTaskIF*>& taskVec) {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
-      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
-  }
-  taskVec.push_back(pusVerification);
-
-  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
-      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
-  }
-  result = pusEvents->addComponent(objects::EVENT_MANAGER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
-  }
-  taskVec.push_back(pusEvents);
-
-  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
-      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-  }
-  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
-  }
-  taskVec.push_back(pusHighPrio);
-
-  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
-      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
-  }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
-  }
-  taskVec.push_back(pusMedPrio);
-
-  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);
-  }
-  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
-  }
-  taskVec.push_back(pusLowPrio);
-}

bsp_egse/InitMission.h

@@ -1,21 +0,0 @@
-#ifndef BSP_LINUX_INITMISSION_H_
-#define BSP_LINUX_INITMISSION_H_
-
-#include <vector>
-
-#include "fsfw/tasks/Typedef.h"
-
-class PeriodicTaskIF;
-class TaskFactory;
-
-namespace initmission {
-void initMission();
-void initTasks();
-
-void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                    std::vector<PeriodicTaskIF*>& taskVec);
-void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                    std::vector<PeriodicTaskIF*>& taskVec);
-};  // namespace initmission
-
-#endif /* BSP_LINUX_INITMISSION_H_ */

bsp_egse/ObjectFactory.cpp

@@ -1,49 +0,0 @@
-#include "ObjectFactory.h"
-
-#include <devConf.h>
-#include <fsfw_hal/linux/uart/UartComIF.h>
-#include <fsfw_hal/linux/uart/UartCookie.h>
-#include <mission/devices/GPSHyperionHandler.h>
-
-#include "OBSWConfig.h"
-#include "busConf.h"
-#include "fsfw/datapoollocal/LocalDataPoolManager.h"
-#include "fsfw/tmtcpacket/pus/tm.h"
-#include "fsfw/tmtcservices/CommandingServiceBase.h"
-#include "fsfw/tmtcservices/PusServiceBase.h"
-#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
-#include "linux/devices/startracker/StarTrackerHandler.h"
-#include "mission/core/GenericFactory.h"
-#include "mission/utility/TmFunnel.h"
-#include "objects/systemObjectList.h"
-#include "tmtc/apid.h"
-#include "tmtc/pusIds.h"
-
-void Factory::setStaticFrameworkObjectIds() {
-  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-  PusServiceBase::packetDestination = objects::TM_FUNNEL;
-
-  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
-
-  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
-  TmFunnel::storageDestination = objects::NO_OBJECT;
-
-  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
-}
-
-void ObjectFactory::produce(void* args) {
-  Factory::setStaticFrameworkObjectIds();
-  ObjectFactory::produceGenericObjects();
-
-  UartCookie* starTrackerCookie =
-      new UartCookie(objects::STAR_TRACKER, egse::STAR_TRACKER_UART, UartModes::NON_CANONICAL,
-                     uart::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2);
-  new UartComIF(objects::UART_COM_IF);
-  starTrackerCookie->setNoFixedSizeReply();
-  StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
-  StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(
-      objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper);
-  starTrackerHandler->setStartUpImmediately();
-}

bsp_egse/ObjectFactory.h

@@ -1,8 +0,0 @@
-#ifndef BSP_LINUX_OBJECTFACTORY_H_
-#define BSP_LINUX_OBJECTFACTORY_H_
-
-namespace ObjectFactory {
-void produce(void* args);
-};  // namespace ObjectFactory
-
-#endif /* BSP_LINUX_OBJECTFACTORY_H_ */

bsp_egse/boardconfig/CMakeLists.txt

@@ -1,7 +0,0 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
-
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)

bsp_egse/boardconfig/busConf.h

@@ -1,8 +0,0 @@
-#ifndef BSP_EGSE_BOARDCONFIG_BUSCONF_H_
-#define BSP_EGSE_BOARDCONFIG_BUSCONF_H_
-
-namespace egse {
-static constexpr char STAR_TRACKER_UART[] = "/dev/serial0";
-}
-
-#endif /* BSP_EGSE_BOARDCONFIG_BUSCONF_H_ */

bsp_egse/boardconfig/etl_profile.h

@@ -1,38 +0,0 @@
-///\file
-
-/******************************************************************************
-The MIT License(MIT)
-
-Embedded Template Library.
-https://github.com/ETLCPP/etl
-https://www.etlcpp.com
-
-Copyright(c) 2019 jwellbelove
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files(the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions :
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-******************************************************************************/
-#ifndef __ETL_PROFILE_H__
-#define __ETL_PROFILE_H__
-
-#define ETL_CHECK_PUSH_POP
-
-#define ETL_CPP11_SUPPORTED 1
-#define ETL_NO_NULLPTR_SUPPORT 0
-
-#endif

bsp_egse/boardconfig/gcov.h

@@ -1,15 +0,0 @@
-#ifndef LINUX_GCOV_H_
-#define LINUX_GCOV_H_
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-
-#ifdef GCOV
-extern "C" void __gcov_flush();
-#else
-void __gcov_flush() {
-  sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
-               "coverage information is desired.\n"
-            << std::flush;
-}
-#endif
-
-#endif /* LINUX_GCOV_H_ */

bsp_egse/boardconfig/print.c

@@ -1,10 +0,0 @@
-#include <bsp_egse/boardconfig/print.h>
-#include <stdio.h>
-
-void printChar(const char* character, bool errStream) {
-  if (errStream) {
-    putc(*character, stderr);
-    return;
-  }
-  putc(*character, stdout);
-}

bsp_egse/boardconfig/print.h

@@ -1,8 +0,0 @@
-#ifndef HOSTED_BOARDCONFIG_PRINT_H_
-#define HOSTED_BOARDCONFIG_PRINT_H_
-
-#include <stdbool.h>
-
-void printChar(const char* character, bool errStream);
-
-#endif /* HOSTED_BOARDCONFIG_PRINT_H_ */

bsp_egse/boardconfig/rpiConfig.h.in

@@ -1,6 +0,0 @@
-#ifndef BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
-#define BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
-
-#include <cstdint>
-
-#endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */

bsp_egse/main.cpp

@@ -1,28 +0,0 @@
-#include <iostream>
-
-#include "InitMission.h"
-#include "OBSWConfig.h"
-#include "OBSWVersion.h"
-#include "fsfw/FSFWVersion.h"
-#include "fsfw/tasks/TaskFactory.h"
-
-/**
- * @brief 	    This is the main program entry point for the egse (raspberry pi 4)
- * @return
- */
-int main(void) {
-  std::cout << "-- EIVE OBSW --" << std::endl;
-  std::cout << "-- Compiled for EGSE from Arcsec"
-            << " --" << std::endl;
-  std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
-            << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << FSFW_REVISION
-            << "--" << std::endl;
-  std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
-
-  initmission::initMission();
-
-  for (;;) {
-    /* Suspend main thread by sleeping it. */
-    TaskFactory::delayTask(5000);
-  }
-}

bsp_hosted/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${OBSW_NAME} PUBLIC
+target_sources(${TARGET_NAME} PUBLIC
 	InitMission.cpp
 	main.cpp
 	ObjectFactory.cpp

bsp_hosted/InitMission.cpp

@@ -1,19 +1,20 @@
 #include "InitMission.h"
+#include "ObjectFactory.h"
 
 #include <OBSWConfig.h>
-#include <fsfw/objectmanager/ObjectManager.h>
+
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
+
 #include <mission/utility/InitMission.h>
 
 #include <iostream>
 
-#include "ObjectFactory.h"
-
 #ifdef LINUX
 ServiceInterfaceStream sif::debug("DEBUG");
 ServiceInterfaceStream sif::info("INFO");
@@ -54,7 +55,8 @@ void initmission::initTasks() {
     /* TMTC Distribution */
     PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
             "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  ReturnValue_t result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
+    ReturnValue_t result = tmTcDistributor->addComponent(
+            objects::CCSDS_PACKET_DISTRIBUTOR);
     if(result != HasReturnvaluesIF::RETURN_OK){
         sif::error << "Object add component failed" << std::endl;
     }

bsp_hosted/InitMission.h

@@ -4,6 +4,6 @@
 namespace initmission {
 void initMission();
 void initTasks();
-};  // namespace initmission
+};
 
 #endif /* BSP_LINUX_INITMISSION_H_ */

bsp_hosted/ObjectFactory.cpp

@@ -1,14 +1,14 @@
 #include "ObjectFactory.h"
-
+#include "OBSWConfig.h"
-#include <fsfw/tmtcservices/CommandingServiceBase.h>
-#include <fsfw/tmtcservices/PusServiceBase.h>
-#include <mission/core/GenericFactory.h>
-#include <mission/utility/TmFunnel.h>
 #include <objects/systemObjectList.h>
 #include <tmtc/apid.h>
 #include <tmtc/pusIds.h>
 
-#include "OBSWConfig.h"
+#include <fsfw/tmtcservices/CommandingServiceBase.h>
+#include <fsfw/tmtcservices/PusServiceBase.h>
+
+#include <mission/core/GenericFactory.h>
+#include <mission/utility/TmFunnel.h>
 
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTcPollingTask.h"
@@ -20,6 +20,7 @@
 
 #include <fsfw/tmtcpacket/pus/tm.h>
 
+
 #if OBSW_ADD_TEST_CODE == 1
 #include <test/testtasks/TestTask.h>
 #endif
@@ -43,5 +44,18 @@ void ObjectFactory::produce(void* args) {
 	Factory::setStaticFrameworkObjectIds();
 	ObjectFactory::produceGenericObjects();
 
+#if OBSW_USE_TMTC_TCP_BRIDGE == 0
+	sif::info << "Setting up UDP TMTC bridge with listener port " <<
+	        UdpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
+    new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+#else
+    sif::info << "Setting up TCP TMTC bridge with listener port " <<
+            TcpTmTcServer::DEFAULT_SERVER_PORT << std::endl;
+    new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+#endif
+
     new TestTask(objects::TEST_TASK);
+
 }

bsp_hosted/ObjectFactory.h

@@ -1,9 +1,10 @@
 #ifndef BSP_LINUX_OBJECTFACTORY_H_
 #define BSP_LINUX_OBJECTFACTORY_H_
 
+
 namespace ObjectFactory {
 	void setStatics();
 	void produce(void* args);
-};  // namespace ObjectFactory
+};
 
 #endif /* BSP_LINUX_OBJECTFACTORY_H_ */

bsp_hosted/boardconfig/CMakeLists.txt

@@ -1,8 +1,8 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE
 	print.c
 )
 
-target_include_directories(${OBSW_NAME} PUBLIC
+target_include_directories(${TARGET_NAME} PUBLIC
 	${CMAKE_CURRENT_SOURCE_DIR}
 )
 

bsp_hosted/boardconfig/gcov.h

@@ -7,8 +7,7 @@ extern "C" void __gcov_flush();
 #else
 void __gcov_flush() {
 	sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
-               "coverage information is desired.\n"
+			"coverage information is desired.\n" << std::flush;
-            << std::flush;
 }
 #endif
 

bsp_hosted/boardconfig/print.c

@@ -9,3 +9,7 @@ void printChar(const char* character, bool errStream) {
 	}
 	putc(*character, stdout);
 }
+
+
+
+

bsp_hosted/comIF/ArduinoComIF.cpp

@@ -1,25 +1,26 @@
 #include "ArduinoComIF.h"
-
-#include <fsfw/globalfunctions/CRC.h>
-#include <fsfw/globalfunctions/DleEncoder.h>
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-
 #include "ArduinoCookie.h"
 
+#include <fsfw/globalfunctions/DleEncoder.h>
+#include <fsfw/globalfunctions/CRC.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+
 // This only works on Linux
 #ifdef LINUX
-#include <fcntl.h>
 #include <termios.h>
+#include <fcntl.h>
 #include <unistd.h>
 #elif WIN32
-#include <strsafe.h>
 #include <windows.h>
+#include <strsafe.h>
 #endif
 
 #include <cstring>
 
-ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF, const char *serialDevice)
+ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF,
-    : rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES * 10, true), SystemObject(setObjectId) {
+        const char *serialDevice):
+		rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true),
+		SystemObject(setObjectId) {
 #ifdef LINUX
 	initialized = false;
 	serialPort = ::open("/dev/ttyUSB0", O_RDWR);
@@ -65,6 +66,7 @@ ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF, const char
 	    sif::info << "Please enter the COM port (c to cancel): " << std::flush;
 	    std::string comPort;
 	    while(hCom == INVALID_HANDLE_VALUE) {
+
 	        std::getline(std::cin, comPort);
 	        if(comPort[0] == 'c') {
 	            break;
@@ -78,29 +80,37 @@ ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF, const char
 	                0,            // Non Overlapped I/O
 	                NULL);        // Null for Comm Devices
 
-      if (hCom == INVALID_HANDLE_VALUE) {
+	        if (hCom == INVALID_HANDLE_VALUE)
+	        {
 	            if(GetLastError() == 2) {
 	                sif::error << "COM Port does not found!" << std::endl;
-        } else {
+	            }
+	            else {
 	                TCHAR err[128];
-          FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, GetLastError(),
+	                FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL,
-                        MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), err, sizeof(err), NULL);
+	                        GetLastError(),
+	                        MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
+	                        err, sizeof(err), NULL);
 	                //  Handle the error.
-          sif::info << "CreateFileA Error code: " << GetLastError() << std::endl;
+	                sif::info << "CreateFileA Error code: " << GetLastError()
+	                         << std::endl;
 	                sif::error << err << std::flush;
 	            }
 	            sif::info << "Please enter a valid COM port: " << std::flush;
 	        }
 	    }
+
 	}
 
+
 	serialParams.DCBlength = sizeof(serialParams);
 	if(baudRate == 9600) {
 	    serialParams.BaudRate = CBR_9600;
 	}
 	if(baudRate == 115200) {
 	    serialParams.BaudRate = CBR_115200;
-  } else {
+	}
+	else {
 	    serialParams.BaudRate = baudRate;
 	}
 
@@ -133,22 +143,29 @@ ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, size_t len) {
+ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data,
+		size_t len) {
 	ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
 	if (arduinoCookie == nullptr) {
 		return INVALID_COOKIE_TYPE;
 	}
 
-  return sendMessage(arduinoCookie->command, arduinoCookie->address, data, len);
+	return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
+			len);
 }
 
-ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
+ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) {
-
-ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
 	return RETURN_OK;
 }
 
-ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
+ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie,
+        size_t requestLen) {
+	return RETURN_OK;
+}
+
+ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
+		uint8_t **buffer, size_t *size) {
+
 	handleSerialPortRx();
 
 	ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
@@ -161,8 +178,8 @@ ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buff
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const uint8_t *data,
+ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
-                                        size_t dataLen) {
+		uint8_t address, const uint8_t *data, size_t dataLen) {
 	if (dataLen > UINT16_MAX) {
 		return TOO_MUCH_DATA;
 	}
@@ -176,15 +193,16 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
 	size_t remainingLen = sizeof(sendBuffer) - 1;
 	size_t encodedLen = 0;
 
-  ReturnValue_t result =
+	ReturnValue_t result = DleEncoder::encode(&command, 1, currentPosition,
-      DleEncoder::encode(&command, 1, currentPosition, remainingLen, &encodedLen, false);
+			remainingLen, &encodedLen, false);
 	if (result != RETURN_OK) {
 		return result;
 	}
 	currentPosition += encodedLen;
 	remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
 
-  result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
+	result = DleEncoder::encode(&address, 1, currentPosition, remainingLen,
+			&encodedLen, false);
 	if (result != RETURN_OK) {
 		return result;
 	}
@@ -197,8 +215,8 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
 	temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above
 	temporaryBuffer[1] = dataLen;
 
-  result =
+	result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
-      DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
+			remainingLen, &encodedLen, false);
 	if (result != RETURN_OK) {
 		return result;
 	}
@@ -206,7 +224,8 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
 	remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
 
 	//encoding the actual data
-  result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, &encodedLen, false);
+	result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
+			&encodedLen, false);
 	if (result != RETURN_OK) {
 		return result;
 	}
@@ -222,8 +241,8 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const
 	temporaryBuffer[0] = crc >> 8;
 	temporaryBuffer[1] = crc;
 
-  result =
+	result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
-      DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
+			remainingLen, &encodedLen, false);
 	if (result != RETURN_OK) {
 		return result;
 	}
@@ -260,7 +279,8 @@ void ArduinoComIF::handleSerialPortRx() {
 
 	uint8_t dataFromSerial[availableSpace];
 
-  ssize_t bytesRead = read(serialPort, dataFromSerial, sizeof(dataFromSerial));
+	ssize_t bytesRead = read(serialPort, dataFromSerial,
+			sizeof(dataFromSerial));
 
 	if (bytesRead < 0) {
 		return;
@@ -272,12 +292,13 @@ void ArduinoComIF::handleSerialPortRx() {
 
 	uint32_t dataLenReceivedSoFar = 0;
 
-  rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true, &dataLenReceivedSoFar);
+	rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
+			&dataLenReceivedSoFar);
 
 	//look for STX
 	size_t firstSTXinRawData = 0;
-  while ((firstSTXinRawData < dataLenReceivedSoFar) &&
+	while ((firstSTXinRawData < dataLenReceivedSoFar)
-         (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
+			&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
 		firstSTXinRawData++;
 	}
 
@@ -292,9 +313,10 @@ void ArduinoComIF::handleSerialPortRx() {
 
 	size_t readSize = 0;
 
-  ReturnValue_t result = DleEncoder::decode(dataReceivedSoFar + firstSTXinRawData,
+	ReturnValue_t result = DleEncoder::decode(
-                                            dataLenReceivedSoFar - firstSTXinRawData, &readSize,
+			dataReceivedSoFar + firstSTXinRawData,
-                                            packet, sizeof(packet), &packetLen);
+			dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
+			sizeof(packet), &packetLen);
 
 	size_t toDelete = firstSTXinRawData;
 	if (result == HasReturnvaluesIF::RETURN_OK) {
@@ -311,7 +333,9 @@ void ArduinoComIF::handleSerialPortRx() {
 #endif
 }
 
-void ArduinoComIF::setBaudrate(uint32_t baudRate) { this->baudRate = baudRate; }
+void ArduinoComIF::setBaudrate(uint32_t baudRate) {
+    this->baudRate = baudRate;
+}
 
 void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
 	uint16_t crc = CRC::crc16ccitt(packet, packetLen);
@@ -344,7 +368,8 @@ void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
 		}
 		std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6);
 		cookie.receivedDataLen = packetLen - 6;
-    } break;
+	}
+		break;
 	default:
 		return;
 	}

bsp_hosted/comIF/ArduinoComIF.h

@@ -4,8 +4,8 @@
 #include <fsfw/container/FixedMap.h>
 #include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
-#include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
 
 #include <cstdint>
 #include <map>
@@ -17,7 +17,8 @@
 //Forward declaration, so users don't peek
 class ArduinoCookie;
 
-class ArduinoComIF : public SystemObject, public DeviceCommunicationIF {
+class ArduinoComIF: public SystemObject,
+		public DeviceCommunicationIF {
 public:
 	static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
 	static const uint8_t MAX_PACKET_SIZE = 64;
@@ -33,12 +34,13 @@ class ArduinoComIF : public SystemObject, public DeviceCommunicationIF {
 
 	/** DeviceCommunicationIF overrides */
     virtual ReturnValue_t initializeInterface(CookieIF * cookie) override;
-  virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData,
+    virtual ReturnValue_t sendMessage(CookieIF *cookie,
-                                    size_t sendLen) override;
+            const uint8_t * sendData, size_t sendLen) override;
     virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
-  virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+    virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-  virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+            size_t requestLen) override;
-                                            size_t *size) override;
+    virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
+            uint8_t **buffer, size_t *size) override;
 
 private:
 #ifdef LINUX
@@ -57,7 +59,8 @@ class ArduinoComIF : public SystemObject, public DeviceCommunicationIF {
 
 	SimpleRingBuffer rxBuffer;
 
-  ReturnValue_t sendMessage(uint8_t command, uint8_t address, const uint8_t *data, size_t dataLen);
+	ReturnValue_t sendMessage(uint8_t command, uint8_t address,
+			const uint8_t *data, size_t dataLen);
 	void handleSerialPortRx();
 
 	void handlePacket(uint8_t *packet, size_t packetLen);

bsp_hosted/comIF/ArduinoCookie.cpp

@@ -1,8 +1,8 @@
 #include <bsp_hosted/comIF/ArduinoCookie.h>
 
-ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address, const size_t maxReplySize)
+ArduinoCookie::ArduinoCookie(Protocol_t protocol, uint8_t address,
-    : protocol(protocol),
+		const size_t maxReplySize) :
-      command(protocol),
+		protocol(protocol), command(protocol), address(address),
-      address(address),
+		maxReplySize(maxReplySize), replyBuffer(maxReplySize) {
-      maxReplySize(maxReplySize),
+}
-      replyBuffer(maxReplySize) {}
+

bsp_hosted/comIF/ArduinoCookie.h

@@ -2,14 +2,18 @@
 #define MISSION_ARDUINO_ARDUINOCOOKIE_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
-
 #include <vector>
 
 class ArduinoCookie: public CookieIF {
 public:
-  enum Protocol_t : uint8_t { INVALID, SPI, I2C };
+	enum Protocol_t: uint8_t {
+		INVALID,
+		SPI,
+		I2C
+	};
 
-  ArduinoCookie(Protocol_t protocol, uint8_t address, const size_t maxReplySize);
+	ArduinoCookie(Protocol_t protocol, uint8_t address,
+	        const size_t maxReplySize);
 
 	Protocol_t protocol;
 	uint8_t command;
@@ -17,6 +21,7 @@ class ArduinoCookie : public CookieIF {
 	std::vector<uint8_t> replyBuffer;
 	size_t receivedDataLen = 0;
 	size_t maxReplySize;
+
 };
 
 #endif /* MISSION_ARDUINO_ARDUINOCOOKIE_H_ */

bsp_hosted/fsfwconfig/CMakeLists.txt

@@ -1,27 +1,21 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE
 	ipc/MissionMessageTypes.cpp
 )
 
-target_include_directories(${OBSW_NAME} PUBLIC
+target_include_directories(${TARGET_NAME} PUBLIC
 	${CMAKE_CURRENT_SOURCE_DIR}
 )
 
 # If a special translation file for object IDs exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
+    target_sources(${TARGET_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
         objects/translateObjects.cpp
     )
 endif()
 
 # If a special translation file for events exists, compile it.
 if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/objects/translateObjects.cpp")
-    target_sources(${OBSW_NAME} PRIVATE
+    target_sources(${TARGET_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
         events/translateEvents.cpp
     )
 endif()

bsp_hosted/fsfwconfig/OBSWConfig.h.in

@@ -14,12 +14,6 @@
 debugging. */
 #define OBSW_VEBOSE_LEVEL       1
 
-#define OBSW_USE_CCSDS_IP_CORE                      0
-// Set to 1 if all telemetry should be sent to the PTME IP Core
-#define OBSW_TM_TO_PTME                             0
-// Set to 1 if telecommands are received via the PDEC IP Core
-#define OBSW_TC_FROM_PDEC                           0
-
 #ifdef __cplusplus
 
 #include "objects/systemObjectList.h"

bsp_hosted/fsfwconfig/devices/gpioIds.h

@@ -1,6 +1,8 @@
 #ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
 #define FSFWCONFIG_DEVICES_GPIOIDS_H_
 
+#include <linux/gpio/GpioIF.h>
+
 namespace gpioIds {
 	enum gpioId_t {
 		HEATER_0,
@@ -25,33 +27,33 @@ enum gpioId_t {
 		TEST_ID_0,
 		TEST_ID_1,
 
-  RTD_IC_3,
+		RTD_IC3,
-  RTD_IC_4,
+        RTD_IC4,
-  RTD_IC_5,
+        RTD_IC5,
-  RTD_IC_6,
+        RTD_IC6,
-  RTD_IC_7,
+        RTD_IC7,
-  RTD_IC_8,
+        RTD_IC8,
-  RTD_IC_9,
+        RTD_IC9,
-  RTD_IC_10,
+        RTD_IC10,
-  RTD_IC_11,
+        RTD_IC11,
-  RTD_IC_12,
+        RTD_IC12,
-  RTD_IC_13,
+        RTD_IC13,
-  RTD_IC_14,
+        RTD_IC14,
-  RTD_IC_15,
+        RTD_IC15,
-  RTD_IC_16,
+        RTD_IC16,
-  RTD_IC_17,
+        RTD_IC17,
-  RTD_IC_18,
+        RTD_IC18,
 
         SPI_MUX_BIT_1,
         SPI_MUX_BIT_2,
         SPI_MUX_BIT_3,
         SPI_MUX_BIT_4,
         SPI_MUX_BIT_5,
-  SPI_MUX_BIT_6,
+        SPI_MUX_BIT_6
-
-  CS_RAD_SENSOR,
-  ENABLE_RADFET
 	};
 }
 
+
+
+
 #endif /* FSFWCONFIG_DEVICES_GPIOIDS_H_ */

bsp_hosted/fsfwconfig/devices/powerSwitcherList.h

@@ -52,6 +52,7 @@ static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
 	static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
 	static const uint8_t INIT_STATE_PLOC = OFF;
 	static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
-}  // namespace pcduSwitches
+}
+
 
 #endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

bsp_hosted/fsfwconfig/events/subsystemIdRanges.h

@@ -2,7 +2,6 @@
 #define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
 
 #include <common/config/commonSubsystemIds.h>
-
 #include <cstdint>
 
 /**
@@ -10,7 +9,9 @@
  * Numbers 0-80 are reserved for FSFW Subsystem IDs (framework/events/)
  */
 namespace SUBSYSTEM_ID {
-enum : uint8_t { SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END };
+enum: uint8_t {
+	SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END
+};
 }
 
 #endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */

bsp_hosted/fsfwconfig/fsfwconfig.mk

@@ -0,0 +1,7 @@
+CXXSRC += $(wildcard $(CURRENTPATH)/cdatapool/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
+
+INCLUDES += $(CURRENTPATH)

bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.cpp

@@ -1,5 +1,4 @@
 #include "MissionMessageTypes.h"
-
 #include <fsfw/ipc/CommandMessage.h>
 
 void messagetypes::clearMissionMessage(CommandMessage* message) {
@@ -8,3 +7,5 @@ void messagetypes::clearMissionMessage(CommandMessage* message) {
 		break;
 	}
 }
+
+

bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.h

@@ -17,6 +17,6 @@ enum MESSAGE_TYPE {
 };
 
 void clearMissionMessage(CommandMessage* message);
-}  // namespace messagetypes
+}
 
 #endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */

bsp_hosted/fsfwconfig/objects/systemObjectList.h

@@ -1,9 +1,8 @@
 #ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 #define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 
-#include <commonObjects.h>
-
 #include <cstdint>
+#include <commonObjects.h>
 
 // The objects will be instantiated in the ID order
 namespace objects {

bsp_hosted/fsfwconfig/returnvalues/classIds.h

@@ -1,9 +1,8 @@
 #ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
 #define CONFIG_RETURNVALUES_CLASSIDS_H_
 
-#include <fsfw/returnvalues/FwClassIds.h>
-
 #include "commonClassIds.h"
+#include <fsfw/returnvalues/FwClassIds.h>
 
 /**
  * Source IDs starts at 73 for now
@@ -16,4 +15,5 @@ enum {
 };
 }
 
+
 #endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */

bsp_hosted/fsfwconfig/tmtc/apid.h

@@ -15,4 +15,5 @@ namespace apid {
 	static const uint16_t EIVE_OBSW = 0x65;
 }
 
+
 #endif /* FSFWCONFIG_TMTC_APID_H_ */

bsp_hosted/main.cpp

@@ -1,9 +1,10 @@
-#include <iostream>
-
 #include "InitMission.h"
 #include "OBSWVersion.h"
+
 #include "fsfw/FSFWVersion.h"
 #include "fsfw/tasks/TaskFactory.h"
+
+#include <iostream>
 #ifdef WIN32
 static const char* COMPILE_PRINTOUT = "Windows";
 #elif LINUX
@@ -16,12 +17,13 @@ static const char* COMPILE_PRINTOUT = "unknown OS";
  * 			Linux and Windows.
  * @return
  */
-int main(void) {
+int main(void)
+{
     std::cout << "-- EIVE OBSW --" << std::endl;
     std::cout << "-- Compiled for " << COMPILE_PRINTOUT <<  " --" << std::endl;
-  std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
+    std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
-            << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "."
+            "." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "." <<
-            << FSFW_REVISION << "--" << std::endl;
+            FSFW_REVISION << "--"  << std::endl;
     std::cout << "-- " <<  __DATE__ << " " << __TIME__ << " --" << std::endl;
 
 	initmission::initMission();
@@ -31,3 +33,5 @@ int main(void) {
 		TaskFactory::delayTask(5000);
 	}
 }
+
+

bsp_linux_board/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${OBSW_NAME} PUBLIC
+target_sources(${TARGET_NAME} PUBLIC
 	InitMission.cpp
 	main.cpp
 	ObjectFactory.cpp

bsp_linux_board/InitMission.cpp

@@ -1,21 +1,21 @@
 #include "InitMission.h"
+#include "ObjectFactory.h"
 
-#include <fsfw/objectmanager/ObjectManager.h>
+#include "objects/systemObjectList.h"
+#include "OBSWConfig.h"
+#include "pollingsequence/pollingSequenceFactory.h"
+
+#include <mission/utility/InitMission.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
-#include <mission/utility/InitMission.h>
 
 #include <iostream>
 
-#include "OBSWConfig.h"
-#include "ObjectFactory.h"
-#include "objects/systemObjectList.h"
-#include "pollingsequence/pollingSequenceFactory.h"
-
 ServiceInterfaceStream sif::debug("DEBUG");
 ServiceInterfaceStream sif::info("INFO");
 ServiceInterfaceStream sif::warning("WARNING");
@@ -47,6 +47,7 @@ void initmission::initTasks() {
     void (*missedDeadlineFunc) (void) = nullptr;
 #endif
 
+
     /* TMTC Distribution */
     PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
             "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
@@ -64,17 +65,17 @@ void initmission::initTasks() {
     }
 
     /* UDP bridge */
-  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
+    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
-      "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
+    result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Add component TMTC Bridge failed" << std::endl;
+        sif::error << "Add component UDP Unix Bridge failed" << std::endl;
     }
-  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
+    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
+    result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Add component TMTC Polling failed" << std::endl;
+        sif::error << "Add component UDP Polling failed" << std::endl;
     }
 
     /* PUS Services */
@@ -92,7 +93,8 @@ void initmission::initTasks() {
         for(const auto& task: taskVector) {
             if(task != nullptr) {
                 task->startTask();
-      } else {
+            }
+            else {
                 sif::error << "Task in vector " << name << " is invalid!" << std::endl;
             }
         }
@@ -100,8 +102,8 @@ void initmission::initTasks() {
 
     sif::info << "Starting tasks.." << std::endl;
     tmTcDistributor->startTask();
-  tmtcBridgeTask->startTask();
+    udpBridgeTask->startTask();
-  tmtcPollingTask->startTask();
+    udpPollingTask->startTask();
 
     taskStarter(pusTasks, "PUS Tasks");
 #if OBSW_ADD_TEST_CODE == 1
@@ -118,8 +120,7 @@ void initmission::initTasks() {
 }
 
 void initmission::createPusTasks(TaskFactory& factory,
-                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*>& taskVec) {
-                                 std::vector<PeriodicTaskIF*>& taskVec) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
             "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
@@ -181,18 +182,19 @@ void initmission::createPusTasks(TaskFactory& factory,
     }
     result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
+        initmission::printAddObjectError("INT_ERR_RPRT",
+                objects::INTERNAL_ERROR_REPORTER);
     }
     taskVec.push_back(pusLowPrio);
 }
 
 void initmission::createPstTasks(TaskFactory& factory,
-                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
-                                 std::vector<PeriodicTaskIF*>& taskVec) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 #if OBSW_ADD_SPI_TEST_CODE == 0
     FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
+            "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
+            missedDeadlineFunc);
     result = pst::pstSpi(spiPst);
     if (result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
@@ -211,7 +213,7 @@ void initmission::createTestTasks(TaskFactory& factory,
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
     }
-#if OBSW_ADD_SPI_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);
@@ -223,23 +225,23 @@ void initmission::createTestTasks(TaskFactory& factory,
         initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
     }
 #endif /* RPI_ADD_GPIO_TEST == 1 */
-#if OBSW_ADD_UART_TEST_CODE == 1
+#if RPI_ADD_UART_TEST == 1
     result = testTask->addComponent(objects::UART_TEST);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
     }
 #endif /* RPI_ADD_GPIO_TEST == 1 */
-  taskVec.push_back(testTask);
 
     bool startTestPst = true;
     static_cast<void>(startTestPst);
 #if OBSW_ADD_TEST_PST == 1
-  FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
+    FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("TEST_PST", 50,
-      "TEST_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
+            PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
     result = pst::pstTest(pstTestTask);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
         startTestPst = false;
     }
 #endif /* RPI_TEST_ACS_BOARD == 1 */
+
 }

bsp_linux_board/InitMission.h

@@ -1,9 +1,8 @@
 #ifndef BSP_LINUX_INITMISSION_H_
 #define BSP_LINUX_INITMISSION_H_
 
-#include <vector>
-
 #include "fsfw/tasks/Typedef.h"
+#include <vector>
 
 class PeriodicTaskIF;
 class TaskFactory;
@@ -12,12 +11,14 @@ namespace initmission {
 void initMission();
 void initTasks();
 
-void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+void createPstTasks(TaskFactory& factory,
+        TaskDeadlineMissedFunction missedDeadlineFunc,
         std::vector<PeriodicTaskIF*> &taskVec);
-void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+void createTestTasks(TaskFactory& factory,
+        TaskDeadlineMissedFunction missedDeadlineFunc,
         std::vector<PeriodicTaskIF*> &taskVec);
 void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
         std::vector<PeriodicTaskIF*>& taskVec);
-};  // namespace initmission
+};
 
 #endif /* BSP_LINUX_INITMISSION_H_ */

bsp_linux_board/ObjectFactory.cpp

@@ -1,45 +1,46 @@
+#include <devConf.h>
 #include "ObjectFactory.h"
 
-#include "OBSWConfig.h"
+#include "objects/systemObjectList.h"
-#include "devConf.h"
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
-#include "fsfw/datapoollocal/LocalDataPoolManager.h"
+#include "OBSWConfig.h"
-#include "fsfw/tasks/TaskFactory.h"
+#include "tmtc/apid.h"
-#include "fsfw/tmtcpacket/pus/tm.h"
+#include "tmtc/pusIds.h"
-#include "fsfw/tmtcservices/CommandingServiceBase.h"
-#include "fsfw/tmtcservices/PusServiceBase.h"
 #include "linux/boardtest/LibgpiodTest.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
+
 #include "mission/core/GenericFactory.h"
-#include "mission/devices/GPSHyperionHandler.h"
-#include "mission/devices/GyroADIS1650XHandler.h"
 #include "mission/utility/TmFunnel.h"
-#include "objects/systemObjectList.h"
+#include <mission/devices/GPSHyperionHandler.h>
-#include "tmtc/apid.h"
+#include "mission/devices/GyroADIS16507Handler.h"
-#include "tmtc/pusIds.h"
+
+#include "fsfw/datapoollocal/LocalDataPoolManager.h"
+#include "fsfw/tmtcservices/CommandingServiceBase.h"
+#include "fsfw/tmtcservices/PusServiceBase.h"
+#include "fsfw/tmtcpacket/pus/tm.h"
+#include "fsfw/tasks/TaskFactory.h"
 
 /* UDP server includes */
 #if OBSW_USE_TMTC_TCP_BRIDGE == 1
 #include <fsfw/src/fsfw/osal/common/TcpTmTcBridge.h>
 #include <fsfw/src/fsfw/osal/common/TcpTmTcServer.h>
 #else
-#include "fsfw/osal/common/UdpTcPollingTask.h"
 #include "fsfw/osal/common/UdpTmTcBridge.h"
+#include "fsfw/osal/common/UdpTcPollingTask.h"
 #endif
 
-#include <fsfw_hal/linux/uart/UartComIF.h>
-#include <fsfw_hal/linux/uart/UartCookie.h>
-
-#include "fsfw_hal/common/gpio/GpioCookie.h"
-#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
 #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
 #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
+#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "fsfw_hal/linux/rpi/GpioRPi.h"
-#include "fsfw_hal/linux/spi/SpiComIF.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/spi/SpiComIF.h"
+#include <fsfw_hal/linux/uart/UartComIF.h>
+#include <fsfw_hal/linux/uart/UartCookie.h>
 
 void Factory::setStaticFrameworkObjectIds() {
     PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@@ -56,10 +57,22 @@ void Factory::setStaticFrameworkObjectIds() {
     TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }
 
+
+
 void ObjectFactory::produce(void* args){
     Factory::setStaticFrameworkObjectIds();
     ObjectFactory::produceGenericObjects();
 
+#if OBSW_USE_TMTC_TCP_BRIDGE == 1
+    auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    tmtcBridge->setMaxNumberOfPacketsStored(50);
+    new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+#else
+    auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    tmtcBridge->setMaxNumberOfPacketsStored(50);
+    new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+#endif
+
     GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
     GpioCookie* gpioCookie = nullptr;
     static_cast<void>(gpioCookie);
@@ -75,93 +88,85 @@ void ObjectFactory::produce(void* args) {
         gpioCookie = new GpioCookie();
     }
     // TODO: Missing pin for Gyro 2
-  gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3",
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
-                            gpio::Direction::OUT, 1);
+            "MGM_0_LIS3", gpio::Direction::OUT, 1);
     gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
             "MGM_1_RM3100", gpio::Direction::OUT, 1);
-  gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
-                            gpio::Direction::OUT, 1);
+            "MGM_2_LIS3", gpio::Direction::OUT, 1);
     gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
             "MGM_3_RM3100", gpio::Direction::OUT, 1);
     gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
             "GYRO_0_ADIS", gpio::Direction::OUT, 1);
-  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
-                            gpio::Direction::OUT, 1);
+            "GYRO_1_L3G", gpio::Direction::OUT, 1);
     gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
             "GYRO_2_ADIS", gpio::Direction::OUT, 1);
-  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN,
-                            gpio::Direction::OUT, 1);
+            "GYRO_3_L3G", gpio::Direction::OUT, 1);
     gpioIF->addGpios(gpioCookie);
 
     spiDev = "/dev/spidev0.1";
-  spiCookie =
+    spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
-      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  auto mgmLis3Handler =
+    auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
-      new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+            objects::SPI_COM_IF, spiCookie, 0);
     mgmLis3Handler->setStartUpImmediately();
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
     mgmLis3Handler->setToGoToNormalMode(true);
 #endif
 
-  spiCookie =
+    spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
-      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  auto mgmRm3100Handler =
+    auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
-      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+            objects::SPI_COM_IF, spiCookie, 0);
     mgmRm3100Handler->setStartUpImmediately();
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     mgmRm3100Handler->setToGoToNormalMode(true);
 #endif
 
-  spiCookie =
+    spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
-      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-  mgmLis3Handler =
+    mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
-      new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+            objects::SPI_COM_IF, spiCookie, 0);
     mgmLis3Handler->setStartUpImmediately();
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
     mgmLis3Handler->setToGoToNormalMode(true);
 #endif
 
-  spiCookie =
+    spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
-      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-  mgmRm3100Handler =
+    mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
-      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
+            objects::SPI_COM_IF, spiCookie, 0);
     mgmRm3100Handler->setStartUpImmediately();
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     mgmRm3100Handler->setToGoToNormalMode(true);
 #endif
 
-  spiCookie =
+    spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
             ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto adisHandler =
+    auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
-      new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
+            spiCookie);
     adisHandler->setStartUpImmediately();
-  spiCookie =
+    spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
-      new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
+            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+    auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
-  auto gyroL3gHandler =
+            spiCookie, 0);
-      new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
     gyroL3gHandler->setStartUpImmediately();
 #if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
     gyroL3gHandler->setToGoToNormalMode(true);
 #endif
 
-  spiCookie =
+    spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
-      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
             ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  adisHandler =
+    adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
-      new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
+            spiCookie);
     adisHandler->setStartUpImmediately();
 
-  spiCookie =
+    spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
-      new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
+            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
-  gyroL3gHandler =
+            spiCookie, 0);
-      new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
     gyroL3gHandler->setStartUpImmediately();
 #if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
     gyroL3gHandler->setToGoToNormalMode(true);
@@ -175,13 +180,14 @@ void ObjectFactory::produce(void* args) {
 }
 
 void ObjectFactory::createTestTasks() {
+
     new TestTask(objects::TEST_TASK);
 
-#if OBSW_ADD_SPI_TEST_CODE == 1
+#if RPI_ADD_SPI_TEST == 1
     new SpiTestClass(objects::SPI_TEST, gpioIF);
 #endif
 
-#if OBSW_ADD_UART_TEST_CODE == 1
+#if RPI_ADD_UART_TEST == 1
     new UartTestClass(objects::UART_TEST);
 #else
     new UartComIF(objects::UART_COM_IF);
@@ -211,20 +217,20 @@ void ObjectFactory::createTestTasks() {
 
     spiDev = "/dev/spidev0.1";
     spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-                            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
-                            spi::DEFAULT_ADIS16507_SPEED, nullptr, nullptr);
+            nullptr, nullptr);
-  auto adisGyroHandler =
+    auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
-      new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
     adisGyroHandler->setStartUpImmediately();
 #endif /* RPI_TEST_ADIS16507 == 1 */
 
 #if RPI_TEST_GPS_HANDLER == 1
-  UartCookie* uartCookie =
+    UartCookie* uartCookie = new UartCookie(objects::GPS0_HANDLER, "/dev/serial0",
-      new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", UartModes::CANONICAL, 9600, 1024);
+            UartModes::CANONICAL, 9600, 1024);
     uartCookie->setToFlushInput(true);
     uartCookie->setReadCycles(6);
-  GPSHyperionHandler* gpsHandler =
+    GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER,
-      new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookie, false);
+            objects::UART_COM_IF, uartCookie, false);
     gpsHandler->setStartUpImmediately();
 #endif
+
 }

bsp_linux_board/ObjectFactory.h

@@ -1,11 +1,12 @@
 #ifndef BSP_LINUX_OBJECTFACTORY_H_
 #define BSP_LINUX_OBJECTFACTORY_H_
 
+
 namespace ObjectFactory {
 	void setStatics();
 	void produce(void* args);
 
 	void createTestTasks();
-};  // namespace ObjectFactory
+};
 
 #endif /* BSP_LINUX_OBJECTFACTORY_H_ */

bsp_linux_board/boardconfig/CMakeLists.txt

@@ -1,7 +1,7 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE
 	print.c
 )
 
-target_include_directories(${OBSW_NAME} PUBLIC
+target_include_directories(${TARGET_NAME} PUBLIC
 	${CMAKE_CURRENT_SOURCE_DIR}
 )

bsp_linux_board/boardconfig/gcov.h

@@ -7,8 +7,7 @@ extern "C" void __gcov_flush();
 #else
 void __gcov_flush() {
 	sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
-               "coverage information is desired.\n"
+			"coverage information is desired.\n" << std::flush;
-            << std::flush;
 }
 #endif
 

bsp_linux_board/boardconfig/print.c

@@ -1,4 +1,4 @@
-#include <bsp_linux_board/boardconfig/print.h>
+#include <bsp_q7s/boardconfig/print.h>
 #include <stdio.h>
 
 void printChar(const char* character, bool errStream) {
@@ -8,3 +8,7 @@ void printChar(const char* character, bool errStream) {
 	}
 	putc(*character, stdout);
 }
+
+
+
+

bsp_linux_board/boardtest/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE
 )
 
 

bsp_linux_board/main.cpp

@@ -1,11 +1,12 @@
-#include <iostream>
-
 #include "InitMission.h"
 #include "OBSWConfig.h"
 #include "OBSWVersion.h"
+
 #include "fsfw/FSFWVersion.h"
 #include "fsfw/tasks/TaskFactory.h"
 
+#include <iostream>
+
 #ifdef RASPBERRY_PI
 static const char* const BOARD_NAME = "Raspberry Pi";
 #elif defined(BEAGLEBONEBLACK)
@@ -18,12 +19,13 @@ static const char* const BOARD_NAME = "Unknown Board";
  * @brief 	    This is the main program and entry point for the Raspberry Pi.
  * @return
  */
-int main(void) {
+int main(void)
+{
     std::cout << "-- EIVE OBSW --" << std::endl;
     std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
-  std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
+    std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
-            << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << FSFW_REVISION
+            "." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION <<
-            << "--" << std::endl;
+            FSFW_REVISION << "--"  << std::endl;
     std::cout << "-- " <<  __DATE__ << " " << __TIME__ << " --" << std::endl;
 
 	initmission::initMission();
@@ -33,3 +35,5 @@ int main(void) {
 		TaskFactory::delayTask(5000);
 	}
 }
+
+

bsp_q7s/CMakeLists.txt

@@ -1,25 +1,17 @@
-#simple mode
+target_sources(${TARGET_NAME} PUBLIC
-add_executable(${SIMPLE_OBSW_NAME} EXCLUDE_FROM_ALL)
-target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
-target_sources(${SIMPLE_OBSW_NAME} PUBLIC
-	main.cpp
-)
-#I think this is unintentional? (produces linker errors for stuff in /linux)
-target_link_libraries(${SIMPLE_OBSW_NAME} PUBLIC
-    ${LIB_FSFW_NAME}
-)
-target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
-add_subdirectory(simple)
-
-target_sources(${OBSW_NAME} PUBLIC
 	main.cpp
 )
 
 add_subdirectory(boardtest)
 
+if(Q7S_SIMPLE_MODE)
+    add_subdirectory(simple)
+else()
     add_subdirectory(boardconfig)
     add_subdirectory(comIF)
+    add_subdirectory(gpio)
     add_subdirectory(core)
     add_subdirectory(memory)
     add_subdirectory(callbacks)
     add_subdirectory(devices)
+endif()

bsp_q7s/boardconfig/CMakeLists.txt

@@ -1,12 +1,7 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE
 	print.c
 )
 
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
+target_include_directories(${TARGET_NAME} PUBLIC
-	print.c
-)
-
-
-target_include_directories(${OBSW_NAME} PUBLIC
 	${CMAKE_CURRENT_SOURCE_DIR}
 )

bsp_q7s/boardconfig/busConf.h

@@ -3,98 +3,98 @@
 
 namespace q7s {
 
-static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
+static constexpr char SPI_DEFAULT_DEV[] = "/dev/spidev2.0";
-static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
+static constexpr char SPI_RW_DEV[] = "/dev/spidev3.0";
 
-static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";
+static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-1";
 
-static constexpr char UART_GNSS_DEV[] = "/dev/ul-gps";
+static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL3";
-static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul-plmpsoc";
+static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL4";
-static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul-plsv";
+static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL5";
-static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul-syrlinks";
+static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8";
-static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul-str";
 
-static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
+static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0";
-static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
+static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";
-static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
-static constexpr char UIO_PTME[] = "/dev/uio1";
-static constexpr int MAP_ID_PTME_CONFIG = 3;
 
-namespace uiomapids {
+/**************************************************************/
-static const int PTME_VC0 = 0;
+/** OBC1E                                                     */
-static const int PTME_VC1 = 1;
+/**************************************************************/
-static const int PTME_VC2 = 2;
+static constexpr char GPIO_MULTIPURPOSE_1V8_OBC1D[] = "/amba_pl/gpio@42020000";
-static const int PTME_VC3 = 3;
+static const char* const GPIO_GYRO_ADIS_LABEL = GPIO_MULTIPURPOSE_1V8_OBC1D;
-static const int PTME_CONFIG = 4;
+static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 0;      // Package Pin: W20
-}  // namespace uiomapids
+static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 2;      // AA22
 
-namespace gpioNames {
+/**************************************************************/
+/** OBC1F B0                                                  */
+/**************************************************************/
+static constexpr char GPIO_FLEX_OBC1F_B0[] = "/amba_pl/gpio@42030000";
+static constexpr uint32_t GPIO_FLEX_OBC1F_B0_WIDTH = 20;
+static const char* const GPIO_ACS_BOARD_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
+static const char* const GPIO_RW_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
+static const char* const GPIO_RAD_SENSOR_LABEL = GPIO_FLEX_OBC1F_B0;
 
-static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select";
-static constexpr char GYRO_1_L3G_CS[] = "gyro_1_l3g_chip_select";
-static constexpr char GYRO_2_ADIS_CS[] = "gyro_2_adis_chip_select";
-static constexpr char GYRO_3_L3G_CS[] = "gyro_3_l3g_chip_select";
-static constexpr char MGM_0_CS[] = "mgm_0_lis3_chip_select";
-static constexpr char MGM_1_CS[] = "mgm_1_rm3100_chip_select";
-static constexpr char MGM_2_CS[] = "mgm_2_lis3_chip_select";
-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 GNSS_0_ENABLE[] = "enable_gnss_0";
-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 GNSS_SELECT[] = "gnss_mux_select";
-static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
 
-static constexpr char HEATER_0[] = "heater0";
+static constexpr uint32_t GPIO_RW_0_CS = 7;             // B20
-static constexpr char HEATER_1[] = "heater1";
+static constexpr uint32_t GPIO_RW_1_CS = 3;             // G22
-static constexpr char HEATER_2[] = "heater2";
+static constexpr uint32_t GPIO_RW_2_CS = 11;            // E18
-static constexpr char HEATER_3[] = "heater3";
+static constexpr uint32_t GPIO_RW_3_CS = 6;             // B19
-static constexpr char HEATER_4[] = "heater4";
-static constexpr char HEATER_5[] = "heater5";
-static constexpr char HEATER_6[] = "heater6";
-static constexpr char HEATER_7[] = "heater7";
-static constexpr char SA_DPL_PIN_0[] = "sa_dpl_0";
-static constexpr char SA_DPL_PIN_1[] = "sa_dpl_1";
-static constexpr char SPI_MUX_BIT_0_PIN[] = "spi_mux_bit_0";
-static constexpr char SPI_MUX_BIT_1_PIN[] = "spi_mux_bit_1";
-static constexpr char SPI_MUX_BIT_2_PIN[] = "spi_mux_bit_2";
-static constexpr char SPI_MUX_BIT_3_PIN[] = "spi_mux_bit_3";
-static constexpr char SPI_MUX_BIT_4_PIN[] = "spi_mux_bit_4";
-static constexpr char SPI_MUX_BIT_5_PIN[] = "spi_mux_bit_5";
-static constexpr char EN_RW_CS[] = "en_rw_cs";
-static constexpr char EN_RW_1[] = "enable_rw_1";
-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 RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
+static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 18;      // N22
-static constexpr char ENABLE_RADFET[] = "enable_radfet";
+static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 1;       // M21
-static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
+static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5;       // C18
-static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
+static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;    // A16
-static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
+static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10;    // C17
-static constexpr char PAPB_EMPTY_SIGNAL_VC1[] = "papb_empty_signal_vc1";
-static constexpr char PAPB_BUSY_SIGNAL_VC2[] = "papb_busy_signal_vc2";
-static constexpr char PAPB_EMPTY_SIGNAL_VC2[] = "papb_empty_signal_vc2";
-static constexpr char PAPB_BUSY_SIGNAL_VC3[] = "papb_busy_signal_vc3";
-static constexpr char PAPB_EMPTY_SIGNAL_VC3[] = "papb_empty_signal_vc3";
-static constexpr char RS485_EN_TX_CLOCK[] = "tx_clock_enable_ltc2872";
-static constexpr char RS485_EN_TX_DATA[] = "tx_data_enable_ltc2872";
-static constexpr char RS485_EN_RX_CLOCK[] = "rx_clock_enable_ltc2872";
-static constexpr char RS485_EN_RX_DATA[] = "rx_data_enable_ltc2872";
-static constexpr char PDEC_RESET[] = "pdec_reset";
 
-static constexpr char PL_PCDU_ENABLE_VBAT0[] = "enable_plpcdu_vbat0";
+// Active low enable pin (needs to be driven low for regular operations)
-static constexpr char PL_PCDU_ENABLE_VBAT1[] = "enable_plpcdu_vbat1";
+static constexpr uint32_t GPIO_GYRO_0_ENABLE = 2;       // H22
-static constexpr char PL_PCDU_ENABLE_DRO[] = "enable_plpcdu_dro";
-static constexpr char PL_PCDU_ENABLE_X8[] = "enable_plpcdu_x8";
-static constexpr char PL_PCDU_ENABLE_TX[] = "enable_plpcdu_tx";
-static constexpr char PL_PCDU_ENABLE_HPA[] = "enable_plpcdu_hpa";
-static constexpr char PL_PCDU_ENABLE_MPA[] = "enable_plpcdu_mpa";
-static constexpr char PL_PCDU_ADC_CS[] = "plpcdu_adc_chip_select";
 
-}  // namespace gpioNames
+// Active low reset pin (needs to be driven high for regular operations)
-}  // namespace q7s
+static constexpr uint32_t GPIO_RESET_GNSS_0 = 9;        // C22
+static constexpr uint32_t GPIO_RESET_GNSS_1 = 12;       // B21
+
+static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19;      // R18
+
+/**************************************************************/
+/** OBC1F B1                                                  */
+/**************************************************************/
+static constexpr char GPIO_FLEX_OBC1F_B1[] = "/amba_pl/gpio@42030000";
+// Need to use chip name here for now because the label name is the name for
+// gpiochip 5 and gpiochip6
+static constexpr char GPIO_FLEX_OBC1F_B1_CHIP[] = "gpiochip6";
+static const char* const GPIO_MGM2_LIS3_LABEL = GPIO_FLEX_OBC1F_B1_CHIP;
+static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0;       // D18
+
+/**************************************************************/
+/** OBC1C                                                     */
+/**************************************************************/
+static constexpr char GPIO_3V3_OBC1C[] = "/amba_pl/gpio@42040000";
+static const char* const GPIO_HEATER_LABEL = GPIO_3V3_OBC1C;
+static const char* const GPIO_SOLAR_ARR_DEPL_LABEL = GPIO_3V3_OBC1C;
+static constexpr uint32_t GPIO_HEATER_0_PIN = 6;
+static constexpr uint32_t GPIO_HEATER_1_PIN = 12;
+static constexpr uint32_t GPIO_HEATER_2_PIN = 7;
+static constexpr uint32_t GPIO_HEATER_3_PIN = 5;
+static constexpr uint32_t GPIO_HEATER_4_PIN = 3;
+static constexpr uint32_t GPIO_HEATER_5_PIN = 0;
+static constexpr uint32_t GPIO_HEATER_6_PIN = 1;
+static constexpr uint32_t GPIO_HEATER_7_PIN = 11;
+static constexpr uint32_t GPIO_GYRO_2_ENABLE = 18;      // F22
+
+static constexpr uint32_t GPIO_SOL_DEPL_SA_0_PIN = 4;
+static constexpr uint32_t GPIO_SOL_DEPL_SA_1_PIN = 2;
+
+static constexpr char GPIO_RW_SPI_MUX_LABEL[] = "zynq_gpio";
+// Uses EMIO interface to PL, starts at 54
+static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 54;
+
+static constexpr uint32_t SPI_MUX_BIT_1 = 13;
+static constexpr uint32_t SPI_MUX_BIT_2 = 14;
+static constexpr uint32_t SPI_MUX_BIT_3 = 15;
+static constexpr uint32_t SPI_MUX_BIT_4 = 16;
+static constexpr uint32_t SPI_MUX_BIT_5 = 17;
+static constexpr uint32_t SPI_MUX_BIT_6 = 9;
+static constexpr uint32_t EN_RW_CS = 17;
+
+}
 
 #endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */

bsp_q7s/boardconfig/gcov.h

@@ -7,8 +7,7 @@ extern "C" void __gcov_flush();
 #else
 void __gcov_flush() {
 	sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
-               "coverage information is desired.\n"
+			"coverage information is desired.\n" << std::flush;
-            << std::flush;
 }
 #endif
 

bsp_q7s/boardconfig/print.c

@@ -8,3 +8,7 @@ void printChar(const char* character, bool errStream) {
 	}
 	putc(*character, stdout);
 }
+
+
+
+

bsp_q7s/boardconfig/q7sConfig.h.in

@@ -3,6 +3,8 @@
 
 #include <cstdint>
 
+#cmakedefine01 Q7S_SIMPLE_MODE
+
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/

bsp_q7s/boardtest/CMakeLists.txt

@@ -1,10 +1,8 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE
     FileSystemTest.cpp
     Q7STestTask.cpp
 )
 
-if(EIVE_BUILD_Q7S_SIMPLE_MODE)
+
-    target_sources(${SIMPLE_OBSW_NAME} PRIVATE
+
-        FileSystemTest.cpp
+
-    )
-endif()

bsp_q7s/boardtest/FileSystemTest.cpp

@@ -1,11 +1,13 @@
 #include "FileSystemTest.h"
-
-#include <cstdlib>
-#include <iostream>
-
 #include "fsfw/timemanager/Stopwatch.h"
 
-enum SdCard { SDC0, SDC1 };
+#include <iostream>
+#include <cstdlib>
+
+enum SdCard {
+    SDC0,
+    SDC1
+};
 
 FileSystemTest::FileSystemTest() {
     using namespace std;
@@ -20,4 +22,5 @@ FileSystemTest::FileSystemTest() {
     //stopwatch.stop(true);
 }
 
-FileSystemTest::~FileSystemTest() {}
+FileSystemTest::~FileSystemTest() {
+}

bsp_q7s/boardtest/FileSystemTest.h

@@ -5,8 +5,9 @@ class FileSystemTest {
 public:
     FileSystemTest();
     virtual~ FileSystemTest();
-
 private:
 };
 
+
+
 #endif /* BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_ */

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -1,52 +1,36 @@
-#include "Q7STestTask.h"
-
 #include <bsp_q7s/core/CoreController.h>
 #include <bsp_q7s/memory/FileSystemHandler.h>
 #include <fsfw/objectmanager/ObjectManager.h>
-#include <gps.h>
+#include "Q7STestTask.h"
-#include <libgpsmm.h>
-
-#include <cstdio>
-#include <ctime>
-#include <fstream>
-#include <iomanip>
-#include <iostream>
-#include <nlohmann/json.hpp>
 
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "bsp_q7s/memory/scratchApi.h"
-#include "fsfw/tasks/TaskFactory.h"
+
 #include "fsfw/timemanager/Stopwatch.h"
+#include "fsfw/tasks/TaskFactory.h"
+
 #include "test/DummyParameter.h"
 
+#include <nlohmann/json.hpp>
+
+#include <iostream>
+#include <fstream>
+#include <cstdio>
+
 Q7STestTask::Q7STestTask(object_id_t objectId): TestTask(objectId) {
-  doTestSdCard = false;
-  doTestScratchApi = false;
-  doTestGps = false;
 }
 
 ReturnValue_t Q7STestTask::performOneShotAction() {
-  if (doTestSdCard) {
+    //testSdCard();
-    testSdCard();
+    //testScratchApi();
-  }
-  if (doTestScratchApi) {
-    testScratchApi();
-  }
     //testJsonLibDirect();
     //testDummyParams();
     //testProtHandler();
-  FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
+    //FsOpCodes opCode = FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY;
-  testFileSystemHandlerDirect(opCode);
+    //testFileSystemHandlerDirect(opCode);
     return TestTask::performOneShotAction();
 }
 
-ReturnValue_t Q7STestTask::performPeriodicAction() {
-  if (doTestGps) {
-    testGpsDaemon();
-  }
-  return TestTask::performPeriodicAction();
-}
-
 void Q7STestTask::testSdCard() {
     using namespace std;
     Stopwatch stopwatch;
@@ -63,7 +47,8 @@ void Q7STestTask::testSdCard() {
         while(iss >> word) {
             if(word == "on") {
                 sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
-      } else if (word == "off") {
+            }
+            else if(word == "off") {
                 sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
             }
         }
@@ -133,6 +118,7 @@ void Q7STestTask::testDummyParams() {
 
     ReturnValue_t result = param.readJsonFile();
     if(result != HasReturnvaluesIF::RETURN_OK) {
+
     }
 
     param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
@@ -141,18 +127,8 @@ void Q7STestTask::testDummyParams() {
     param.writeJsonFile();
     param.print();
 
-  int test = 0;
+    int test = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1);
-  result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, test);
+    std::string test2 = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2);
-  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;
 }
@@ -160,8 +136,8 @@ void Q7STestTask::testDummyParams() {
 ReturnValue_t Q7STestTask::initialize() {
     coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
     if(coreController == nullptr) {
-    sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object"
+        sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object" <<
-                 << std::endl;
+                std::endl;
     }
     return TestTask::initialize();
 }
@@ -170,14 +146,16 @@ void Q7STestTask::testProtHandler() {
     bool opPerformed = false;
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     // If any chips are unlocked, lock them here
-  result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true,
+    result = coreController->setBootCopyProtection(
+            CoreController::Chip::ALL_CHIP, CoreController::Copy::ALL_COPY, true,
             opPerformed, true);
     if(result != HasReturnvaluesIF::RETURN_OK) {
          sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
     }
 
     // unlock own copy
-  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false,
+    result = coreController->setBootCopyProtection(
+            CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, false,
             opPerformed, true);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
@@ -191,7 +169,8 @@ void Q7STestTask::testProtHandler() {
     }
 
     // lock own copy
-  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
+    result = coreController->setBootCopyProtection(
+            CoreController::Chip::SELF_CHIP, CoreController::Copy::SELF_COPY, true,
             opPerformed, true);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
@@ -205,7 +184,8 @@ void Q7STestTask::testProtHandler() {
     }
 
     // unlock specific copy
-  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false,
+    result = coreController->setBootCopyProtection(
+            CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, false,
             opPerformed, true);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
@@ -219,7 +199,8 @@ void Q7STestTask::testProtHandler() {
     }
 
     // lock specific copy
-  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true,
+    result = coreController->setBootCopyProtection(
+            CoreController::Chip::CHIP_1, CoreController::Copy::COPY_1, true,
             opPerformed, true);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
@@ -233,28 +214,9 @@ void Q7STestTask::testProtHandler() {
     }
 }
 
-void Q7STestTask::testGpsDaemon() {
-  gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
-  gps_data_t* gps;
-  gps = gpsmm.read();
-  if (gps == nullptr) {
-    sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
-  }
-  sif::info << "-- Q7STestTask: GPS shared memory read test --" << std::endl;
-  time_t timeRaw = gps->fix.time.tv_sec;
-  std::tm* time = gmtime(&timeRaw);
-  sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
-  sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
-  sif::info << "Satellites used: " << gps->satellites_used << std::endl;
-  sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
-  sif::info << "Latitude: " << gps->fix.latitude << std::endl;
-  sif::info << "Longitude: " << gps->fix.longitude << std::endl;
-  sif::info << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
-  sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
-}
-
 void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
-  auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
+    auto fsHandler = ObjectManager::instance()->
+            get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
     if(fsHandler == nullptr) {
         sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
                 << std::endl;
@@ -265,7 +227,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
     // Lambda for common code
     auto createNonEmptyTmpDir = [&]() {
         if(not std::filesystem::exists("/tmp/test")) {
-      result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
+            result = fsHandler->createDirectory("/tmp/test", &cfg);
             if(result != HasReturnvaluesIF::RETURN_OK) {
                 return result;
             }
@@ -283,13 +245,14 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
         return result;
     };
 
+
     switch(opCode) {
     case(FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
         // No mount prefix, cause file is created in tmp
         cfg.useMountPrefix = false;
         sif::info << "Creating empty file in /tmp folder" << std::endl;
         // Do not delete file, user can check existence in shell
-      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
+        fsHandler->createFile("/tmp", "test.txt", nullptr, 0, &cfg);
         break;
     }
     case(FsOpCodes::REMOVE_TMP_FILE): {
@@ -299,12 +262,13 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
         if(not std::filesystem::exists("/tmp/test.txt")) {
             // Creating sample file
             sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
-        fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
+            fsHandler->createFile("/tmp", "test.txt", nullptr, 0, &cfg);
         }
         result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
         if(result == HasReturnvaluesIF::RETURN_OK) {
             sif::info << "File removed successfully" << std::endl;
-      } else {
+        }
+        else {
             sif::warning << "File removal failed!" << std::endl;
         }
         break;
@@ -314,10 +278,11 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
         cfg.useMountPrefix = false;
         sif::info << "Creating empty file in /tmp folder" << std::endl;
         // Do not delete file, user can check existence in shell
-      ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
+        ReturnValue_t result = fsHandler->createDirectory("/tmp/test", &cfg);
         if(result == HasReturnvaluesIF::RETURN_OK) {
             sif::info << "Directory created successfully" << std::endl;
-      } else {
+        }
+        else {
             sif::warning << "Directory creation failed!" << std::endl;
         }
         break;
@@ -326,15 +291,17 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
         // No mount prefix, cause file is created in tmp
         cfg.useMountPrefix = false;
         if(not std::filesystem::exists("/tmp/test")) {
-        result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
+            result = fsHandler->createDirectory("/tmp/test", &cfg);
-      } else {
+        }
+        else {
             // Delete any leftover files to regular dir removal works
             std::remove("/tmp/test/*");
         }
-      result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
+        result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
         if(result == HasReturnvaluesIF::RETURN_OK) {
             sif::info << "Directory removed successfully" << std::endl;
-      } else {
+        }
+        else {
             sif::warning << "Directory removal failed!" << std::endl;
         }
         break;
@@ -344,10 +311,11 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
         if(result != HasReturnvaluesIF::RETURN_OK) {
             return;
         }
-      result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
+        result = fsHandler->removeDirectory("/tmp/test", true, &cfg);
         if(result == HasReturnvaluesIF::RETURN_OK) {
             sif::info << "Directory removed recursively successfully" << std::endl;
-      } else {
+        }
+        else {
             sif::warning << "Recursive directory removal failed!" << std::endl;
         }
         break;
@@ -357,41 +325,13 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
         if(result != HasReturnvaluesIF::RETURN_OK) {
             return;
         }
-      result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
+        result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
         if(result != HasReturnvaluesIF::RETURN_OK) {
             sif::info << "Directory removal attempt failed as expected" << std::endl;
-      } else {
+        }
+        else {
             sif::warning << "Directory removal worked when it should not have!" << std::endl;
         }
-      break;
-    }
-    case (FsOpCodes::RENAME_FILE): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (std::filesystem::exists("/tmp/test.txt")) {
-        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      }
-      sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
-      // Do not delete file, user can check existence in shell
-      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
-      break;
-    }
-    case (FsOpCodes::APPEND_TO_FILE): {
-      // No mount prefix, cause file is created in tmp
-      cfg.useMountPrefix = false;
-      if (std::filesystem::exists("/tmp/test.txt")) {
-        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      }
-      if (std::filesystem::exists("/tmp/test.txt")) {
-        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
-      }
-      sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
-      std::string content = "Hello World\n";
-      // Do not delete file, user can check existence in shell
-      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
-      fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(content.data()),
-                              content.size(), 0, &cfg);
     }
     }
 }

bsp_q7s/boardtest/Q7STestTask.h

@@ -3,24 +3,14 @@
 
 #include "test/testtasks/TestTask.h"
 
-class CoreController;
-
 class Q7STestTask: public TestTask {
 public:
     Q7STestTask(object_id_t objectId);
 
     ReturnValue_t initialize() override;
-
 private:
-  bool doTestSdCard = false;
-  bool doTestScratchApi = false;
-  bool doTestGps = false;
-
     CoreController* coreController = nullptr;
     ReturnValue_t performOneShotAction() override;
-  ReturnValue_t performPeriodicAction() override;
-
-  void testGpsDaemon();
 
     void testSdCard();
     void fileTests();
@@ -37,10 +27,9 @@ class Q7STestTask : public TestTask {
         REMOVE_EMPTY_DIR_IN_TMP,
         ATTEMPT_DIR_REMOVAL_NON_EMPTY,
         REMOVE_FILLED_DIR_IN_TMP,
-    RENAME_FILE,
-    APPEND_TO_FILE,
     };
     void testFileSystemHandlerDirect(FsOpCodes opCode);
 };
 
+
 #endif /* BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ */

bsp_q7s/callbacks/CMakeLists.txt

@@ -1,6 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE
 	rwSpiCallback.cpp
 	gnssCallback.cpp
-	pcduSwitchCb.cpp
-	gpioCallbacks.cpp
 )

bsp_q7s/callbacks/gnssCallback.cpp

@@ -1,6 +1,6 @@
 #include "gnssCallback.h"
-
 #include "devices/gpioIds.h"
+
 #include "fsfw/tasks/TaskFactory.h"
 
 ReturnValue_t gps::triggerGpioResetPin(void *args) {
@@ -15,7 +15,8 @@ ReturnValue_t gps::triggerGpioResetPin(void* args) {
     if(resetArgs->gnss1) {
         gpioId = gpioIds::GNSS_1_NRESET;
 
-  } else {
+    }
+    else {
         gpioId = gpioIds::GNSS_0_NRESET;
     }
     resetArgs->gpioComIF->pullLow(gpioId);

bsp_q7s/callbacks/gnssCallback.h

@@ -1,8 +1,8 @@
 #ifndef BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
 #define BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
 
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 struct ResetArgs {
     bool gnss1 = false;

bsp_q7s/callbacks/gpioCallbacks.cpp

@@ -1,487 +0,0 @@
-#include "gpioCallbacks.h"
-
-#include <devices/gpioIds.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
-#include <fsfw_hal/common/gpio/GpioCookie.h>
-#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
-
-#include "busConf.h"
-
-namespace gpioCallbacks {
-
-GpioIF* gpioComInterface;
-
-void initSpiCsDecoder(GpioIF* gpioComIF) {
-  using namespace gpio;
-  ReturnValue_t result;
-
-  if (gpioComIF == nullptr) {
-    sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
-    return;
-  }
-
-  gpioComInterface = gpioComIF;
-
-  GpioCookie* spiMuxGpios = new GpioCookie;
-
-  GpiodRegularByLineName* spiMuxBit = nullptr;
-  /** Setting mux bit 1 to low will disable IC21 on the interface board */
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_0_PIN, "SPI Mux Bit 1",
-                                         Direction::OUT, Levels::HIGH);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_0, spiMuxBit);
-  /** Setting mux bit 2 to low disables IC1 on the TCS board */
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 2",
-                                         Direction::OUT, Levels::HIGH);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, 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_2_PIN, "SPI Mux Bit 3",
-                                         Direction::OUT, Levels::LOW);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
-
-  /** The following gpios can take arbitrary initial values */
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 4",
-                                         Direction::OUT, Levels::LOW);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 5",
-                                         Direction::OUT, Levels::LOW);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 6",
-                                         Direction::OUT, Levels::LOW);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
-  GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(
-      q7s::gpioNames::EN_RW_CS, "EN_RW_CS", Direction::OUT, Levels::HIGH);
-  spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
-
-  result = gpioComInterface->addGpios(spiMuxGpios);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
-    return;
-  }
-}
-
-void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
-                          void* args) {
-  using namespace gpio;
-  if (gpioComInterface == nullptr) {
-    sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
-               << "to specify gpioComIF" << std::endl;
-    return;
-  }
-
-  /* Reading is not supported by the callback function */
-  if (gpioOp == gpio::GpioOperation::READ) {
-    return;
-  }
-
-  if (value == Levels::HIGH) {
-    switch (gpioId) {
-      case (gpioIds::RTD_IC_3): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_4): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_5): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_6): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_7): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_8): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_9): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_10): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_11): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_12): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_13): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_14): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_15): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_16): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_17): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_18): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_0): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_1): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_2): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_3): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_4): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_5): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_6): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_7): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_8): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_9): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_10): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_11): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_RW1): {
-        disableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW2): {
-        disableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW3): {
-        disableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW4): {
-        disableRwDecoder();
-        break;
-      }
-      default:
-        sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
-    }
-  } else if (value == Levels::LOW) {
-    switch (gpioId) {
-      case (gpioIds::RTD_IC_3): {
-        selectY7();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_4): {
-        selectY6();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_5): {
-        selectY5();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_6): {
-        selectY4();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_7): {
-        selectY3();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_8): {
-        selectY2();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_9): {
-        selectY1();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_10): {
-        selectY0();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_11): {
-        selectY7();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_12): {
-        selectY6();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_13): {
-        selectY5();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_14): {
-        selectY4();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_15): {
-        selectY3();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_16): {
-        selectY2();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_17): {
-        selectY1();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_18): {
-        selectY0();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_0): {
-        selectY0();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_1): {
-        selectY1();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_2): {
-        selectY2();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_3): {
-        selectY3();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_4): {
-        selectY4();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_5): {
-        selectY5();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_6): {
-        selectY0();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_7): {
-        selectY1();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_8): {
-        selectY2();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_9): {
-        selectY3();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_10): {
-        selectY4();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_11): {
-        selectY5();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_RW1): {
-        selectY0();
-        enableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW2): {
-        selectY1();
-        enableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW3): {
-        selectY2();
-        enableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW4): {
-        selectY3();
-        enableRwDecoder();
-        break;
-      }
-      default:
-        sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
-    }
-  } else {
-    sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
-  }
-}
-
-void enableDecoderTcsIc1() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void enableDecoderTcsIc2() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-}
-
-void enableDecoderInterfaceBoardIc1() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void enableDecoderInterfaceBoardIc2() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
-}
-
-void disableDecoderTcsIc1() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void disableDecoderTcsIc2() {
-  // DO NOT CHANGE THE ORDER HERE
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-}
-
-void disableDecoderInterfaceBoardIc1() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void disableDecoderInterfaceBoardIc2() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void enableRwDecoder() { gpioComInterface->pullHigh(gpioIds::EN_RW_CS); }
-
-void disableRwDecoder() { gpioComInterface->pullLow(gpioIds::EN_RW_CS); }
-
-void selectY0() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY1() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY2() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY3() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY4() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY5() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY6() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY7() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
-}
-
-void disableAllDecoder() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::EN_RW_CS);
-}
-
-}  // namespace gpioCallbacks

bsp_q7s/callbacks/gpioCallbacks.h

@@ -1,73 +0,0 @@
-#ifndef LINUX_GPIO_GPIOCALLBACKS_H_
-#define LINUX_GPIO_GPIOCALLBACKS_H_
-
-#include <fsfw_hal/common/gpio/GpioIF.h>
-#include <fsfw_hal/common/gpio/gpioDefinitions.h>
-
-namespace gpioCallbacks {
-
-/**
- * @brief   This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
- *          the TCS Board and the interface board.
- */
-void initSpiCsDecoder(GpioIF* gpioComIF);
-
-/**
- * @brief   This function implements the decoding to multiply gpios by using the decoder
- *          chips SN74LVC138APWR on the TCS board and the interface board.
- */
-void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
-                          void* args);
-
-/**
- * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
- *          on the TCS board which is named to IC1 in the schematic.
- */
-void enableDecoderTcsIc1();
-
-/**
- * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
- *          on the TCS board which is named to IC2 in the schematic.
- */
-void enableDecoderTcsIc2();
-
-/**
- * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
- *          on the inteface board board which is named to IC21 in the schematic.
- */
-void enableDecoderInterfaceBoardIc1();
-
-/**
- * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
- *          on the inteface board board which is named to IC22 in the schematic.
- */
-void enableDecoderInterfaceBoardIc2();
-
-void disableDecoderTcsIc1();
-void disableDecoderTcsIc2();
-void disableDecoderInterfaceBoardIc1();
-void disableDecoderInterfaceBoardIc2();
-
-/**
- * @brief   Enables the reaction wheel chip select decoder (IC3).
- */
-void enableRwDecoder();
-void disableRwDecoder();
-
-/**
- * @brief   This function disables all decoder.
- */
-void disableAllDecoder();
-
-/** The following functions enable the appropriate channel of the currently enabled decoder */
-void selectY0();
-void selectY1();
-void selectY2();
-void selectY3();
-void selectY4();
-void selectY5();
-void selectY6();
-void selectY7();
-}  // namespace gpioCallbacks
-
-#endif /* LINUX_GPIO_GPIOCALLBACKS_H_ */

bsp_q7s/callbacks/pcduSwitchCb.cpp

@@ -1,32 +0,0 @@
-#include "pcduSwitchCb.h"
-
-#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
-
-#include "devices/gpioIds.h"
-
-void pcdu::switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void* args) {
-  LinuxLibgpioIF* gpioComIF = reinterpret_cast<LinuxLibgpioIF*>(args);
-  if (gpioComIF == nullptr) {
-    return;
-  }
-  if (pdu == GOMSPACE::Pdu::PDU1) {
-    PDU1::SwitchChannels typedChannel = static_cast<PDU1::SwitchChannels>(channel);
-    if (typedChannel == PDU1::SwitchChannels::ACS_A_SIDE) {
-      if (state) {
-        gpioComIF->pullHigh(gpioIds::GNSS_0_NRESET);
-      } else {
-        gpioComIF->pullLow(gpioIds::GNSS_0_NRESET);
-      }
-    }
-
-  } else if (pdu == GOMSPACE::Pdu::PDU2) {
-    PDU2::SwitchChannels typedChannel = static_cast<PDU2::SwitchChannels>(channel);
-    if (typedChannel == PDU2::SwitchChannels::ACS_B_SIDE) {
-      if (state) {
-        gpioComIF->pullHigh(gpioIds::GNSS_1_NRESET);
-      } else {
-        gpioComIF->pullLow(gpioIds::GNSS_1_NRESET);
-      }
-    }
-  }
-}

bsp_q7s/callbacks/pcduSwitchCb.h

@@ -1,14 +0,0 @@
-#ifndef BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
-#define BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_
-
-#include <cstdint>
-
-#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
-
-namespace pcdu {
-
-void switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void* args);
-
-}
-
-#endif /* BSP_Q7S_CALLBACKS_PCDUSWITCHCB_H_ */

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -1,36 +1,28 @@
 #include "rwSpiCallback.h"
-
 #include "devices/gpioIds.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
-#include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "mission/devices/RwHandler.h"
 
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
 namespace rwSpiCallback {
 
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData,
         size_t sendLen, void* args) {
+
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
     RwHandler* handler = reinterpret_cast<RwHandler*>(args);
     if(handler == nullptr) {
-    sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" << std::endl;
+        sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid"
+                << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
     uint8_t writeBuffer[2];
     uint8_t writeSize = 0;
 
-  gpioId_t gpioId = cookie->getChipSelectPin();
-  GpioIF* gpioIF = comIf->getGpioInterface();
-  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
-  uint32_t timeoutMs = 0;
-  MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
-  if (mutex == nullptr or gpioIF == nullptr) {
-    sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
-    return HasReturnvaluesIF::RETURN_FAILED;
-  }
-
     int fileDescriptor = 0;
     std::string device = cookie->getSpiDevice();
     UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
@@ -43,12 +35,27 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
     comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
 
+    gpioId_t gpioId = cookie->getChipSelectPin();
+    GpioIF* gpioIF =  comIf->getGpioInterface();
+    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+    uint32_t timeoutMs = 0;
+    MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+    if(mutex == nullptr or gpioIF == nullptr) {
+        sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
     result = mutex->lockMutex(timeoutType, timeoutMs);
     if (result != HasReturnvaluesIF::RETURN_OK) {
         sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
         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;
@@ -112,7 +119,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
     size_t replyBufferSize = cookie->getMaxBufferSize();
 
-  /** There must be a delay of at least 20 ms after sending the command */
+    /** There must be a delay of 20 ms after sending the command */
     usleep(RwDefinitions::SPI_REPLY_DELAY);
 
     /**
@@ -126,15 +133,8 @@ 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 != FLAG_BYTE) {
+        if (byteRead != 0x7E) {
             break;
         }
 
@@ -145,12 +145,9 @@ 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) {
+
         /** First byte already read in */
         if (decodedFrameLen != 0) {
             byteRead = 0;
@@ -161,10 +158,11 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
             }
         }
 
-    if (byteRead == FLAG_BYTE) {
+        if (byteRead == 0x7E) {
             /** Reached end of frame */
             break;
-    } else if (byteRead == 0x7D) {
+        }
+        else if (byteRead == 0x7D) {
             if(read(fileDescriptor, &byteRead, 1) != 1) {
                 sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
                 result = RwHandler::SPI_READ_FAILURE;
@@ -174,17 +172,20 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
                 *(rxBuf + decodedFrameLen) = 0x7E;
                 decodedFrameLen++;
                 continue;
-      } else if (byteRead == 0x5D) {
+            }
+            else if (byteRead == 0x5D) {
                 *(rxBuf + decodedFrameLen) = 0x7D;
                 decodedFrameLen++;
                 continue;
-      } else {
+            }
+            else {
                 sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
                 closeSpi(gpioId, gpioIF, mutex);
                 result = RwHandler::INVALID_SUBSTITUTE;
                 break;
             }
-    } else {
+        }
+        else {
             *(rxBuf + decodedFrameLen) = byteRead;
             decodedFrameLen++;
             continue;
@@ -225,8 +226,12 @@ 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;
+        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;
+    }
 }
 }
-}  // namespace rwSpiCallback

bsp_q7s/callbacks/rwSpiCallback.h

@@ -2,14 +2,12 @@
 #define BSP_Q7S_RW_SPI_CALLBACK_H_
 
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw_hal/common/gpio/GpioCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+
 
 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.
@@ -42,5 +40,5 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
  */
 void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
 
-}  // namespace rwSpiCallback
+}
 #endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */

bsp_q7s/comIF/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE
 )
 
 

bsp_q7s/core/CMakeLists.txt

@@ -1,10 +1,6 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE
     CoreController.cpp
     obsw.cpp
     InitMission.cpp
     ObjectFactory.cpp
 )
-
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-    InitMission.cpp
-)

bsp_q7s/core/CoreController.h

@@ -2,83 +2,47 @@
 #define BSP_Q7S_CORE_CORECONTROLLER_H_
 
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
-#include <libxiphos.h>
-
-#include <cstddef>
-
-#include "bsp_q7s/memory/SdCardManager.h"
-#include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
+#include "bsp_q7s/memory/SdCardManager.h"
+
+#include "events/subsystemIdRanges.h"
+
 
 class Timer;
 class SdCardManager;
 
-namespace xsc {
-
-enum Chip : int { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
-enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
-
-}  // namespace xsc
-
-struct RebootFile {
-  static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
-
-  bool enabled = true;
-  size_t maxCount = DEFAULT_MAX_BOOT_CNT;
-  uint32_t img00Cnt = 0;
-  uint32_t img01Cnt = 0;
-  uint32_t img10Cnt = 0;
-  uint32_t img11Cnt = 0;
-  bool img00Lock = false;
-  bool img01Lock = false;
-  bool img10Lock = false;
-  bool img11Lock = false;
-  uint32_t* relevantBootCnt = &img00Cnt;
-  bool bootFlag = false;
-  xsc::Chip lastChip = xsc::Chip::CHIP_0;
-  xsc::Copy lastCopy = xsc::Copy::COPY_0;
-  xsc::Chip mechanismNextChip = xsc::Chip::NO_CHIP;
-  xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
-};
-
 class CoreController: public ExtendedControllerBase {
 public:
-  static xsc::Chip CURRENT_CHIP;
+    enum Chip: uint8_t {
-  static xsc::Copy CURRENT_COPY;
+        CHIP_0,
+        CHIP_1,
+        NO_CHIP,
+        SELF_CHIP,
+        ALL_CHIP
+    };
+
+    enum Copy: uint8_t {
+        COPY_0,
+        COPY_1,
+        NO_COPY,
+        SELF_COPY,
+        ALL_COPY
+    };
 
     static constexpr char CHIP_PROT_SCRIPT[] = "/home/root/scripts/get-chip-prot-status.sh";
     static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
     static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
-  static constexpr char CONF_FOLDER[] = "conf";
+    static constexpr char VERSION_FILE[] = "/conf/sd_status";
-  static constexpr char VERSION_FILE_NAME[] = "version.txt";
-  static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
-  const std::string VERSION_FILE =
-      "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
-  const std::string REBOOT_FILE =
-      "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
 
     static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
-  static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
-  static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
-  static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
-  static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
-
     static constexpr ActionId_t REBOOT_OBC = 32;
     static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
 
+
     static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
     static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT]  Software reboot occured. Can also be a systemd reboot.
+
-  //! P1: Current Chip, P2: Current Copy
-  static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
-  //! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
-  //! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
-  //! P2: Each byte is the respective reboot count for the slots
-  static constexpr Event REBOOT_MECHANISM_TRIGGERED =
-      event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
-  //! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
-  static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
 
     CoreController(object_id_t objectId);
     virtual~ CoreController();
@@ -87,8 +51,8 @@ class CoreController : public ExtendedControllerBase {
 
     ReturnValue_t initializeAfterTaskCreation() override;
 
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+    ReturnValue_t executeAction(ActionId_t actionId,
-                              const uint8_t* data, size_t size) override;
+            MessageQueueId_t commandedBy, const uint8_t *data, size_t size) override;
 
     ReturnValue_t handleCommandMessage(CommandMessage *message) override;
     void performControlOperation() override;
@@ -99,7 +63,7 @@ class CoreController : public ExtendedControllerBase {
      */
     static ReturnValue_t generateChipStateFile();
     static ReturnValue_t incrementAllocationFailureCount();
-  static void getCurrentBootCopy(xsc::Chip& chip, xsc::Copy& copy);
+    static void getCurrentBootCopy(Chip& chip, Copy& copy);
 
     ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);
 
@@ -114,12 +78,15 @@ class CoreController : public ExtendedControllerBase {
      * @param updateProtFile Specify whether the protection info file is updated
      * @return
      */
-  ReturnValue_t setBootCopyProtection(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
+    ReturnValue_t setBootCopyProtection(Chip targetChip, Copy targetCopy,
-                                      bool& protOperationPerformed, bool updateProtFile = true);
+            bool protect, bool& protOperationPerformed, bool updateProtFile = true);
 
     bool sdInitFinished() const;
 
 private:
+    static Chip CURRENT_CHIP;
+    static Copy CURRENT_COPY;
+
     // Designated value for rechecking FIFO open
     static constexpr int RETRY_FIFO_OPEN = -2;
     int watchdogFifoFd = 0;
@@ -168,9 +135,8 @@ class CoreController : public ExtendedControllerBase {
         sd::SdState currentlyCommandedState = sd::SdState::OFF;
         sd::SdCard commandedCard = sd::SdCard::NONE;
         sd::SdState commandedState = sd::SdState::OFF;
-  } sdInfo;
+    };
-  RebootFile rebootFile = {};
+    SdInfo sdInfo;
-  bool doPerformMountedSdCardOps = true;
 
     /**
      * Index 0: Chip 0 Copy 0
@@ -184,8 +150,9 @@ class CoreController : public ExtendedControllerBase {
     ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
             LocalDataPoolManager& poolManager) override;
     LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
-  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
+    ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-  void performMountedSdCardOperations();
+                uint32_t *msToReachTheMode);
+
     ReturnValue_t initVersionFile();
     ReturnValue_t initBootCopy();
     ReturnValue_t initWatchdogFifo();
@@ -197,12 +164,10 @@ class CoreController : public ExtendedControllerBase {
     ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
             bool printOutput = true);
     ReturnValue_t sdColdRedundantBlockingInit();
-
     void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
     void determinePreferredSdCard();
     void executeNextExternalSdCommand();
     void checkExternalSdCommandStatus();
-  void performRebootFileHandling(bool recreateFile);
 
     ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
             const uint8_t *data, size_t size);
@@ -211,15 +176,9 @@ class CoreController : public ExtendedControllerBase {
     void performWatchdogControlOperation();
 
     ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
-  int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
+    int handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy, bool protect,
-                                bool& protOperationPerformed, bool selfChip, bool selfCopy,
+            bool &protOperationPerformed, bool selfChip, bool selfCopy, bool allChips,
-                                bool allChips, bool allCopies, uint8_t arrIdx);
+            bool allCopies, uint8_t arrIdx);
-  void determineAndExecuteReboot(RebootFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
-                                 xsc::Copy& tgtCopy);
-  void resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy);
-  void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
-  bool parseRebootFile(std::string path, RebootFile& file);
-  void rewriteRebootFile(RebootFile file);
 };
 
 #endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

bsp_q7s/core/InitMission.cpp

@@ -1,27 +1,28 @@
 #include "InitMission.h"
-
-#include <iostream>
-#include <vector>
-
-#include "OBSWConfig.h"
 #include "ObjectFactory.h"
-#include "fsfw/objectmanager/ObjectManager.h"
+#include "OBSWConfig.h"
-#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "pollingsequence/pollingSequenceFactory.h"
+
+#include "mission/utility/InitMission.h"
+
 #include "fsfw/platform.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
-#include "mission/utility/InitMission.h"
+
-#include "pollingsequence/pollingSequenceFactory.h"
+#include <iostream>
+#include <vector>
 
 /* This is configured for linux without CR */
 #ifdef PLATFORM_UNIX
 ServiceInterfaceStream sif::debug("DEBUG");
 ServiceInterfaceStream sif::info("INFO");
 ServiceInterfaceStream sif::warning("WARNING");
-ServiceInterfaceStream sif::error("ERROR");
+ServiceInterfaceStream sif::error("ERROR", false, false, true);
 #else
 ServiceInterfaceStream sif::debug("DEBUG", true);
 ServiceInterfaceStream sif::info("INFO", true);
@@ -32,6 +33,7 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
 ObjectManagerIF *objectManager = nullptr;
 
 void initmission::initMission() {
+
     sif::info << "Building global objects.." << std::endl;
     /* Instantiate global object manager and also create all objects */
     ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
@@ -80,49 +82,19 @@ void initmission::initTasks() {
         initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
     }
 
-#if OBSW_ADD_TCPIP_BRIDGE == 1
+    /* UDP bridge */
-  // TMTC bridge
     PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-      "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
     result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
+        initmission::printAddObjectError("UDP_BRIDGE", objects::TMTC_BRIDGE);
     }
     PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
-      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
     result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
     }
-#endif
-
-#if OBSW_USE_CCSDS_IP_CORE == 1
-  PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
-      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-  result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
-  }
-
-  // Minimal distance between two received TCs amounts to 0.6 seconds
-  // If a command has not been read before the next one arrives, the old command will be
-  // overwritten by the PDEC.
-  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
-      "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
-  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
-  }
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
-
-#if OBSW_ADD_ACS_HANDLERS == 1
-  PeriodicTaskIF* acsCtrl = factory->createPeriodicTask(
-      "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
-  }
-#endif /* OBSW_ADD_ACS_HANDLERS */
 
 # if BOARD_TE0720 == 0
     // FS task, task interval does not matter because it runs in permanent loop, priority low
@@ -133,16 +105,6 @@ void initmission::initTasks() {
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
     }
-
-#if OBSW_ADD_STAR_TRACKER == 1
-  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
-      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-  result = strHelperTask->addComponent(objects::STR_HELPER);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
-  }
-#endif /* OBSW_ADD_STAR_TRACKER == 1 */
-
 #endif /* BOARD_TE0720 */
 
 #if OBSW_TEST_CCSDS_BRIDGE == 1
@@ -168,7 +130,8 @@ void initmission::initTasks() {
         for(const auto& task: taskVector) {
             if(task != nullptr) {
                 task->startTask();
-      } else {
+            }
+            else {
                 sif::error << "Task in vector " << name << " is invalid!" << std::endl;
             }
         }
@@ -176,17 +139,8 @@ void initmission::initTasks() {
 
     sif::info << "Starting tasks.." << std::endl;
     tmTcDistributor->startTask();
-
-#if OBSW_ADD_TCPIP_BRIDGE == 1
     tmtcBridgeTask->startTask();
     tmtcPollingTask->startTask();
-#endif
-
-#if OBSW_USE_CCSDS_IP_CORE == 1
-  ccsdsHandlerTask->startTask();
-  pdecHandlerTask->startTask();
-#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
-
 #if BOARD_TE0720 == 0
     coreController->startTask();
 #endif
@@ -203,61 +157,47 @@ void initmission::initTasks() {
 
 #if BOARD_TE0720 == 0
     fsTask->startTask();
-#if OBSW_ADD_STAR_TRACKER == 1
-  strHelperTask > startTask();
-#endif /* OBSW_ADD_STAR_TRACKER == 1 */
-#endif
-
-#if OBSW_ADD_ACS_HANDLERS == 1
-  acsCtrl->startTask();
 #endif
 
     sif::info << "Tasks started.." << std::endl;
 }
 
 void initmission::createPstTasks(TaskFactory& factory,
-                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
-                                 std::vector<PeriodicTaskIF*>& taskVec) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 #if BOARD_TE0720 == 0
     /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
     FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+            "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
+            missedDeadlineFunc);
     result = pst::pstSpi(spiPst);
     if (result != HasReturnvaluesIF::RETURN_OK) {
-    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
         sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
     }
-  } else {
     taskVec.push_back(spiPst);
-  }
 #endif
 
     FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+            "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, 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, 0.2, missedDeadlineFunc);
+            "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
     result = pst::pstGpio(gpioPst);
     if (result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
     }
     taskVec.push_back(gpioPst);
-
-#if OBSW_ADD_I2C_TEST_CODE == 0
     FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+            "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
     result = pst::pstI2c(i2cPst);
     if (result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
     }
-  taskVec.push_back(i2cPst);
-#endif
 
     FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
             "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
@@ -268,7 +208,8 @@ void initmission::createPstTasks(TaskFactory& factory,
     taskVec.push_back(gomSpacePstTask);
 #else /* BOARD_TE7020 == 0 */
     FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
-      "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc);
+            "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
+            missedDeadlineFunc);
     result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
     if (result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
@@ -278,8 +219,7 @@ void initmission::createPstTasks(TaskFactory& factory,
 }
 
 void initmission::createPusTasks(TaskFactory &factory,
-                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
-                                 std::vector<PeriodicTaskIF*>& taskVec) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     /* PUS Services */
     PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
@@ -347,20 +287,19 @@ void initmission::createPusTasks(TaskFactory& factory,
     taskVec.push_back(pusLowPrio);
 }
 
-void initmission::createTestTasks(TaskFactory& factory,
+void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
-                                  TaskDeadlineMissedFunction missedDeadlineFunc,
         std::vector<PeriodicTaskIF*>& taskVec) {
-#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
+#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-  static_cast<void>(result);  // supress warning in case it is not used
+#endif
-
     PeriodicTaskIF* testTask = factory.createPeriodicTask(
             "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
-
+#if OBSW_ADD_TEST_TASK == 1
     result = testTask->addComponent(objects::TEST_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
     }
+#endif /* OBSW_ADD_TEST_TASK == 1 */
 
 #if OBSW_ADD_SPI_TEST_CODE == 1
     result = testTask->addComponent(objects::SPI_TEST);
@@ -368,19 +307,6 @@ void initmission::createTestTasks(TaskFactory& factory,
         initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
     }
 #endif
-#if OBSW_ADD_I2C_TEST_CODE == 1
-  result = testTask->addComponent(objects::I2C_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("I2C_TEST", objects::I2C_TEST);
-  }
-#endif
-#if OBSW_ADD_UART_TEST_CODE == 1
-  result = testTask->addComponent(objects::UART_TEST);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
-  }
-#endif
-
 #if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
     result = testTask->addComponent(objects::LIBGPIOD_TEST);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -388,6 +314,4 @@ void initmission::createTestTasks(TaskFactory& factory,
     }
 #endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */
     taskVec.push_back(testTask);
-
-#endif  // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
 }

bsp_q7s/core/InitMission.h

@@ -1,9 +1,8 @@
 #ifndef BSP_Q7S_INITMISSION_H_
 #define BSP_Q7S_INITMISSION_H_
 
-#include <vector>
-
 #include "fsfw/tasks/Typedef.h"
+#include <vector>
 
 class PeriodicTaskIF;
 class TaskFactory;
@@ -18,6 +17,6 @@ void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadl
         std::vector<PeriodicTaskIF*>& taskVec);
 void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
         std::vector<PeriodicTaskIF*>& taskVec);
-};  // namespace initmission
+};
 
 #endif /* BSP_Q7S_INITMISSION_H_ */

bsp_q7s/core/ObjectFactory.h

@@ -4,7 +4,6 @@
 class LinuxLibgpioIF;
 class UartComIF;
 class SpiComIF;
-class I2cComIF;
 
 namespace ObjectFactory {
 
@@ -12,11 +11,9 @@ void setStatics();
 void produce(void* args);
 
 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                   SpiComIF** spiComIF, I2cComIF** i2cComIF);
+        SpiComIF** spiComIF);
-
-void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
 void createTmpComponents();
-void createPcduComponents(LinuxLibgpioIF* gpioComIF);
+void createPcduComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF);
@@ -25,9 +22,8 @@ void createSolarArrayDeploymentComponents();
 void createSyrlinksComponents();
 void createRtdComponents(LinuxLibgpioIF* gpioComIF);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
-void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
 void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
-};  // namespace ObjectFactory
+};
 
 #endif /* BSP_Q7S_OBJECTFACTORY_H_ */

bsp_q7s/core/ParameterHandler.cpp

@@ -1,5 +1,8 @@
 #include "ParameterHandler.h"
 
-ParameterHandler::ParameterHandler(std::string mountPrefix) : mountPrefix(mountPrefix) {}
+ParameterHandler::ParameterHandler(std::string mountPrefix): mountPrefix(mountPrefix) {
+}
 
-void ParameterHandler::setMountPrefix(std::string prefix) { mountPrefix = prefix; }
+void ParameterHandler::setMountPrefix(std::string prefix) {
+    mountPrefix = prefix;
+}

bsp_q7s/core/ParameterHandler.h

@@ -4,6 +4,8 @@
 #include <nlohmann/json.hpp>
 #include <string>
 
+
+
 class ParameterHandler {
 public:
     ParameterHandler(std::string mountPrefix);
@@ -11,10 +13,10 @@ class ParameterHandler {
     void setMountPrefix(std::string prefix);
 
     void setUpDummyParameter();
-
 private:
     std::string mountPrefix;
     DummyParameter dummyParam;
 };
 
+
 #endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */

bsp_q7s/core/obsw.cpp

@@ -1,15 +1,15 @@
 #include "obsw.h"
-
-#include <filesystem>
-#include <iostream>
-
-#include "InitMission.h"
-#include "OBSWConfig.h"
 #include "OBSWVersion.h"
-#include "fsfw/FSFWVersion.h"
+#include "OBSWConfig.h"
-#include "fsfw/tasks/TaskFactory.h"
+#include "InitMission.h"
 #include "watchdogConf.h"
 
+#include "fsfw/tasks/TaskFactory.h"
+#include "fsfw/FSFWVersion.h"
+
+#include <iostream>
+#include <filesystem>
+
 static int OBSW_ALREADY_RUNNING = -2;
 
 int obsw::obsw() {
@@ -19,18 +19,17 @@ int obsw::obsw() {
 #else
     std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
 #endif
-  std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION << "." << SW_REVISION << ", FSFW v"
+    std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION <<
-            << FSFW_VERSION << "." << FSFW_SUBVERSION << "." << FSFW_REVISION << "--" << std::endl;
+            "." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "." <<
+            FSFW_REVISION << "--"  << std::endl;
     std::cout << "-- " <<  __DATE__ << " " << __TIME__ << " --" << std::endl;
 
 #if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
     // Check special file here. This file is created or deleted by the eive-watchdog application
     // or systemd service!
     if(std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
-    sif::warning << "File " << watchdog::RUNNING_FILE_NAME
+        sif::warning << "File " << watchdog::RUNNING_FILE_NAME << " exists so the software might "
-                 << " exists so the software might "
+                "already be running. Aborting.." << std::endl;
-                    "already be running. Check if obsw systemd service has been stopped."
-                 << std::endl;
         return OBSW_ALREADY_RUNNING;
     }
 #endif

bsp_q7s/devices/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE
     PlocSupervisorHandler.cpp
     PlocUpdater.cpp
     PlocMemoryDumper.cpp

bsp_q7s/devices/PlocMemoryDumper.cpp

@@ -1,23 +1,21 @@
+#include <fsfw/src/fsfw/serialize/SerializeAdapter.h>
+#include "fsfw/ipc/QueueFactory.h"
 #include "PlocMemoryDumper.h"
 
-#include <fsfw/src/fsfw/serialize/SerializeAdapter.h>
-
-#include <filesystem>
 #include <fstream>
+#include <filesystem>
 #include <string>
 
-#include "fsfw/ipc/QueueFactory.h"
+PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId) :
-
+        SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
-PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId)
+    commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
-    : SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
-  auto mqArgs = MqArgs(this->getObjectId());
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
-PlocMemoryDumper::~PlocMemoryDumper() {}
+PlocMemoryDumper::~PlocMemoryDumper() {
+}
 
 ReturnValue_t PlocMemoryDumper::initialize() {
+
     ReturnValue_t result = SystemObject::initialize();
     if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
@@ -40,8 +38,9 @@ ReturnValue_t PlocMemoryDumper::performOperation(uint8_t operationCode) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId,
-                                              const uint8_t* data, size_t size) {
+        MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
+
     if (state != State::IDLE) {
         return IS_BUSY;
     }
@@ -72,9 +71,13 @@ ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId, MessageQueueI
     return EXECUTION_FINISHED;
 }
 
-MessageQueueId_t PlocMemoryDumper::getCommandQueue() const { return commandQueue->getId(); }
+MessageQueueId_t PlocMemoryDumper::getCommandQueue() const {
+    return commandQueue->getId();
+}
 
-MessageQueueIF* PlocMemoryDumper::getCommandQueuePtr() { return commandQueue; }
+MessageQueueIF* PlocMemoryDumper::getCommandQueuePtr() {
+    return commandQueue;
+}
 
 void PlocMemoryDumper::readCommandQueue() {
     CommandMessage message;
@@ -118,12 +121,17 @@ void PlocMemoryDumper::doStateMachine() {
     }
 }
 
-void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
+void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId,
+        uint8_t step) {
+}
 
 void PlocMemoryDumper::stepFailedReceived(ActionId_t actionId, uint8_t step,
-                                          ReturnValue_t returnCode) {}
+        ReturnValue_t returnCode) {
+}
 
-void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
+void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
+
+}
 
 void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
     switch (pendingCommand) {
@@ -132,7 +140,8 @@ void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
         if (mram.endAddress == mram.startAddress) {
             triggerEvent(MRAM_DUMP_FINISHED);
             state = State::IDLE;
-      } else {
+        }
+        else {
             state = State::COMMAND_CONSECUTIVE_MRAM_DUMP;
         }
         break;
@@ -144,7 +153,8 @@ void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
     }
 }
 
-void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
+void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId,
+        ReturnValue_t returnCode) {
     switch(pendingCommand) {
     case(PLOC_SPV::FIRST_MRAM_DUMP):
     case(PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
@@ -169,7 +179,8 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
         tempEndAddress = mram.startAddress + MAX_MRAM_DUMP_SIZE;
         mram.startAddress += MAX_MRAM_DUMP_SIZE;
         mram.lastStartAddress = tempStartAddress;
-  } else {
+    }
+    else {
         tempStartAddress = mram.startAddress;
         tempEndAddress = mram.endAddress;
         mram.startAddress = mram.endAddress;
@@ -177,8 +188,8 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
 
     MemoryParams params(tempStartAddress, tempEndAddress);
 
-  result =
+    result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
-      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, dumpCommand, &params);
+            dumpCommand, &params);
     if (result != RETURN_OK) {
         sif::warning << "PlocMemoryDumper::commandNextMramDump: Failed to send mram dump command "
                 << "with start address " << tempStartAddress << " and end address "
@@ -192,3 +203,4 @@ void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
     pendingCommand = dumpCommand;
     return;
 }
+

bsp_q7s/devices/PlocMemoryDumper.h

@@ -3,18 +3,18 @@
 
 #include <bsp_q7s/devices/devicedefinitions/PlocMemDumpDefinitions.h>
 #include <bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h>
-
 #include "OBSWConfig.h"
-#include "bsp_q7s/memory/SdCardManager.h"
-#include "fsfw/action/ActionHelper.h"
 #include "fsfw/action/CommandActionHelper.h"
-#include "fsfw/action/CommandsActionsIF.h"
+#include "fsfw/action/ActionHelper.h"
 #include "fsfw/action/HasActionsIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
-#include "fsfw/tmtcpacket/SpacePacket.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "bsp_q7s/memory/SdCardManager.h"
 #include "linux/fsfwconfig/objects/systemObjectList.h"
+#include "fsfw/tmtcpacket/SpacePacket.h"
+
 
 /**
  * @brief   Because the buffer of the linux tty driver is limited to 2 x 65535 bytes, this class is
@@ -30,6 +30,7 @@ class PlocMemoryDumper : public SystemObject,
         public HasReturnvaluesIF,
         public CommandsActionsIF {
 public:
+
     static const ActionId_t NONE = 0;
     static const ActionId_t DUMP_MRAM = 1;
 
@@ -49,12 +50,12 @@ class PlocMemoryDumper : public SystemObject,
     void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
 
 private:
+
     static const uint32_t QUEUE_SIZE = 10;
 
     static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MEMORY_DUMPER;
 
-  //! [EXPORT] : [COMMENT] The capacity of the MRAM amounts to 512 kB. Thus the maximum address must
+    //! [EXPORT] : [COMMENT] The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.
-  //! not be higher than 0x7d000.
     static const ReturnValue_t MRAM_ADDRESS_TOO_HIGH = MAKE_RETURN_CODE(0xA0);
     //! [EXPORT] : [COMMENT] The specified end address is lower than the start address
     static const ReturnValue_t MRAM_INVALID_ADDRESS_COMBINATION = MAKE_RETURN_CODE(0xA1);

bsp_q7s/devices/PlocSupervisorHandler.cpp

@@ -1,28 +1,26 @@
-#include "PlocSupervisorHandler.h"
-
-#include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfw/globalfunctions/CRC.h>
-#include <fsfw/timemanager/Clock.h>
-
-#include <filesystem>
-#include <fstream>
 #include <sstream>
 #include <string>
+#include <fstream>
+#include <filesystem>
 
+#include "PlocSupervisorHandler.h"
 #include "OBSWConfig.h"
 
+#include <fsfw/globalfunctions/CRC.h>
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/timemanager/Clock.h>
+
 PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid,
-                                             CookieIF* comCookie)
+        CookieIF * comCookie) :
-    : DeviceHandlerBase(objectId, uartComIFid, comCookie),
+        DeviceHandlerBase(objectId, uartComIFid, comCookie), hkset(this), bootStatusReport(this), latchupStatusReport(
-      hkset(this),
+                this) {
-      bootStatusReport(this),
-      latchupStatusReport(this) {
     if (comCookie == NULL) {
         sif::error << "PlocSupervisorHandler: Invalid com cookie" << std::endl;
     }
 }
 
-PlocSupervisorHandler::~PlocSupervisorHandler() {}
+PlocSupervisorHandler::~PlocSupervisorHandler() {
+}
 
 ReturnValue_t PlocSupervisorHandler::initialize() {
     ReturnValue_t result = RETURN_OK;
@@ -43,6 +41,7 @@ ReturnValue_t PlocSupervisorHandler::initialize() {
     return result;
 }
 
+
 void PlocSupervisorHandler::doStartUp(){
 #if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
     setMode(MODE_NORMAL);
@@ -51,18 +50,22 @@ void PlocSupervisorHandler::doStartUp() {
 #endif
 }
 
-void PlocSupervisorHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
+void PlocSupervisorHandler::doShutDown(){
+    setMode(_MODE_POWER_DOWN);
+}
 
-ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(
+		DeviceCommandId_t * id) {
     return NOTHING_TO_SEND;
 }
 
-ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(
+		DeviceCommandId_t * id){
 	return NOTHING_TO_SEND;
 }
 
-ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(
-                                                             const uint8_t* commandData,
+		DeviceCommandId_t deviceCommand, const uint8_t * commandData,
 		size_t commandDataLen) {
     ReturnValue_t result = RETURN_FAILED;
 	switch(deviceCommand) {
@@ -327,12 +330,14 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
             PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT);
 }
 
-ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t remainingSize,
+ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
-                                                  DeviceCommandId_t* foundId, size_t* foundLen) {
+        size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
+
     if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP) {
         *foundId = PLOC_SPV::FIRST_MRAM_DUMP;
         return parseMramPackets(start, remainingSize, foundLen);
-  } else if (nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
+    }
+    else if (nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
         *foundId = PLOC_SPV::CONSECUTIVE_MRAM_DUMP;
         return parseMramPackets(start, remainingSize, foundLen);
     }
@@ -382,6 +387,7 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t r
 
 ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
         const uint8_t *packet) {
+
     ReturnValue_t result = RETURN_OK;
 
     switch (id) {
@@ -410,8 +416,7 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
         break;
     }
     default: {
-      sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id"
+        sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
-                 << std::endl;
         return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
     }
     }
@@ -419,12 +424,17 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
     return result;
 }
 
-void PlocSupervisorHandler::setNormalDatapoolEntriesInvalid() {}
+void PlocSupervisorHandler::setNormalDatapoolEntriesInvalid(){
 
-uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+}
+
+uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
+    return 500;
+}
 
 ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
         LocalDataPoolManager& poolManager) {
+
     localDataPoolMap.emplace(PLOC_SPV::NUM_TMS, new PoolEntry<uint32_t>( { 0 }));
     localDataPoolMap.emplace(PLOC_SPV::TEMP_PS, new PoolEntry<uint32_t>( { 0 }));
     localDataPoolMap.emplace(PLOC_SPV::TEMP_PL, new PoolEntry<uint32_t>( { 0 }));
@@ -468,9 +478,9 @@ ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool
 }
 
 ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
-                                                           uint8_t expectedReplies,
+                uint8_t expectedReplies, bool useAlternateId,
-                                                           bool useAlternateId,
                 DeviceCommandId_t alternateReplyID) {
+
     ReturnValue_t result = RETURN_OK;
 
     uint8_t enabledReplies = 0;
@@ -575,15 +585,15 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
      * Every command causes at least one acknowledgment and one execution report. Therefore both
      * replies will be enabled here.
      */
-  result =
+    result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
-      DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, PLOC_SPV::ACK_REPORT);
+            PLOC_SPV::ACK_REPORT);
     if (result != RETURN_OK) {
         sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
                 << PLOC_SPV::ACK_REPORT << " not in replyMap" << std::endl;
     }
 
-  result =
+    result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
-      DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, PLOC_SPV::EXE_REPORT);
+            PLOC_SPV::EXE_REPORT);
     if (result != RETURN_OK) {
         sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
                 << PLOC_SPV::EXE_REPORT << " not in replyMap" << std::endl;
@@ -593,6 +603,7 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
 }
 
 ReturnValue_t PlocSupervisorHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
+
     uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
 
     uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);
@@ -605,6 +616,7 @@ ReturnValue_t PlocSupervisorHandler::verifyPacket(const uint8_t* start, size_t f
 }
 
 ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
+
     ReturnValue_t result = RETURN_OK;
 
     result = verifyPacket(data, PLOC_SPV::SIZE_ACK_REPORT);
@@ -623,8 +635,7 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
    switch(apid) {
    case PLOC_SPV::APID_ACK_FAILURE: {
        //TODO: Interpretation of status field in acknowledgment report
-      sif::debug << "PlocSupervisorHandler::handleAckReport: Received Ack failure report"
+       sif::debug << "PlocSupervisorHandler::handleAckReport: Received Ack failure report" << std::endl;
-                 << std::endl;
        DeviceCommandId_t commandId = getPendingCommand();
        if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
            triggerEvent(SUPV_ACK_FAILURE, commandId);
@@ -640,8 +651,7 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
        break;
    }
    default: {
-      sif::debug << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report"
+       sif::debug << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
-                 << std::endl;
        result = RETURN_FAILED;
        break;
    }
@@ -651,6 +661,7 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
 }
 
 ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data) {
+
     ReturnValue_t result = RETURN_OK;
 
     result = verifyPacket(data, PLOC_SPV::SIZE_EXE_REPORT);
@@ -668,15 +679,14 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
     }
     case (PLOC_SPV::APID_EXE_FAILURE): {
         //TODO: Interpretation of status field in execution report
-      sif::error
+        sif::error << "PlocSupervisorHandler::handleExecutionReport: Received execution failure report"
-          << "PlocSupervisorHandler::handleExecutionReport: Received execution failure report"
                 << std::endl;
         DeviceCommandId_t commandId = getPendingCommand();
         if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
             triggerEvent(SUPV_EXE_FAILURE, commandId);
-      } else {
+        }
-        sif::debug << "PlocSupervisorHandler::handleExecutionReport: Unknown command id"
+        else {
-                   << std::endl;
+            sif::debug << "PlocSupervisorHandler::handleExecutionReport: Unknown command id" << std::endl;
         }
         sendFailureReport(PLOC_SPV::EXE_REPORT, RECEIVED_EXE_FAILURE);
         disableExeReportReply();
@@ -696,41 +706,43 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data)
 }
 
 ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
+
     ReturnValue_t result = RETURN_OK;
 
     result = verifyPacket(data, PLOC_SPV::SIZE_HK_REPORT);
 
     if(result == CRC_FAILURE) {
-    sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc" << std::endl;
+        sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc"
+                << std::endl;
     }
 
     uint16_t offset = PLOC_SPV::DATA_FIELD_OFFSET;
-  hkset.tempPs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
+    hkset.tempPs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
-                 *(data + offset + 3);
+            | *(data + offset + 3);
     offset += 4;
-  hkset.tempPl = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
+    hkset.tempPl = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
-                 *(data + offset + 3);
+            | *(data + offset + 3);
     offset += 4;
-  hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
+    hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
-                  *(data + offset + 3);
+            | *(data + offset + 3);
     offset += 4;
-  hkset.uptime = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
+    hkset.uptime = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
-                 *(data + offset + 3);
+            | *(data + offset + 3);
     offset += 4;
-  hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
+    hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
-                  *(data + offset + 3);
+            | *(data + offset + 3);
     offset += 4;
-  hkset.availableHeap = *(data + offset) << 24 | *(data + offset + 1) << 16 |
+    hkset.availableHeap = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
-                        *(data + offset + 2) << 8 | *(data + offset + 3);
+            | *(data + offset + 3);
     offset += 4;
-  hkset.numTcs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
+    hkset.numTcs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
-                 *(data + offset + 3);
+            | *(data + offset + 3);
     offset += 4;
-  hkset.numTms = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
+    hkset.numTms = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
-                 *(data + offset + 3);
+            | *(data + offset + 3);
     offset += 4;
-  hkset.socState = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
+    hkset.socState = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
-                   *(data + offset + 3);
+            | *(data + offset + 3);
     offset += 4;
     hkset.nvm0_1_state = *(data + offset);
     offset += 1;
@@ -749,8 +761,7 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
     sif::info << "PlocSupervisorHandler::handleHkReport: temp_sup: " << hkset.tempSup << std::endl;
     sif::info << "PlocSupervisorHandler::handleHkReport: uptime: " << hkset.uptime << std::endl;
     sif::info << "PlocSupervisorHandler::handleHkReport: cpu_load: " << hkset.cpuLoad << std::endl;
-  sif::info << "PlocSupervisorHandler::handleHkReport: available_heap: " << hkset.availableHeap
+    sif::info << "PlocSupervisorHandler::handleHkReport: available_heap: " << hkset.availableHeap << std::endl;
-            << std::endl;
     sif::info << "PlocSupervisorHandler::handleHkReport: num_tcs: " << hkset.numTcs << std::endl;
     sif::info << "PlocSupervisorHandler::handleHkReport: num_tms: " << hkset.numTms << std::endl;
     sif::info << "PlocSupervisorHandler::handleHkReport: soc_state: " << hkset.socState << std::endl;
@@ -769,14 +780,14 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
 }
 
 ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data) {
+
     ReturnValue_t result = RETURN_OK;
 
     result = verifyPacket(data, PLOC_SPV::SIZE_BOOT_STATUS_REPORT);
 
     if(result == CRC_FAILURE) {
         sif::error << "PlocSupervisorHandler::handleBootStatusReport: Boot status report has invalid"
-                  " crc"
+                " crc" << std::endl;
-               << std::endl;
         return result;
     }
 
@@ -824,6 +835,7 @@ ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data)
 }
 
 ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* data) {
+
     ReturnValue_t result = RETURN_OK;
 
     result = verifyPacket(data, PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT);
@@ -909,8 +921,8 @@ ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* da
             << latchupStatusReport.timeYear << std::endl;
     sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Msec: "
             << latchupStatusReport.timeMsec << std::endl;
-  sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: 0x" << std::hex
+    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: 0x"
-            << latchupStatusReport.timeMsec << std::dec << std::endl;
+            << std::hex << latchupStatusReport.timeMsec << std::dec << std::endl;
 #endif
 
     return result;
@@ -941,13 +953,15 @@ void PlocSupervisorHandler::setNextReplyId() {
 }
 
 size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId){
+
     size_t replyLen = 0;
 
     if (nextReplyId == PLOC_SPV::NONE) {
         return replyLen;
     }
 
-  if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP || nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
+    if (nextReplyId == PLOC_SPV::FIRST_MRAM_DUMP
+            || nextReplyId == PLOC_SPV::CONSECUTIVE_MRAM_DUMP) {
         /**
          * Try to read 20 MRAM packets. If reply is larger, the packets will be read with the
          * next doSendRead call. The command will be as long active as the packet with the sequence
@@ -964,7 +978,8 @@ size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId) {
             return replyLen;
         }
         replyLen = iter->second.replyLen;
-  } else {
+    }
+    else {
         sif::debug << "PlocSupervisorHandler::getNextReplyLength: No entry for reply with reply id "
                 << std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
     }
@@ -972,8 +987,8 @@ size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId) {
     return replyLen;
 }
 
-void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
+void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
-                                           DeviceCommandId_t replyId) {
+
     ReturnValue_t result = RETURN_OK;
 
     if (wiretappingMode == RAW) {
@@ -1028,8 +1043,8 @@ void PlocSupervisorHandler::prepareDisableHk() {
 }
 
 void PlocSupervisorHandler::prepareSetBootTimeoutCmd(const uint8_t * commandData) {
-  uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
+    uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
-                     *(commandData + 3);
+            | *(commandData + 3);
     PLOC_SPV::SetBootTimeout packet(timeout);
     packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
 }
@@ -1058,8 +1073,8 @@ ReturnValue_t PlocSupervisorHandler::prepareWatchdogsConfigTimeoutCmd(const uint
     if (watchdog > 2) {
         return INVALID_WATCHDOG;
     }
-  uint32_t timeout = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
+    uint32_t timeout = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
-                     *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
+            | *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
     if (timeout < 1000 || timeout > 360000) {
         return INVALID_WATCHDOG_TIMEOUT;
     }
@@ -1100,8 +1115,8 @@ ReturnValue_t PlocSupervisorHandler::prepareAutoCalibrateAlertCmd(const uint8_t*
     uint8_t offset = 0;
     uint8_t latchupId = *commandData;
     offset += 1;
-  uint32_t mg = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
+    uint32_t mg = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
-                *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
+            | *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
     if (latchupId > 6) {
         return INVALID_LATCHUP_ID;
     }
@@ -1126,8 +1141,8 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* comm
     uint8_t offset = 0;
     uint8_t latchupId = *commandData;
     offset += 1;
-  uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
+    uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
-                       *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
+            | *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
     if (latchupId > 6) {
         return INVALID_LATCHUP_ID;
     }
@@ -1137,8 +1152,8 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* comm
 }
 
 ReturnValue_t PlocSupervisorHandler::prepareSetAdcSweetPeriodCmd(const uint8_t* commandData) {
-  uint32_t sweepPeriod = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
+    uint32_t sweepPeriod = *(commandData) << 24 | *(commandData + 1) << 16
-                         *(commandData + 3);
+            | *(commandData + 2) << 8 | *(commandData + 3);
     if (sweepPeriod < 21) {
         return SWEEP_PERIOD_TOO_SMALL;
     }
@@ -1163,8 +1178,8 @@ void PlocSupervisorHandler::prepareSetAdcWindowAndStrideCmd(const uint8_t* comma
 }
 
 void PlocSupervisorHandler::prepareSetAdcThresholdCmd(const uint8_t* commandData) {
-  uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
+    uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
-                       *(commandData + 3);
+            | *(commandData + 3);
     PLOC_SPV::SetAdcThreshold packet(threshold);
     packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
 }
@@ -1260,6 +1275,7 @@ void PlocSupervisorHandler::packetToOutBuffer(uint8_t* packetData, size_t fullSi
 }
 
 void PlocSupervisorHandler::disableAllReplies() {
+
     DeviceReplyMap::iterator iter;
 
     /* Disable ack reply */
@@ -1289,6 +1305,7 @@ void PlocSupervisorHandler::disableAllReplies() {
 }
 
 void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
+
     DeviceReplyIter iter = deviceReplyMap.find(replyId);
 
     if (iter == deviceReplyMap.end()) {
@@ -1299,8 +1316,7 @@ void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnV
     DeviceCommandInfo* info = &(iter->second.command->second);
 
     if (info == nullptr) {
-    sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command"
+        sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command" << std::endl;
-               << std::endl;
         return;
     }
 
@@ -1351,6 +1367,7 @@ ReturnValue_t PlocSupervisorHandler::parseMramPackets(const uint8_t* packet, siz
 }
 
 ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id) {
+
     ReturnValue_t result = RETURN_FAILED;
 
     // Prepare packet for downlink
@@ -1363,7 +1380,8 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id)
         }
         handleMramDumpFile(id);
         if (downlinkMramDump == true) {
-      handleDeviceTM(spacePacketBuffer + PLOC_SPV::SPACE_PACKET_HEADER_LENGTH, packetLen - 1, id);
+            handleDeviceTM(spacePacketBuffer + PLOC_SPV::SPACE_PACKET_HEADER_LENGTH, packetLen - 1,
+                    id);
         }
         packetInBuffer = false;
         receivedMramDumpPackets++;
@@ -1408,15 +1426,16 @@ void PlocSupervisorHandler::increaseExpectedMramReplies(DeviceCommandId_t id) {
         return;
     }
     uint8_t sequenceFlags = spacePacketBuffer[2] >> 6;
-  if (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT) &&
+    if (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT)
-      (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
+            && (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
         // Command expects at least one MRAM packet more and the execution report
         info->expectedReplies = 2;
         // Wait maximum of 2 cycles for next MRAM packet
         mramReplyInfo->delayCycles = 2;
         // Also adapting delay cycles for execution report
         exeReplyInfo->delayCycles = 3;
-  } else {
+    }
+    else {
         // Command expects the execution report
         info->expectedReplies = 1;
         mramReplyInfo->delayCycles = 0;
@@ -1437,8 +1456,8 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpFile(DeviceCommandId_t id) {
     uint16_t packetLen = readSpacePacketLength(spacePacketBuffer);
     uint8_t sequenceFlags = readSequenceFlags(spacePacketBuffer);
     if (id == PLOC_SPV::FIRST_MRAM_DUMP) {
-    if (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT) ||
+        if (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT)
-        (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
+                || (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
             result = createMramDumpFile();
             if (result != RETURN_OK) {
                 return result;
@@ -1504,8 +1523,8 @@ ReturnValue_t PlocSupervisorHandler::getTimeStampString(std::string& timeStamp)
                 << std::endl;
         return GET_TIME_FAILURE;
     }
-  timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-" +
+    timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-"
-              std::to_string(time.day) + "--" + std::to_string(time.hour) + "-" +
+            + std::to_string(time.day) + "--" + std::to_string(time.hour) + "-"
-              std::to_string(time.minute) + "-" + std::to_string(time.second);
+            + std::to_string(time.minute) + "-" + std::to_string(time.second);
     return RETURN_OK;
 }

bsp_q7s/devices/PlocSupervisorHandler.h

@@ -1,12 +1,12 @@
 #ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
 #define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
 
+#include "devicedefinitions/PlocSupervisorDefinitions.h"
 #include <bsp_q7s/memory/SdCardManager.h>
+
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw_hal/linux/uart/UartComIF.h>
 
-#include "devicedefinitions/PlocSupervisorDefinitions.h"
-
 /**
  * @brief	This is the device handler for the supervisor of the PLOC which is programmed by
  *          Thales.
@@ -21,6 +21,7 @@
  */
 class PlocSupervisorHandler: public DeviceHandlerBase {
 public:
+
     PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF * comCookie);
 	virtual ~PlocSupervisorHandler();
 
@@ -32,11 +33,12 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
 	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,
+	ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-                                        size_t commandDataLen) override;
+				const uint8_t * commandData,size_t commandDataLen) override;
-  ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
+	ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
-                             size_t* foundLen) override;
+			DeviceCommandId_t *foundId, size_t *foundLen) override;
-  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) 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,
@@ -47,6 +49,7 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
 	size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
 
 private:
+
     static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;
 
     //! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
@@ -61,32 +64,25 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
     static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
     //! [EXPORT] : [COMMENT] Invalid communication interface specified
     static const ReturnValue_t INVALID_UART_COM_IF = MAKE_RETURN_CODE(0xA5);
-  //! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
+    //! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0 for PS, 1 for PL and 2 for INT
-  //! for PS, 1 for PL and 2 for INT
     static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA6);
-  //! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
+    //! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid timeouts must be in the range between 1000 and 360000 ms.
-  //! timeouts must be in the range between 1000 and 360000 ms.
     static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA7);
     //! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
     static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA8);
-  //! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
+    //! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be larger than 21.
-  //! larger than 21.
     static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA9);
-  //! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
+    //! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1 and 2.
-  //! and 2.
     static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xAA);
     //! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
     static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAB);
-  //! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM  wipe
+    //! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM  wipe commands are invalid (e.g. start address bigger than stop address)
-  //! commands are invalid (e.g. start address bigger than stop address)
     static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAC);
-  //! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
+    //! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with other apid.
-  //! other apid.
     static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAD);
     //! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
     static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAE);
-  //! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
+    //! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have been created with the reception of the first dump packet.
-  //! been created with the reception of the first dump packet.
     static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAF);
 
     static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
@@ -262,6 +258,7 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
 	void prepareSetGpioCmd(const uint8_t* commandData);
 	void prepareReadGpioCmd(const uint8_t* commandData);
 
+
 	/**
 	 * @brief   Copies the content of a space packet to the command buffer.
 	 */

bsp_q7s/devices/PlocUpdater.cpp

@@ -1,19 +1,17 @@
+#include "fsfw/ipc/QueueFactory.h"
 #include "PlocUpdater.h"
 
-#include <filesystem>
 #include <fstream>
+#include <filesystem>
 #include <string>
 
-#include "fsfw/ipc/QueueFactory.h"
+PlocUpdater::PlocUpdater(object_id_t objectId) :
-
+        SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
-PlocUpdater::PlocUpdater(object_id_t objectId)
+    commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
-    : SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
-  auto mqArgs = MqArgs(this->getObjectId());
-  commandQueue = QueueFactory::instance()->createMessageQueue(
-      QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
-PlocUpdater::~PlocUpdater() {}
+PlocUpdater::~PlocUpdater() {
+}
 
 ReturnValue_t PlocUpdater::initialize() {
 #if BOARD_TE0720 == 0
@@ -41,8 +39,8 @@ ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId,
-                                         const uint8_t* data, size_t size) {
+        MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
     ReturnValue_t result = RETURN_FAILED;
 
     if (state != State::IDLE) {
@@ -101,9 +99,13 @@ ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, MessageQueueId_t c
     return EXECUTION_FINISHED;
 }
 
-MessageQueueId_t PlocUpdater::getCommandQueue() const { return commandQueue->getId(); }
+MessageQueueId_t PlocUpdater::getCommandQueue() const {
+    return commandQueue->getId();
+}
 
-MessageQueueIF* PlocUpdater::getCommandQueuePtr() { return commandQueue; }
+MessageQueueIF* PlocUpdater::getCommandQueuePtr() {
+    return commandQueue;
+}
 
 void PlocUpdater::readCommandQueue() {
     CommandMessage message;
@@ -165,19 +167,19 @@ 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) ==
+    if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_0_MOUNT_POINT)) {
-      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)) {
+    else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_1_MOUNT_POINT)) {
-    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+        if (!isSdCardMounted(sd::SLOT_0)) {
-      sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
+            sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 1 not mounted" << std::endl;
             return SD_NOT_MOUNTED;
         }
-  } else {
+    }
+    else {
         //update image not stored on SD card
     }
 #endif /* BOARD_TE0720 == 0 */
@@ -191,11 +193,48 @@ ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
     return RETURN_OK;
 }
 
-void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
+#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::stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) {}
+void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId,
+        uint8_t step) {
+}
 
-void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
+void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step,
+        ReturnValue_t returnCode) {
+}
+
+void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
+
+}
 
 void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
     switch (pendingCommand) {
@@ -206,7 +245,8 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
         if (remainingPackets == 0) {
             packetsSent = 0; // Reset packets sent variable for next update sequence
             state = State::UPDATE_VERIFY;
-      } else {
+        }
+        else {
             state = State::UPDATE_TRANSFER;
         }
         break;
@@ -223,7 +263,8 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
     }
 }
 
-void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
+void PlocUpdater::completionFailedReceived(ActionId_t actionId,
+        ReturnValue_t returnCode) {
     switch(pendingCommand) {
     case(PLOC_SPV::UPDATE_AVAILABLE): {
         triggerEvent(UPDATE_AVAILABLE_FAILED);
@@ -238,7 +279,8 @@ void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t re
         break;
     }
     default:
-      sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " << std::endl;
+        sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command "
+                << std::endl;
         break;
     }
     state = State::IDLE;
@@ -269,12 +311,10 @@ void PlocUpdater::commandUpdateAvailable() {
     calcImageCrc();
 
     PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
-                              static_cast<uint8_t>(partition), imageSize, imageCrc,
+            static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
-                              numOfUpdatePackets);
 
     result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
-                                             PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(),
+            PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(), packet.getFullSize());
-                                             packet.getFullSize());
     if (result != RETURN_OK) {
         sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
                 << " packet to supervisor handler" << std::endl;
@@ -304,7 +344,8 @@ void PlocUpdater::commandUpdatePacket() {
 
     if (remainingPackets == 1) {
         payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
-  } else {
+    }
+    else {
         payloadLength = MAX_SP_DATA;
     }
 
@@ -319,8 +360,7 @@ void PlocUpdater::commandUpdatePacket() {
     packet.makeCrc();
 
     result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
-                                             PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(),
+            PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(), packet.getFullSize());
-                                             packet.getFullSize());
 
     if (result != RETURN_OK) {
         sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
@@ -342,12 +382,10 @@ void PlocUpdater::commandUpdateVerify() {
     ReturnValue_t result = RETURN_OK;
 
     PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
-                              static_cast<uint8_t>(partition), imageSize, imageCrc,
+            static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
-                              numOfUpdatePackets);
 
-  result =
+    result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
-      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, PLOC_SPV::UPDATE_VERIFY,
+            PLOC_SPV::UPDATE_VERIFY, packet.getWholeData(), packet.getFullSize());
-                                        packet.getWholeData(), packet.getFullSize());
     if (result != RETURN_OK) {
         sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
                 << " packet to supervisor handler" << std::endl;
@@ -387,9 +425,12 @@ void PlocUpdater::calcImageCrc() {
 void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) {
     if (packetsSent == 0) {
         packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT));
-  } else if (remainingPackets == 1) {
+    }
+    else if (remainingPackets == 1) {
         packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
-  } else {
+    }
+    else {
         packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
     }
 }
+

bsp_q7s/devices/PlocUpdater.h

@@ -2,25 +2,27 @@
 #define MISSION_DEVICES_PLOCUPDATER_H_
 
 #include "OBSWConfig.h"
-#include "bsp_q7s/memory/SdCardManager.h"
 #include "devicedefinitions/PlocSupervisorDefinitions.h"
-#include "fsfw/action/ActionHelper.h"
+
 #include "fsfw/action/CommandActionHelper.h"
-#include "fsfw/action/CommandsActionsIF.h"
+#include "fsfw/action/ActionHelper.h"
 #include "fsfw/action/HasActionsIF.h"
-#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
-#include "fsfw/tmtcpacket/SpacePacket.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "bsp_q7s/memory/SdCardManager.h"
 #include "linux/fsfwconfig/objects/systemObjectList.h"
+#include "fsfw/tmtcpacket/SpacePacket.h"
+
 
 /**
  * @brief   An object of this class can be used to perform the software updates of the PLOC. The
  *          software update will be read from one of the SD cards, split into multiple space
  *          packets and sent to the PlocSupervisorHandler.
  *
- * @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition
+ * @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition A
- * A and Partition B)
+ *          and Partition B)
  *
  * @author  J. Meier
  */
@@ -30,6 +32,7 @@ class PlocUpdater : public SystemObject,
         public HasReturnvaluesIF,
         public CommandsActionsIF {
 public:
+
     static const ActionId_t UPDATE_A_UBOOT = 0;
     static const ActionId_t UPDATE_A_BITSTREAM = 1;
     static const ActionId_t UPDATE_A_LINUX = 2;
@@ -55,14 +58,14 @@ class PlocUpdater : public SystemObject,
     void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
 
 private:
+
     static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER;
 
     //! [EXPORT] : [COMMENT] Updater is already performing an update
     static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0);
     //! [EXPORT] : [COMMENT] Received update command with invalid path string (too long).
     static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1);
-  //! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not
+    //! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not mounted.
-  //! mounted.
     static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2);
     //! [EXPORT] : [COMMENT] Update file received with update command does not exist.
     static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3);
@@ -71,15 +74,13 @@ class PlocUpdater : public SystemObject,
 
     //! [EXPORT] : [COMMENT] Try to read update file but the file does not exist.
     //! P1: Indicates in which state the file read fails
-  //! P2: During the update transfer the second parameter gives information about the number of
+    //! P2: During the update transfer the second parameter gives information about the number of already sent packets
-  //! already sent packets
     static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
     //! [EXPORT] : [COMMENT] Failed to send command to supervisor handler
     //! P1: Return value of CommandActionHelper::commandAction
     //! P2: Action ID of command to send
     static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW);
-  //! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution
+    //! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution failure of the update available command
-  //! failure of the update available command
     static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW);
     //! [EXPORT] : [COMMENT] Supervisor handler failed to transfer an update space packet.
     //! P1: Parameter holds the number of update packets already sent (inclusive the failed packet)
@@ -121,11 +122,21 @@ class PlocUpdater : public SystemObject,
 
     ActionId_t pendingCommand = PLOC_SPV::NONE;
 
-  enum class Image : uint8_t { NONE, A, B };
+    enum class Image: uint8_t {
+        NONE,
+        A,
+        B
+    };
 
     Image image = Image::NONE;
 
-  enum class Partition : uint8_t { NONE, UBOOT, BITSTREAM, LINUX_OS, APP_SW };
+    enum class Partition: uint8_t {
+        NONE,
+        UBOOT,
+        BITSTREAM,
+        LINUX_OS,
+        APP_SW
+    };
 
     Partition partition = Partition::NONE;
 
@@ -163,6 +174,13 @@ class PlocUpdater : public SystemObject,
      */
     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/devicedefinitions/PlocMemDumpDefinitions.h

@@ -5,17 +5,18 @@
 
 class MemoryParams: public SerialLinkedListAdapter<SerializeIF> {
 public:
+
     /**
      * @brief   Constructor
      * @param startAddress  Start of address range to dump
      * @param endAddress    End of address range to dump
      */
-  MemoryParams(uint32_t startAddress, uint32_t endAddress)
+    MemoryParams(uint32_t startAddress, uint32_t endAddress) :
-      : startAddress(startAddress), endAddress(endAddress) {
+            startAddress(startAddress), endAddress(endAddress) {
         setLinks();
     }
-
 private:
+
     void setLinks() {
         setStart(&startAddress);
         startAddress.setNext(&endAddress);
@@ -23,6 +24,10 @@ class MemoryParams : public SerialLinkedListAdapter<SerializeIF> {
 
     SerializeElement<uint32_t> startAddress;
     SerializeElement<uint32_t> endAddress;
+
 };
 
+
+
+
 #endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_ */

bsp_q7s/gpio/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${TARGET_NAME} PRIVATE
+	gpioCallbacks.cpp
+)

bsp_q7s/gpio/gpioCallbacks.cpp

@@ -0,0 +1,340 @@
+#include "gpioCallbacks.h"
+#include "busConf.h"
+#include <devices/gpioIds.h>
+
+#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+
+namespace gpioCallbacks {
+
+GpioIF* gpioComInterface;
+
+void initSpiCsDecoder(GpioIF* gpioComIF) {
+
+    ReturnValue_t result;
+
+    if (gpioComIF == nullptr) {
+        sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
+        return;
+    }
+
+    gpioComInterface = gpioComIF;
+
+    GpioCookie* spiMuxGpios = new GpioCookie;
+
+    GpiodRegularByLabel* spiMuxBit = nullptr;
+    /** Setting mux bit 1 to low will disable IC21 on the interface board */
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_1,
+            "SPI Mux Bit 1", gpio::OUT, gpio::LOW);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
+    /** Setting mux bit 2 to low disables IC1 on the TCS board */
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_2,
+            "SPI Mux Bit 2", gpio::OUT, gpio::LOW);
+    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 GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_3,
+            "SPI Mux Bit 3", gpio::OUT, gpio::LOW);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
+    /** The following gpios can take arbitrary initial values */
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_4,
+            "SPI Mux Bit 4", gpio::OUT, gpio::LOW);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_5,
+            "SPI Mux Bit 5", gpio::OUT, gpio::LOW);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_6,
+            "SPI Mux Bit 6", gpio::OUT, gpio::LOW);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
+    GpiodRegularByLabel* enRwDecoder = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B1,
+            q7s::EN_RW_CS, "EN_RW_CS", gpio::OUT, gpio::HIGH);
+    spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
+
+    result = gpioComInterface->addGpios(spiMuxGpios);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
+        return;
+    }
+}
+
+void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value,
+        void* args) {
+
+    if (gpioComInterface == nullptr) {
+        sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
+                << "to specify gpioComIF" << std::endl;
+        return;
+    }
+
+    /* Reading is not supported by the callback function */
+    if (gpioOp == gpio::GpioOperation::READ) {
+        return;
+    }
+
+    if (value == 1) {
+        disableAllDecoder();
+    }
+    else if (value == 0) {
+        switch (gpioId) {
+        case(gpioIds::RTD_IC3): {
+            enableDecoderTcsIc1();
+            selectY7();
+            break;
+        }
+        case(gpioIds::RTD_IC4): {
+            enableDecoderTcsIc1();
+            selectY6();
+            break;
+        }
+        case(gpioIds::RTD_IC5): {
+            enableDecoderTcsIc1();
+            selectY5();
+            break;
+        }
+        case(gpioIds::RTD_IC6): {
+            enableDecoderTcsIc1();
+            selectY4();
+            break;
+        }
+        case(gpioIds::RTD_IC7): {
+            enableDecoderTcsIc1();
+            selectY3();
+            break;
+        }
+        case(gpioIds::RTD_IC8): {
+            enableDecoderTcsIc1();
+            selectY2();
+            break;
+        }
+        case(gpioIds::RTD_IC9): {
+            enableDecoderTcsIc1();
+            selectY1();
+            break;
+        }
+        case(gpioIds::RTD_IC10): {
+            enableDecoderTcsIc1();
+            selectY0();
+            break;
+        }
+        case(gpioIds::RTD_IC11): {
+            enableDecoderTcsIc2();
+            selectY7();
+            break;
+        }
+        case(gpioIds::RTD_IC12): {
+            enableDecoderTcsIc2();
+            selectY6();
+            break;
+        }
+        case(gpioIds::RTD_IC13): {
+            enableDecoderTcsIc2();
+            selectY5();
+            break;
+        }
+        case(gpioIds::RTD_IC14): {
+            enableDecoderTcsIc2();
+            selectY4();
+            break;
+        }
+        case(gpioIds::RTD_IC15): {
+            enableDecoderTcsIc2();
+            selectY3();
+            break;
+        }
+        case(gpioIds::RTD_IC16): {
+            enableDecoderTcsIc2();
+            selectY2();
+            break;
+        }
+        case(gpioIds::RTD_IC17): {
+            enableDecoderTcsIc2();
+            selectY1();
+            break;
+        }
+        case(gpioIds::RTD_IC18): {
+            enableDecoderTcsIc2();
+            selectY0();
+            break;
+        }
+        case(gpioIds::CS_SUS_1): {
+            enableDecoderInterfaceBoardIc1();
+            selectY0();
+            break;
+        }
+        case(gpioIds::CS_SUS_2): {
+            enableDecoderInterfaceBoardIc1();
+            selectY1();
+            break;
+        }
+        case(gpioIds::CS_SUS_3): {
+            enableDecoderInterfaceBoardIc2();
+            selectY0();
+            break;
+        }
+        case(gpioIds::CS_SUS_4): {
+            enableDecoderInterfaceBoardIc2();
+            selectY1();
+            break;
+        }
+        case(gpioIds::CS_SUS_5): {
+            enableDecoderInterfaceBoardIc2();
+            selectY2();
+            break;
+        }
+        case(gpioIds::CS_SUS_6): {
+            enableDecoderInterfaceBoardIc1();
+            selectY2();
+            break;
+        }
+        case(gpioIds::CS_SUS_7): {
+            enableDecoderInterfaceBoardIc1();
+            selectY3();
+            break;
+        }
+        case(gpioIds::CS_SUS_8): {
+            enableDecoderInterfaceBoardIc2();
+            selectY3();
+            break;
+        }
+        case(gpioIds::CS_SUS_9): {
+            enableDecoderInterfaceBoardIc1();
+            selectY4();
+            break;
+        }
+        case(gpioIds::CS_SUS_10): {
+            enableDecoderInterfaceBoardIc1();
+            selectY5();
+            break;
+        }
+        case(gpioIds::CS_SUS_11): {
+            enableDecoderInterfaceBoardIc2();
+            selectY4();
+            break;
+        }
+        case(gpioIds::CS_SUS_12): {
+            enableDecoderInterfaceBoardIc2();
+            selectY5();
+            break;
+        }
+        case(gpioIds::CS_SUS_13): {
+            enableDecoderInterfaceBoardIc1();
+            selectY6();
+            break;
+        }
+        case(gpioIds::CS_RW1): {
+            enableRwDecoder();
+            selectY0();
+            break;
+        }
+        case(gpioIds::CS_RW2): {
+            enableRwDecoder();
+            selectY1();
+            break;
+        }
+        case(gpioIds::CS_RW3): {
+            enableRwDecoder();
+            selectY2();
+            break;
+        }
+        case(gpioIds::CS_RW4): {
+            enableRwDecoder();
+            selectY3();
+            break;
+        }
+        default:
+            sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
+        }
+    }
+    else {
+        sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
+    }
+}
+
+void enableDecoderTcsIc1() {
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
+}
+
+void enableDecoderTcsIc2() {
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
+}
+
+void enableDecoderInterfaceBoardIc1() {
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
+}
+
+void enableDecoderInterfaceBoardIc2() {
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
+}
+
+void enableRwDecoder() {
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
+    gpioComInterface->pullHigh(gpioIds::EN_RW_CS);
+}
+
+void selectY0() {
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
+}
+
+void selectY1() {
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
+}
+
+void selectY2() {
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
+}
+
+void selectY3() {
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_6);
+}
+
+void selectY4() {
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
+}
+
+void selectY5() {
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
+}
+
+void selectY6() {
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
+}
+
+void selectY7() {
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
+    gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_6);
+}
+
+void disableAllDecoder() {
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
+    gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
+    gpioComInterface->pullLow(gpioIds::EN_RW_CS);
+}
+
+}

bsp_q7s/gpio/gpioCallbacks.h

@@ -0,0 +1,67 @@
+#ifndef LINUX_GPIO_GPIOCALLBACKS_H_
+#define LINUX_GPIO_GPIOCALLBACKS_H_
+
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+
+
+namespace gpioCallbacks {
+
+    /**
+     * @brief   This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
+     *          the TCS Board and the interface board.
+     */
+    void initSpiCsDecoder(GpioIF* gpioComIF);
+
+    /**
+     * @brief   This function implements the decoding to multiply gpios by using the decoder
+     *          chips SN74LVC138APWR on the TCS board and the interface board.
+     */
+    void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args);
+
+    /**
+     * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
+     *          on the TCS board which is named to IC1 in the schematic.
+     */
+    void enableDecoderTcsIc1();
+
+    /**
+     * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
+     *          on the TCS board which is named to IC2 in the schematic.
+     */
+    void enableDecoderTcsIc2();
+
+    /**
+     * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
+     *          on the inteface board board which is named to IC21 in the schematic.
+     */
+    void enableDecoderInterfaceBoardIc1();
+
+    /**
+     * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
+     *          on the inteface board board which is named to IC22 in the schematic.
+     */
+    void enableDecoderInterfaceBoardIc2();
+
+    /**
+     * @brief   Enables the reaction wheel chip select decoder (IC3).
+     */
+    void enableRwDecoder();
+
+    /**
+     * @brief   This function disables all decoder.
+     */
+    void disableAllDecoder();
+
+    /** The following functions enable the appropriate channel of the currently enabled decoder */
+    void selectY0();
+    void selectY1();
+    void selectY2();
+    void selectY3();
+    void selectY4();
+    void selectY5();
+    void selectY6();
+    void selectY7();
+}
+
+#endif /* LINUX_GPIO_GPIOCALLBACKS_H_ */

bsp_q7s/main.cpp

@@ -12,7 +12,8 @@
  * @brief 	This is the main program for the target hardware.
  * @return
  */
-int main(void) {
+int main(void)
+{
     using namespace std;
 #if Q7S_SIMPLE_MODE == 0
     return obsw::obsw();

bsp_q7s/memory/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
+target_sources(${TARGET_NAME} PRIVATE
     FileSystemHandler.cpp
     SdCardManager.cpp
     scratchApi.cpp

bsp_q7s/memory/FileSystemHandler.cpp

@@ -1,31 +1,33 @@
 #include "FileSystemHandler.h"
 
-#include <cstring>
-#include <filesystem>
-#include <fstream>
-
 #include "bsp_q7s/core/CoreController.h"
-#include "fsfw/ipc/QueueFactory.h"
-#include "fsfw/memory/GenericFileSystemMessage.h"
-#include "fsfw/tasks/TaskFactory.h"
 
-FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler)
+#include "fsfw/tasks/TaskFactory.h"
-    : SystemObject(fileSystemHandler) {
+#include "fsfw/memory/GenericFileSystemMessage.h"
-  auto mqArgs = MqArgs(this->getObjectId());
+#include "fsfw/ipc/QueueFactory.h"
-  mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE,
+
-                                                    MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+#include <cstring>
+#include <fstream>
+#include <filesystem>
+
+FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler):
+        SystemObject(fileSystemHandler) {
+    mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE);
 }
 
-FileSystemHandler::~FileSystemHandler() { QueueFactory::instance()->deleteMessageQueue(mq); }
+FileSystemHandler::~FileSystemHandler() {
+    QueueFactory::instance()->deleteMessageQueue(mq);
+}
 
 ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
     while(true) {
         try {
             fileSystemHandlerLoop();
-    } catch (std::bad_alloc& e) {
+        }
+        catch(std::bad_alloc& e) {
             // Restart OBSW, hints at a memory leak
-      sif::error << "Allocation error in FileSystemHandler::performOperation" << e.what()
+            sif::error << "Allocation error in FileSystemHandler::performOperation"
-                 << std::endl;
+                    << e.what() << std::endl;
             // Set up an error file or a special flag in the scratch buffer for these cases
             triggerEvent(CoreController::ALLOC_FAILURE, 0 , 0);
             CoreController::incrementAllocationFailureCount();
@@ -33,6 +35,7 @@ ReturnValue_t FileSystemHandler::performOperation(uint8_t unsignedChar) {
     }
 }
 
+
 void FileSystemHandler::fileSystemHandlerLoop() {
     CommandMessage filemsg;
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
@@ -45,8 +48,10 @@ void FileSystemHandler::fileSystemHandlerLoop() {
         result = mq->receiveMessage(&filemsg);
         if(result == MessageQueueIF::EMPTY) {
             break;
-    } else if (result != HasReturnvaluesIF::RETURN_FAILED) {
+        }
-      sif::warning << "FileSystemHandler::performOperation: Message reception failed!" << std::endl;
+        else if(result != HasReturnvaluesIF::RETURN_FAILED) {
+            sif::warning << "FileSystemHandler::performOperation: Message reception failed!"
+                    << std::endl;
             break;
         }
         Command_t command = filemsg.getCommand();
@@ -73,23 +78,26 @@ void FileSystemHandler::fileSystemCheckup() {
     sdcMan->getSdCardActiveStatus(statusPair);
     sd::SdCard preferredSdCard;
     sdcMan->getPreferredSdCard(preferredSdCard);
-  if ((preferredSdCard == sd::SdCard::SLOT_0) and (statusPair.first == sd::SdState::MOUNTED)) {
+    if((preferredSdCard == sd::SdCard::SLOT_0) and
+            (statusPair.first == sd::SdState::MOUNTED)) {
         currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
-  } else if ((preferredSdCard == sd::SdCard::SLOT_1) and
+    }
+    else if((preferredSdCard == sd::SdCard::SLOT_1) and
             (statusPair.second == sd::SdState::MOUNTED)) {
         currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
-  } else {
+    }
+    else {
         std::string sdString;
         if(preferredSdCard == sd::SdCard::SLOT_0) {
             sdString = "0";
-    } else {
+        }
+        else {
             sdString = "1";
         }
         sif::warning << "FileSystemHandler::performOperation: "
-                    "Inconsistent state detected"
+                "Inconsistent state detected" << std::endl;
-                 << std::endl;
+        sif::warning << "Preferred SD card is " << sdString <<
-    sif::warning << "Preferred SD card is " << sdString
+                " but does not appear to be mounted. Attempting fix.." << std::endl;
-                 << " but does not appear to be mounted. Attempting fix.." << std::endl;
         // This function will appear to fix the inconsistent state
         ReturnValue_t result = sdcMan->sanitizeState(&statusPair, preferredSdCard);
         if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -100,13 +108,15 @@ void FileSystemHandler::fileSystemCheckup() {
     }
 }
 
-MessageQueueId_t FileSystemHandler::getCommandQueue() const { return mq->getId(); }
+MessageQueueId_t FileSystemHandler::getCommandQueue() const {
+    return mq->getId();
+}
 
 ReturnValue_t FileSystemHandler::initialize() {
     coreCtrl = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
     if(coreCtrl == nullptr) {
-    sif::error << "FileSystemHandler::initialize: Could not retrieve core controller handle"
+        sif::error << "FileSystemHandler::initialize: Could not retrieve core controller handle" <<
-               << std::endl;
+                std::endl;
     }
     sdcMan = SdCardManager::instance();
     sd::SdCard preferredSdCard;
@@ -116,20 +126,22 @@ ReturnValue_t FileSystemHandler::initialize() {
     }
     if(preferredSdCard == sd::SdCard::SLOT_0) {
         currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
-  } else if (preferredSdCard == sd::SdCard::SLOT_1) {
+    }
+    else if(preferredSdCard == sd::SdCard::SLOT_1) {
         currentMountPrefix = SdCardManager::SD_1_MOUNT_POINT;
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t FileSystemHandler::appendToFile(const char *repositoryPath, const char *filename,
-                                              const uint8_t* data, size_t size,
+        const uint8_t *data, size_t size, uint16_t packetNumber, void *args) {
-                                              uint16_t packetNumber, FileSystemArgsIF* args) {
+    // A double slash between repo and filename should not be an issue, so add it in any case
-  auto path = getInitPath(args) / repositoryPath / filename;
+    std::string fullPath = currentMountPrefix + std::string(repositoryPath) + "/" +
-  if (not std::filesystem::exists(path)) {
+            std::string(filename);
+    if(not std::filesystem::exists(fullPath)) {
         return FILE_DOES_NOT_EXIST;
     }
-  std::ofstream file(path, std::ios_base::app | std::ios_base::out);
+    std::ofstream file(fullPath, std::ios_base::app|std::ios_base::out);
     file.write(reinterpret_cast<const char*>(data), size);
     if(not file.good()) {
         return GENERIC_FILE_ERROR;
@@ -138,13 +150,20 @@ ReturnValue_t FileSystemHandler::appendToFile(const char* repositoryPath, const
 }
 
 ReturnValue_t FileSystemHandler::createFile(const char *repositoryPath, const char *filename,
-                                            const uint8_t* data, size_t size,
+        const uint8_t *data, size_t size, void *args) {
-                                            FileSystemArgsIF* args) {
+    std::string fullPath;
-  auto path = getInitPath(args) / filename;
+    bool useMountPrefix = true;
-  if (std::filesystem::exists(path)) {
+    parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
+    if(useMountPrefix) {
+        fullPath += currentMountPrefix;
+    }
+
+    // A double slash between repo and filename should not be an issue, so add it in any case
+    fullPath += std::string(repositoryPath) + "/" + std::string(filename);
+    if(std::filesystem::exists(fullPath)) {
         return FILE_ALREADY_EXISTS;
     }
-  std::ofstream file(path);
+    std::ofstream file(fullPath);
     file.write(reinterpret_cast<const char*>(data), size);
     if(not file.good()) {
         return GENERIC_FILE_ERROR;
@@ -153,12 +172,20 @@ ReturnValue_t FileSystemHandler::createFile(const char* repositoryPath, const ch
 }
 
 ReturnValue_t FileSystemHandler::removeFile(const char *repositoryPath, const char *filename,
-                                            FileSystemArgsIF* args) {
+        void *args) {
-  auto path = getInitPath(args) / repositoryPath / filename;
+    std::string fullPath;
-  if (not std::filesystem::exists(path)) {
+    bool useMountPrefix = true;
+    parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
+    if(useMountPrefix) {
+        fullPath += currentMountPrefix;
+    }
+
+    // A double slash between repo and filename should not be an issue, so add it in any case
+    fullPath += std::string(repositoryPath) + "/" + std::string(filename);
+    if(not std::filesystem::exists(fullPath)) {
         return FILE_DOES_NOT_EXIST;
     }
-  int result = std::remove(path.c_str());
+    int result = std::remove(fullPath.c_str());
     if(result != 0) {
         sif::warning << "FileSystemHandler::deleteFile: Failed with code " << result << std::endl;
         return GENERIC_FILE_ERROR;
@@ -166,51 +193,68 @@ ReturnValue_t FileSystemHandler::removeFile(const char* repositoryPath, const ch
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t FileSystemHandler::createDirectory(const char* repositoryPath, const char* dirname,
+ReturnValue_t FileSystemHandler::createDirectory(const char *repositoryPath, void *args) {
-                                                 bool createParentDirs, FileSystemArgsIF* args) {
+    std::string fullPath;
-  auto path = getInitPath(args) / repositoryPath / dirname;
+    bool useMountPrefix = true;
-  if (std::filesystem::exists(path)) {
+    parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
+    if(useMountPrefix) {
+        fullPath += currentMountPrefix;
+    }
+
+    fullPath += std::string(repositoryPath);
+    if(std::filesystem::exists(fullPath)) {
         return DIRECTORY_ALREADY_EXISTS;
     }
-  if (std::filesystem::create_directory(path)) {
+    if(std::filesystem::create_directory(fullPath)) {
         return HasReturnvaluesIF::RETURN_OK;
     }
-  sif::warning << "Creating directory " << path << " failed" << std::endl;
+    sif::warning << "Creating directory " << fullPath << " failed" << std::endl;
     return GENERIC_FILE_ERROR;
 }
 
-ReturnValue_t FileSystemHandler::removeDirectory(const char* repositoryPath, const char* dirname,
+ReturnValue_t FileSystemHandler::removeDirectory(const char *repositoryPath,
-                                                 bool deleteRecurively, FileSystemArgsIF* args) {
+        bool deleteRecurively, void *args) {
-  auto path = getInitPath(args) / repositoryPath / dirname;
+    std::string fullPath;
-  if (not std::filesystem::exists(path)) {
+    bool useMountPrefix = true;
+    parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
+    if(useMountPrefix) {
+        fullPath += currentMountPrefix;
+    }
+
+    fullPath += std::string(repositoryPath);
+    if(not std::filesystem::exists(fullPath)) {
         return DIRECTORY_DOES_NOT_EXIST;
     }
     std::error_code err;
     if(not deleteRecurively) {
-    if (std::filesystem::remove(path, err)) {
+        if(std::filesystem::remove(fullPath, err)) {
             return HasReturnvaluesIF::RETURN_OK;
-    } else {
+        }
+        else {
             // Check error code. Most probably denied permissions because folder is not empty
             sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
-                      "code "
+                    "code " << err.value() << ": " << strerror(err.value()) << std::endl;
-                   << err.value() << ": " << strerror(err.value()) << std::endl;
             if(err.value() == ENOTEMPTY) {
                 return DIRECTORY_NOT_EMPTY;
-      } else {
+            }
+            else {
                 return GENERIC_FILE_ERROR;
             }
+
         }
-  } else {
+    }
-    if (std::filesystem::remove_all(path, err)) {
+    else {
+        if(std::filesystem::remove_all(fullPath, err)) {
             return HasReturnvaluesIF::RETURN_OK;
-    } else {
+        }
+        else {
             sif::warning << "FileSystemHandler::removeDirectory: Deleting directory failed with "
-                      "code "
+                    "code " << err.value() << ": " << strerror(err.value()) << std::endl;
-                   << err.value() << ": " << strerror(err.value()) << std::endl;
             // Check error code
             if(err.value() == ENOTEMPTY) {
                 return DIRECTORY_NOT_EMPTY;
-      } else {
+            }
+            else {
                 return GENERIC_FILE_ERROR;
             }
         }
@@ -219,25 +263,8 @@ ReturnValue_t FileSystemHandler::removeDirectory(const char* repositoryPath, con
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t FileSystemHandler::renameFile(const char* repositoryPath, const char* oldFilename,
-                                            const char* newFilename, FileSystemArgsIF* args) {
-  auto basepath = getInitPath(args) / repositoryPath;
-  std::filesystem::rename(basepath / oldFilename, basepath / newFilename);
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
 void FileSystemHandler::parseCfg(FsCommandCfg *cfg, bool& useMountPrefix) {
     if(cfg != nullptr) {
         useMountPrefix = cfg->useMountPrefix;
     }
 }
-
-std::filesystem::path FileSystemHandler::getInitPath(FileSystemArgsIF* args) {
-  bool useMountPrefix = true;
-  parseCfg(reinterpret_cast<FsCommandCfg*>(args), useMountPrefix);
-  std::string path;
-  if (useMountPrefix) {
-    path = currentMountPrefix;
-  }
-  return std::filesystem::path(path);
-}