Merge pull request 'v1.12.1' (#270) from develop into main

Reviewed-on: #270
Reviewed-by: Jakob Meier <meierj@irs.uni-stuttgart.de>

.gitignore

@@ -1,4 +1,5 @@
 /build*
+/cmake-build*
 
 # Eclipse
 .settings

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "etl"]
-	path = thirdparty/etl
-	url = https://github.com/ETLCPP/etl.git
 [submodule "arduino"]
 	path = arduino
 	url = https://egit.irs.uni-stuttgart.de/eive/eive_arduino_interface.git
@@ -14,7 +11,7 @@
 	path = thirdparty/lwgps
 	url = https://github.com/rmspacefish/lwgps.git
 [submodule "generators/fsfwgen"]
-	path = generators/fsfwgen
+	path = generators/deps/fsfwgen
 	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen.git
 [submodule "thirdparty/arcsec_star_tracker"]
 	path = thirdparty/arcsec_star_tracker
@@ -22,3 +19,6 @@
 [submodule "thirdparty/json"]
 	path = thirdparty/json
 	url = https://github.com/nlohmann/json.git
+[submodule "thirdparty/rapidcsv"]
+	path = thirdparty/rapidcsv
+	url = https://github.com/d99kris/rapidcsv.git

CHANGELOG.md

@@ -0,0 +1,132 @@
+Change Log
+=======
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/).
+
+The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
+list yields a list of all related PRs for each release.
+
+# [unreleased]
+
+# [v1.12.1] 05.07.2022
+
+- Disable periodic TCS controller HK generation by default
+
+# [v1.12.0] 04.07.2022
+
+## Added
+
+- Dummy components to run OBSW without relying on external hardware
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/266
+- Basic Thermal Controller
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/266
+- PUS11 TC scheduler
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/259
+- Regular reboot command
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/242
+- Commands for individual RTD devices
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/84
+- `RwAssembly` added to system components. Assembly works in principle,
+  issues making 4 consecutives RWs communicate at once..
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/224
+- Adds a yocto helper script which is able to install the release build binaries
+  (OBSW and Watchdog) into the `q7s-yocto` repository as long as the `q7s-package`
+  or `q7s-yocto` repo was cloned in the same directory the EIVE OBSW repo.
+  This makes updating the root filesystem a lot easier. It also creates and installs a
+  version file.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
+- Create the generic image by default for the Q7S build. The unique binary with the
+  username appended at the end is created as a side-product now
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/248
+
+## Fixed
+
+- `q7s-cp.py` bugfix
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/256
+- Generator scripts output now produce platform-independent artifacts
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/267
+
+### Heater
+
+- Adds `HealthIF` to heaters. Heaters are own system object with queues now which allows to set them faulty.
+- SW will attempt to shut down heaters which are on but marked faulty
+- Some simplifications for `HeaterHandler`, use `std::vector` instead of `std::unordered_map` for primary container. Using the heater indexes 0 to 7 allows to use natural array indexing
+- Some additional input sanity checks in `executeAction`
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/236
+
+## Changed
+
+- CCSDS handler improvements
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/268
+- Build unittest as default side product of hosted builds
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/244
+- Let CI/CD build host build and run unittest side product in same step
+- Catch2 pre-installed in CI/CD docker container, Xiphos SDK installed in CI/CD docker
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/247
+- Sun Sensors have names denoting their location and poiting in the satellite now
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/245
+- Better RTD names denoting their purpose (and location consequently)
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/246
+
+# [v1.11.0]
+
+## Fixed
+
+- Host build working again
+
+## Added
+
+- Custom Syrlinks FDIR which disabled most of the default FDIR functionality
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/232
+- Custom Gomspace FDIR which disabled most of the default FDIR functionality
+- Custom Syrlinks FDIR which disabled most of the default FDIR functionality
+
+## Changed
+
+- PCDU handler only called once in PST, but can handle multiple messages now
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/221
+  Bugfix: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/235
+- Update rootfs base of Linux, all related OBSW changes
+- Add `/usr/local/bin` to PATH. All shell scripts are there now
+- Add Syrlinks and TMP devices to Software by default
+- Update GPS Linux Hyperion Handler to use socket interface. Still allows switching
+  back to SHM interface, but the SHM interface is a possible cause of SW crashes
+- Updated code for changed FSFW HAL GPIO API: `readGpio` prototype has changed
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/240 and
+  https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/76
+
+### GPS
+
+PRs: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/239
+
+- Rename GPS device to `/dev/gps0`
+- Use gpsd version 3.17 now. Includes API changes
+
+### EM and FM splitup & Build Workflow improvements
+
+PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/238
+
+- Split up `bsp_q7s` in separate EM and FM build with module loading set to different
+  default values. The EM object factory is unique which allows building a parallel setup
+  with dummy components
+- All major BSPs have an own `OBSWConfig.h.in` file which simplifies the file significantly
+- Renamed Q7S primary build folders:
+  - `cmake-build-debug-q7s` for primary development build
+  - `cmake-build-release-q7s` for primary release build
+  - `cmake-build-debug-q7s-em` for primary development build of the EM software
+  - `cmake-build-release-q7s-em` for primary release build of the EM software
+- Refactored Q7S helper script handling. It is now intended and preferred to copy the environment
+  script to the same folder level as the `eive-obsw` and source it. This will also
+  add the path containing the shell helper scripts to `PATH`
+- The actual helper shell scripts were renamed as well to `q7s-<buildSystem>-<buildType>.sh`
+
+# [v1.10.1]
+
+Version bump
+
+# [v1.10.0]
+
+For all releases equal or prior to v1.10.0,
+see [milestones](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)

CMakeLists.txt

@@ -1,60 +1,164 @@
-################################################################################
+# ##############################################################################
 # CMake support for the EIVE OBSW
-# 
+#
 # Author: R. Mueller
-################################################################################
+# ##############################################################################
 
-################################################################################
+# ##############################################################################
 # Pre-Project preparation
-################################################################################
+# ##############################################################################
 cmake_minimum_required(VERSION 3.13)
 
+set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 0)
+set(OBSW_VERSION_MINOR_IF_GIT_FAILS 0)
+set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
+
 # set(CMAKE_VERBOSE TRUE)
 
-set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-
-
-option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
-option(EIVE_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)
-
-set(OBSW_ADD_STAR_TRACKER 0)
-set(OBSW_DEBUG_STARTRACKER 0)
+option(
+  EIVE_HARDCODED_TOOLCHAIN_FILE
+  "\
+For Linux Board Target BSPs, a default toolchain file will be set. Should be set to OFF \
+if a different toolchain file is set externally"
+  ON)
 
 if(NOT FSFW_OSAL)
-	set(FSFW_OSAL linux CACHE STRING "OS for the FSFW.")
+  set(FSFW_OSAL
+      linux
+      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()
+  if(TGT_BSP MATCHES "arm/q7s"
+     OR TGT_BSP MATCHES "arm/raspberrypi"
+     OR TGT_BSP MATCHES "arm/beagleboneblack")
+    option(LINUX_CROSS_COMPILE ON)
+  endif()
+  if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
+    option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
+  elseif(TGT_BSP MATCHES "arm/q7s")
+    option(EIVE_Q7S_EM "Build configuration for the EM" OFF)
+    option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
+  endif()
+  option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
+         ON)
+else()
+  option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name"
+         OFF)
 endif()
 
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 # Perform steps like loading toolchain files where applicable.
-include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
+include(PreProjectConfig)
 pre_project_config()
 
-# Check whether the user has already installed Catch2 first. This has to come before
-# the project call. We could also exlcude doing this when the Q7S primary OBSW is built..
-find_package(Catch2 3 CONFIG QUIET)
-
 # Project Name
 project(eive-obsw)
 
-################################################################################
-# Pre-Sources preparation
-################################################################################
-
 # Specify the C++ standard
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
 
+include(EiveHelpers)
+
+option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
+option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
+
+set(OBSW_MAX_SCHEDULED_TCS 500)
+
+if(EIVE_Q7S_EM)
+  set(OBSW_Q7S_EM
+      1
+      CACHE STRING "Q7S EM configuration")
+  set(INIT_VAL 0)
+else()
+  set(OBSW_Q7S_EM
+      0
+      CACHE STRING "Q7S EM configuration")
+  set(INIT_VAL 1)
+endif()
+set(OBSW_ADD_MGT
+    ${INIT_VAL}
+    CACHE STRING "Add MGT module")
+set(OBSW_ADD_BPX_BATTERY_HANDLER
+    ${INIT_VAL}
+    CACHE STRING "Add MGT module")
+set(OBSW_ADD_STAR_TRACKER
+    ${INIT_VAL}
+    CACHE STRING "Add Startracker module")
+set(OBSW_ADD_SUN_SENSORS
+    ${INIT_VAL}
+    CACHE STRING "Add sun sensor module")
+set(OBSW_ADD_SUS_BOARD_ASS
+    ${INIT_VAL}
+    CACHE STRING "Add sun sensor board assembly")
+set(OBSW_ADD_ACS_BOARD
+    ${INIT_VAL}
+    CACHE STRING "Add ACS board module")
+set(OBSW_ADD_ACS_HANDLERS
+    ${INIT_VAL}
+    CACHE STRING "Add ACS handlers")
+set(OBSW_ADD_RTD_DEVICES
+    ${INIT_VAL}
+    CACHE STRING "Add RTD devices")
+set(OBSW_ADD_RAD_SENSORS
+    ${INIT_VAL}
+    CACHE STRING "Add Rad Sensor module")
+set(OBSW_ADD_PL_PCDU
+    ${INIT_VAL}
+    CACHE STRING "Add Payload PCDU modukle")
+set(OBSW_ADD_SYRLINKS
+    ${INIT_VAL}
+    CACHE STRING "Add Syrlinks module")
+set(OBSW_ADD_TMP_DEVICES
+    ${INIT_VAL}
+    CACHE STRING "Add TMP devices")
+set(OBSW_ADD_GOMSPACE_PCDU
+    ${INIT_VAL}
+    CACHE STRING "Add GomSpace PCDU modules")
+set(OBSW_ADD_RW
+    ${INIT_VAL}
+    CACHE STRING "Add RW modules")
+
+# ##############################################################################
+# Pre-Sources preparation
+# ##############################################################################
+
+# Version handling
+set(GIT_VER_HANDLING_OK FALSE)
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/.git)
+  determine_version_with_git("--exclude" "docker_*")
+  set(GIT_INFO
+      ${GIT_INFO}
+      CACHE STRING "Version information retrieved with git describe")
+  if(GIT_INFO)
+    set(GIT_INFO
+        ${GIT_INFO}
+        CACHE STRING "Version information retrieved with git describe")
+    list(GET GIT_INFO 1 OBSW_VERSION_MAJOR)
+    list(GET GIT_INFO 2 OBSW_VERSION_MINOR)
+    list(GET GIT_INFO 3 OBSW_VERSION_REVISION)
+    list(GET GIT_INFO 4 OBSW_VERSION_CST_GIT_SHA1)
+    if(NOT OBSW_VERSION_MAJOR)
+      set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
+    endif()
+    if(NOT OBSW_VERSION_MINOR)
+      set(FSFW_SUBVERSION ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
+    endif()
+    if(NOT OBSW_VERSION_REVISION)
+      set(FSFW_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
+    endif()
+    set(GIT_VER_HANDLING_OK TRUE)
+  else()
+    set(GIT_VER_HANDLING_OK FALSE)
+  endif()
+endif()
+if(NOT GIT_VER_HANDLING_OK)
+  set(OBSW_VERSION_MAJOR ${OBSW_VERSION_MAJOR_IF_GIT_FAILS})
+  set(OBSW_VERSION_MINOR ${OBSW_VERSION_MINOR_IF_GIT_FAILS})
+  set(OBSW_VERSION_REVISION ${OBSW_VERSION_REVISION_IF_GIT_FAILS})
+endif()
+
 # Set names and variables
 set(OBSW_NAME ${CMAKE_PROJECT_NAME})
 set(WATCHDOG_NAME eive-watchdog)
@@ -62,7 +166,7 @@ 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_ETL_TARGET etl::etl)
 set(LIB_CSP_NAME libcsp)
 set(LIB_LWGPS_NAME lwgps)
 set(LIB_ARCSEC wire)
@@ -71,6 +175,7 @@ set(LIB_CXX_FS -lstdc++fs)
 set(LIB_CATCH2 Catch2)
 set(LIB_GPS gps)
 set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
+set(LIB_DUMMIES dummies)
 
 # Set path names
 set(FSFW_PATH fsfw)
@@ -78,6 +183,7 @@ set(TEST_PATH test)
 set(UNITTEST_PATH unittest)
 set(LINUX_PATH linux)
 set(COMMON_PATH common)
+set(DUMMY_PATH dummies)
 set(WATCHDOG_PATH watchdog)
 set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
 set(UNITTEST_CFG_PATH ${UNITTEST_PATH}/testcfg)
@@ -95,316 +201,318 @@ set(EIVE_ADD_LINUX_FILES False)
 
 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
-include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
 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/te0720-1cfa"
-    )
-        set(FSFW_CONFIG_PATH "linux/fsfwconfig")
-        if(NOT BUILD_Q7S_SIMPLE_MODE)
-            set(EIVE_ADD_LINUX_FILES TRUE)
-            set(ADD_CSP_LIB TRUE)
-            set(FSFW_HAL_ADD_LINUX ON)
-        endif()
-    endif()
-   
-    if(TGT_BSP MATCHES "arm/raspberrypi" )
-        # Used by configure file
-        set(RASPBERRY_PI ON)
-        set(FSFW_HAL_ADD_RASPBERRY_PI ON)
+  set(LIBGPS_VERSION_MAJOR 3)
+  # I assume a newer version than 3.17 will be installed on other Linux board
+  # than the Q7S
+  set(LIBGPS_VERSION_MINOR 20)
+  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/te0720-1cfa")
+    find_library(${LIB_GPS} gps)
+    set(FSFW_CONFIG_PATH "linux/fsfwconfig")
+    if(NOT BUILD_Q7S_SIMPLE_MODE)
+      set(EIVE_ADD_LINUX_FILES TRUE)
+      set(ADD_CSP_LIB TRUE)
+      set(FSFW_HAL_ADD_LINUX ON)
     endif()
+  endif()
 
-    if(TGT_BSP MATCHES "arm/egse")
-        # Used by configure file
-        set(EGSE ON)
-        set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
-        set(OBSW_ADD_STAR_TRACKER 1)
-        set(OBSW_DEBUG_STARTRACKER 1)
-    endif()
-    
-    if(TGT_BSP MATCHES "arm/beagleboneblack")
-        # Used by configure file
-        set(BEAGLEBONEBLACK ON)
-    endif()
-    
-    if(TGT_BSP MATCHES "arm/q7s")
-        # Used by configure file
-        set(XIPHOS_Q7S ON)
-    endif()
-    
-    if(TGT_BSP MATCHES "arm/te0720-1cfa")
-        set(TE0720_1CFA ON)
-    endif()
+  if(TGT_BSP MATCHES "arm/raspberrypi")
+    # Used by configure file
+    set(RASPBERRY_PI ON)
+    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)
+    set(OBSW_ADD_STAR_TRACKER 1)
+    set(OBSW_DEBUG_STARTRACKER 1)
+  endif()
+
+  if(TGT_BSP MATCHES "arm/beagleboneblack")
+    # Used by configure file
+    set(BEAGLEBONEBLACK ON)
+  endif()
+
+  if(TGT_BSP MATCHES "arm/q7s")
+    # Used by configure file
+    set(XIPHOS_Q7S ON)
+    set(LIBGPS_VERSION_MAJOR 3)
+    set(LIBGPS_VERSION_MINOR 17)
+  endif()
+
+  if(TGT_BSP MATCHES "arm/te0720-1cfa")
+    set(TE0720_1CFA ON)
+  endif()
 else()
-    # Required by FSFW library
-    set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
+  # Required by FSFW library
+  set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
 endif()
 
-
 # Configuration files
 configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
 configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
-configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
+configure_file(${BSP_PATH}/OBSWConfig.h.in OBSWConfig.h)
 if(TGT_BSP MATCHES "arm/q7s")
-    configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
+  configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
 elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
-    configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
+  configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
 endif()
 
-
-
 configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
 
 # Set common config path for FSFW
-set(FSFW_ADDITIONAL_INC_PATHS 
-    "${COMMON_PATH}/config"
-    ${CMAKE_CURRENT_BINARY_DIR}
-)
+set(FSFW_ADDITIONAL_INC_PATHS "${COMMON_PATH}/config"
+                              ${CMAKE_CURRENT_BINARY_DIR})
 
-################################################################################
+# ##############################################################################
 # Executable and Sources
-################################################################################
+# ##############################################################################
 
-#global compiler options need to be set before adding executables
+# global compiler options need to be set before adding executables
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-    add_compile_options(
-        "-Wall"
-        "-Wextra"
-        "-Wimplicit-fallthrough=1"
-        "-Wno-unused-parameter"
-        "-Wno-psabi"
-        "-Wduplicated-cond" # check for duplicate conditions
-        "-Wduplicated-branches" # check for duplicate branches
-        "-Wlogical-op" # Search for bitwise operations instead of logical
-        "-Wnull-dereference" # Search for NULL dereference
-        "-Wundef" # Warn if undefind marcos are used
-        "-Wformat=2" # Format string problem detection
-        "-Wformat-overflow=2" # Formatting issues in printf
-        "-Wformat-truncation=2" # Formatting issues in printf
-        "-Wformat-security" # Search for dangerous printf operations
-        "-Wstrict-overflow=3" # Warn if integer overflows might happen
-        "-Warray-bounds=2" # Some array bounds violations will be found
-        "-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
-        "-Wcast-qual" # Warn if the constness is cast away
-        "-Wstringop-overflow=4"
-        # -Wstack-protector # Emits a few false positives for low level access
-        # -Wconversion # Creates many false positives
-        # -Warith-conversion # Use with Wconversion to find more implicit conversions
-        # -fanalyzer # Should be used to look through problems
-    )
-    # Remove unused sections.
-    add_compile_options(
-        "-ffunction-sections"
-        "-fdata-sections"
-    )
+  add_compile_options(
+    "-Wall"
+    "-Wextra"
+    "-Wimplicit-fallthrough=1"
+    "-Wno-unused-parameter"
+    "-Wno-psabi"
+    "-Wduplicated-cond" # check for duplicate conditions
+    "-Wduplicated-branches" # check for duplicate branches
+    "-Wlogical-op" # Search for bitwise operations instead of logical
+    "-Wnull-dereference" # Search for NULL dereference
+    "-Wundef" # Warn if undefind marcos are used
+    "-Wformat=2" # Format string problem detection
+    "-Wformat-overflow=2" # Formatting issues in printf
+    "-Wformat-truncation=2" # Formatting issues in printf
+    "-Wformat-security" # Search for dangerous printf operations
+    "-Wstrict-overflow=3" # Warn if integer overflows might happen
+    "-Warray-bounds=2" # Some array bounds violations will be found
+    "-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
+    "-Wcast-qual" # Warn if the constness is cast away
+    "-Wstringop-overflow=4"
+    # -Wstack-protector # Emits a few false positives for low level access
+    # -Wconversion # Creates many false positives -Warith-conversion # Use with
+    # Wconversion to find more implicit conversions -fanalyzer # Should be used
+    # to look through problems
+  )
+  # Remove unused sections.
+  add_compile_options("-ffunction-sections" "-fdata-sections")
 
-    # Removed unused sections.
-    add_link_options(
-        "-Wl,--gc-sections"
-    )
+  # Removed unused sections.
+  add_link_options("-Wl,--gc-sections")
 
 elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-	set(COMPILER_FLAGS "/permissive-")
+  set(COMPILER_FLAGS "/permissive-")
 endif()
 
-if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s"))
-# Not installed, so use FetchContent to download and provide Catch2
-if(NOT Catch2_FOUND)
-    message(STATUS "Did not find a valid Catch2 installation. Using FetchContent to install it")
-    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()
-endif()
-
-
 add_library(${LIB_EIVE_MISSION})
-
+add_library(${LIB_DUMMIES})
 
 # 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(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
+
 set_target_properties(${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)
+# Watchdog
+if(TGT_BSP MATCHES "arm/q7s")
+  add_executable(${WATCHDOG_NAME})
+else()
+  add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
+endif()
 
+add_subdirectory(${WATCHDOG_PATH})
+target_link_libraries(${WATCHDOG_NAME} PUBLIC ${LIB_CXX_FS})
+target_include_directories(${WATCHDOG_NAME} PUBLIC ${CMAKE_BINARY_DIR})
 
+# unittests
+if(NOT TGT_BSP)
+  add_executable(${UNITTEST_NAME})
+else()
+  add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
+endif()
 
 if(EIVE_ADD_ETL_LIB)
-    add_subdirectory(${LIB_ETL_PATH})
+
 endif()
 
 if(EIVE_ADD_JSON_LIB)
-    add_subdirectory(${LIB_JSON_PATH})
+  add_subdirectory(${LIB_JSON_PATH})
 endif()
 
+add_subdirectory(thirdparty/rapidcsv)
 
- 
 if(EIVE_ADD_LINUX_FILES)
-    add_subdirectory(${LIB_ARCSEC_PATH})
-    add_subdirectory(${LINUX_PATH})
+  add_subdirectory(${LIB_ARCSEC_PATH})
+  add_subdirectory(${LINUX_PATH})
 endif()
 add_subdirectory(${BSP_PATH})
 if(ADD_CSP_LIB)
-    add_subdirectory(${LIB_CSP_PATH})
+  add_subdirectory(${LIB_CSP_PATH})
 endif()
 
-
 add_subdirectory(${COMMON_PATH})
-
-
+add_subdirectory(${DUMMY_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}
-    )
+# This should have already been downloaded by the FSFW Still include it to be
+# safe
+find_package(etl ${FSFW_ETL_LIB_MAJOR_VERSION} CONFIG QUIET)
+# Not installed, so use FetchContent to download and provide etl
+if(NOT etl_FOUND)
+  message(
+    STATUS
+      "No ETL installation was found with find_package. Installing and providing "
+      "etl with FindPackage")
+  include(FetchContent)
+  FetchContent_Declare(
+    etl
+    GIT_REPOSITORY https://github.com/ETLCPP/etl
+    GIT_TAG ${FSFW_ETL_LIB_VERSION})
+  list(APPEND FSFW_FETCH_CONTENT_TARGETS etl)
 endif()
 
-target_link_libraries(${UNITTEST_NAME} PRIVATE
-    Catch2
-    ${LIB_EIVE_MISSION}
-)
+# Use same Catch2 version as framework
+if(NOT (TGT_BSP MATCHES "arm/te0720-1cfa")
+   AND NOT (TGT_BSP MATCHES "arm/q7s")
+   AND NOT (TGT_BSP MATCHES "arm/raspberrypi"))
+  # Check whether the user has already installed Catch2 first
+  find_package(Catch2 ${FSFW_CATCH2_LIB_MAJOR_VERSION} CONFIG QUIET)
+  # Not installed, so use FetchContent to download and provide Catch2
+  if(NOT Catch2_FOUND)
+    message(
+      STATUS
+        "${MSG_PREFIX} Catch2 installation not found. Downloading Catch2 library with FetchContent"
+    )
+    include(FetchContent)
+
+    FetchContent_Declare(
+      Catch2
+      GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+      GIT_TAG ${FSFW_CATCH2_LIB_VERSION})
+
+    list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
+  endif()
+endif()
+
+# The documentation for FetchContent recommends declaring all the dependencies
+# before making them available. We make all declared dependency available here
+# after their declaration
+if(FSFW_FETCH_CONTENT_TARGETS)
+  FetchContent_MakeAvailable(${FSFW_FETCH_CONTENT_TARGETS})
+  if(TARGET etl)
+    add_library(${LIB_ETL_TARGET} ALIAS etl)
+  endif()
+  if(TARGET Catch2)
+    # Fixes regression -preview4, to be confirmed in later releases Related
+    # GitHub issue: https://github.com/catchorg/Catch2/issues/2417
+    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+    set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
+    set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
+  endif()
+endif()
+
+# ##############################################################################
+# Post-Sources preparation
+# ##############################################################################
+
+# Add libraries
+target_link_libraries(${LIB_EIVE_MISSION}
+                      PUBLIC ${LIB_FSFW_NAME} ${LIB_LWGPS_NAME} ${LIB_OS_NAME})
+
+target_link_libraries(${LIB_DUMMIES} PUBLIC ${LIB_FSFW_NAME} ${LIB_JSON_NAME})
+
+target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_EIVE_MISSION} ${LIB_DUMMIES})
+
+if(TGT_BSP MATCHES "arm/q7s")
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_GPS} ${LIB_ARCSEC})
+endif()
+
+target_link_libraries(${UNITTEST_NAME} PRIVATE Catch2 ${LIB_EIVE_MISSION}
+                                               rapidcsv ${LIB_DUMMIES})
 
 if(TGT_BSP MATCHES "arm/egse")
-    target_link_libraries(${OBSW_NAME} PRIVATE
-	    ${LIB_ARCSEC}
-	)
+  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_ARCSEC})
 endif()
 
 if(ADD_CSP_LIB)
-    target_link_libraries(${OBSW_NAME} PRIVATE
-        ${LIB_CSP_NAME}
-    )
+  target_link_libraries(${OBSW_NAME} PRIVATE ${LIB_CSP_NAME})
 endif()
 
-
 if(EIVE_ADD_ETL_LIB)
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_ETL_NAME}
-    )
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_ETL_TARGET})
 endif()
 
 if(EIVE_ADD_JSON_LIB)
-    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-        ${LIB_JSON_NAME}
-    )
+  target_link_libraries(${LIB_EIVE_MISSION} PUBLIC ${LIB_JSON_NAME})
 endif()
 
-target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
-    ${LIB_CXX_FS}
-)
+target_link_libraries(${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}
-)
+target_include_directories(
+  ${LIB_EIVE_MISSION} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH}
+                             ${CMAKE_CURRENT_BINARY_DIR} ${LIB_ARCSEC_PATH})
+
+target_include_directories(
+  ${LIB_DUMMIES} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR} ${FSFW_CONFIG_PATH}
+                        ${CMAKE_CURRENT_BINARY_DIR})
 
 if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/egse")
-    target_include_directories(${LIB_EIVE_MISSION} PUBLIC
-        ${ARCSEC_LIB_PATH}
-    )
+  target_include_directories(${LIB_EIVE_MISSION} PUBLIC ${ARCSEC_LIB_PATH})
 endif()
 
 if(CMAKE_VERBOSE)
-	message(STATUS "Warning flags: ${WARNING_FLAGS}")
+  message(STATUS "Warning flags: ${WARNING_FLAGS}")
 endif()
 
-
-
-if(${CMAKE_CROSSCOMPILING})
-	include (${CMAKE_SCRIPT_PATH}/HardwareOsPostConfig.cmake)
-	post_source_hw_os_config()
+if(CMAKE_CROSSCOMPILING)
+  include(HardwareOsPostConfig)
+  post_source_hw_os_config()
 endif()
 
 if(NOT CMAKE_SIZE)
-	set(CMAKE_SIZE size)
-	if(WIN32)
-		set(FILE_SUFFIX ".exe")
-	endif()
+  set(CMAKE_SIZE size)
+  if(WIN32)
+    set(FILE_SUFFIX ".exe")
+  endif()
 endif()
 
 if(EIVE_BUILD_WATCHDOG)
-    set(TARGET_STRING "OBSW Watchdog")
+  set(TARGET_STRING "OBSW Watchdog")
 else()
-    if(TGT_BSP)
-        set(TARGET_STRING "Target BSP: ${TGT_BSP}")
-    else()
-        set(TARGET_STRING "Target BSP: Hosted")
-    endif()
+  if(TGT_BSP)
+    set(TARGET_STRING "Target BSP: ${TGT_BSP}")
+  else()
+    set(TARGET_STRING "Target BSP: Hosted")
+  endif()
 endif()
 
-string(CONCAT POST_BUILD_COMMENT
-    "Build directory: ${CMAKE_BINARY_DIR}\n"
-    "Target OSAL: ${FSFW_OSAL}\n"
-    "Target Build Type: ${CMAKE_BUILD_TYPE}\n"
-    "${TARGET_STRING}"
-)
+install(TARGETS ${OBSW_NAME} RUNTIME DESTINATION bin)
+
+string(CONCAT POST_BUILD_COMMENT "Build directory: ${CMAKE_BINARY_DIR}\n"
+              "Target OSAL: ${FSFW_OSAL}\n"
+              "Target Build Type: ${CMAKE_BUILD_TYPE}\n" "${TARGET_STRING}")
 
 add_custom_command(
-   TARGET ${OBSW_NAME}
-   POST_BUILD
-   COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
-   COMMENT ${POST_BUILD_COMMENT}
-)
+  TARGET ${OBSW_NAME}
+  POST_BUILD
+  COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
+  COMMENT ${POST_BUILD_COMMENT})
 
-
-include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
+include(BuildType)
 set_build_type()

README.md

@@ -39,12 +39,14 @@ Target systems:
      the [Xiphos Traq Platform](https://trac2.xiphos.ca/eive-q7). Press on index to find all
      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 OS built with Yocto 2.5. SDK and root filesystem can be rebuilt with
+     [yocto](https://egit.irs.uni-stuttgart.de/eive/q7s-yocto)
    * [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)
-   * Minimal base project files can be found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/xiphos-q7s-sdk&fileid=510908)
+   * Minimal base project files and Xiphos SDK can be found
+     [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/xiphos-q7s-sdk&fileid=510908)
 * Host System
 	* Generic software components which are not dependant on hardware can also
 	be run on a host system. All host code is contained in the `bsp_hosted` folder
@@ -55,7 +57,8 @@ Target systems:
 The steps in the primary README are related to the main OBC target Q7S.
 The CMake build system can be used to generate build systems as well (see helper scripts in `cmake/scripts`:
 
-- Linux (Raspberry Pi): See special section below.
+- Linux Raspberry Pi: See special section below. Uses the `bsp_linux_board` folder
+- Linux Trenz TE7020_1CFA: Uses the `bsp_te0720_1cfa` folder
 - Linux Host:  Uses the `bsp_hosted` BSP folder and the CMake Unix Makefiles generator.
 - Windows Host: Uses the `bsp_hosted` BSP folder, the CMake MinGW Makefiles generator and MSYS2.
 
@@ -67,8 +70,9 @@ prerequisites.
 ## Building the OBSW and flashing it on the Q7S
 
 1. ARM cross-compiler installed, either as part of [Vivado 2018.2 installation](#vivado) or
-   as a [separate download](#arm-toolchain)
-2. [Q7S sysroot](#q7s-sysroot) on local development machine
+   as a [separate download](#arm-toolchain). The Xiphos SDK also installs a cross-compiler,
+   but its version is currently too old to compile the OBSW (7.3.0).
+2. [Q7S sysroot](#sysroot) on local development machine. It is installed by the Xiphos SDK
 3. Recommended: Eclipse or [Vivado 2018.2 SDK](#vivado) for OBSW development
 3. [TCF agent](https://wiki.eclipse.org/TCF) running on Q7S
 
@@ -85,7 +89,7 @@ When using Windows, run theses steps in MSYS2.
 1. Clone the repository with
 
    ```sh
-   git clone https://egit.irs.uni-stuttgart.de/eive/eive_obsw.git
+   git clone https://egit.irs.uni-stuttgart.de/eive/eive-obsw.git
    ```
 
 2. Update all the submodules
@@ -96,41 +100,105 @@ When using Windows, run theses steps in MSYS2.
    git submodule update
    ```
 
-3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version`.
-   It is recommended to set up a shell script which takes care of setting up the environment
-   for convenience or to set up the 
-   [PATH and the CROSS_COMPILE variable permanently](https://unix.stackexchange.com/questions/26047/how-to-correctly-add-a-path-to-path)
-   in the `.profile` file.
+3. Ensure that the cross-compiler is working with `arm-linux-gnueabihf-gcc --version` and that
+   the sysroot environmental variables have been set like specified in the
+   [root filesystem chapter](#sysroot).
 
 4. Run the CMake configuration to create the build system in a `build-Debug-Q7S` folder.
    Add `-G "MinGW Makefiles` in MinGW64 on Windows.
 
    ```sh
-   mkdir build-Debug-Q7S && cd build-Debug-Q7S
+   mkdir cmake-build-debug-q7s && cd cmake-build-debug-q7s
    cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..
    cmake --build . -j
    ```
 
-   You can also use provided shell scripts to perform these commands
-
+   You can also use provided shell scripts to perform these commands.
    ```sh
-   cd cmake/scripts/Q7S
-   ./make_debug_cfg.sh
-   cd ../../..
+   cp scripts/q7s-env.sh ..
+   cp scripts/q7s-env-em.sh ..
    ```
 
-   This will invoke a Python script which in turn invokes CMake with the correct
-   arguments to configure CMake for Q7S cross-compilation.
+   Adapt these scripts for your needs by editing the `CROSS_COMPILE_BIN_PATH`
+   and `ZYNQ_7020_SYSROOT`. After that, you can run the following commands to set up
+   the FM build
+
+   ```sh
+   cd ..
+   ./q7s-env.sh
+   q7s-make-debug.sh
+   ```
+
+   You can build the EM setup by running
+
+   ```sh
+   export EIVE_Q7S_EM=1
+   ```
+
+   or by running the `q7s-env-em.sh` script instead before setting up the build
+   configuration.
+
+   The shell scripts will invoke a Python script which in turn invokes CMake with the correct
+   arguments to configure CMake for Q7S cross-compilation. You can look into the command
+   output to see which commands were run exactly.
    
    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
+
    ```sh
-   cd build-Debug-Q7S
+   cd cmake-build-debug-q7s
    cmake --build . -j
    ```
 
+## Build for the Q7S target root filesystem with `yocto`
+
+The EIVE root filesystem will contain the EIVE OBSW and the Watchdog component.
+It is currently generated with `yocto`, but the tool can not compile the primary
+OBSW due to toolchain version incompatibility. Therefore, the OBSW components
+are currently compiled using the toolchain specified in this README (e.g. installed by Vivado).
+
+However, it is still possible to install the two components using yocto. A few helper files were
+provided to make this process easier. The following steps can be used to install the OBSW
+components and a version file to the yocto sources for the generation of the complete EIVE root
+file system image. The steps here are shown for Ubuntu, you can use the according Windows
+helper scripts as well.
+
+1. Copy the `q7s-env.sh` script to the same layer as the `eive-obsw`.
+   
+   ```sh
+   cp scripts/q7s-env.sh ..
+   cd ..
+   ./q7s-env.sh
+   q7s-make-release.sh
+   ```
+
+2. Compile the OBSW components in release mode
+
+   ```sh
+   cd cmake-build-release-q7s
+   cmake --build . -j
+   ```
+
+3. Make sure the [`q7s-yocto`](https://egit.irs.uni-stuttgart.de/eive/q7s-yocto)
+   repository or the [`q7s-package`](https://egit.irs.uni-stuttgart.de/eive/q7s-package.git)
+   repository and its `q7s-yocto` submodule were cloned in the same directory layer as
+   the `eive-obsw`.
+
+4. Run the install script to install the files into `q7s-yocto`.
+
+   ```sh
+   install-obsw-yocto.sh
+   ```
+
+5. Navigate into the `q7s-yocto` repo and review the changes. You can then add and push those
+   changes.
+
+6. You can now rebuild the root filesystem with the updated OBSW using `yocto`. This probably needs
+   to be done on another machine or in a VM. The [`q7s-yocto`](https://egit.irs.uni-stuttgart.de/eive/q7s-yocto)
+   repository contains details on how to best do this.
+
 ## Building in Xilinx SDK 2018.2
 
 1. Open Xilinx SDK 2018.2
@@ -163,22 +231,25 @@ automatically.
 
 The EIVE OBSW is the default target if no target is specified.
 
+**Debug**
+
 ```sh
-mkdir build-Debug-Q7S && cd build-Debug-Q7S
+mkdir cmake-build-debug-q7s && cd cmake-build-debug-q7s
 cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```
 
+**Release**
+
+```sh
+mkdir cmake-build-release-q7s && cd cmake-build-release-q7s
+cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Release ..
+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
-cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
-cmake --build . --target eive-watchdog -j
-```
+The watchdog will be built along side the primary OBSW binary.
 
 ### Hosted
 
@@ -186,7 +257,7 @@ 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
+mkdir cmake-build-debug && cd cmake-build-debug
 cmake -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```
@@ -197,7 +268,7 @@ To build the unittests, the corresponding target must be specified in the build
 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
+mkdir cmake-build-debug && cd cmake-build-debug
 cmake ..
 cmake --build . --target eive-unittests -j
 ```
@@ -227,18 +298,19 @@ A serial console session is up permanently in a `tmux` session
 
 ### Serial console
 
-You can check whether the sessions exist with `tmux ls`
+You can check whether the sessions exist with `tmux ls`.
+This is the command to connect to the serial interface of the FM using the
+RS422 interface of the flight preparation panel:
 
 ```sh
-tmux a -t q7s-serial
+tmux a -t q7s-fm-fpp
 ```
 
 If the session does not exist, you can create it like this
 
 ```sh
-tmux new -s q7s-serial
-/bin/bash
-q7s_serial
+tmux new -s q7s-fm-fpp -t /bin/bash
+launch-q7s-fpp
 ```
 
 Other useful tmux commands:
@@ -258,56 +330,51 @@ Other useful tmux commands:
 You can use the following command to connect to the Q7S with `ssh`:
 
 ```sh
-q7s_ssh
+q7s-fm-ssh
 ```
 
-## Port forwarding for connection to TCF agent
-
-This is a required step to connect to the `tcf-agent` on the Q7S, which is required for convenient
-remote debugging. Assuming the IPv6
-
-```sh
-ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t /bin/bash
-```
-
-You then need to connect to `localhost` with port `1534`.
-
-## Port forwarding for file transfers with `scp`
-
-```sh
-ssh -L 1535:192.168.133.10:22 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t /bin/bash
-```
-
-You then need to run `scp` with the `-P 1535` flag with `localhost` as the target IP address.
-
-## Port forwarding for TMTC commanding
-
-You can enable port forwarding for TMTC commanding with the following command:
-
-```sh
-ssh -L 1536:192.168.133.10:7301 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t /bin/bash
-```
-
-This forwards TMTC packets on port `1536` of localhost to the TMTC reception port of the Q7S.
-
 ## Set up all port forwarding at once
 
+Port forwarding is necessary for remote-debugging using the `tcf-agent`, copying files
+with `scp` & `q7s-cp.py` and sending TMTC commands.
 You can specify the `-L` option multiple times to set up all port forwarding at once.
-Example for using the UDP communication interface:
 
 ```sh
-ssh -L 1534:192.168.133.10:1534 \
-   -L 1535:192.168.133.10:22 \
-   -L 1536:192.168.133.10:7301 \
+ssh -L 1534:192.168.155.55:1534 \
+   -L 1535:192.168.155.55:22 \
+   -L 1536:192.168.155.55:7301 \
+   -L 1537:127.0.0.1:7100 \
+   -L 1538:192.168.133.10:1534 \
+   -L 1539:192.168.133.10:22 \
+   -L 1540:192.168.133.10:7301 \
    eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 \
-   -t 'export CONSOLE_PREFIX="[Q7S Tunnel] /bin/bash'
+   -t 'CONSOLE_PREFIX="[Q7S Tunnel]" /bin/bash'
 ```
 
 There is also a shell script called `q7s-port.sh` which can be used to achieve the same.
 
 # <a id="set-up-prereq"></a> Setting up prerequisites
 
-## <a id="vivado"></a> Installing Vivado the the Xilinx development tools
+## <a id="sysroot"></a> Getting system root for Linux cross-compilation
+
+Cross-compiling any program for an embedded Linux board generally required parts of the target root
+file system on the development/host computer. For the Q7S, you can install the cross-compilation
+root file system by simply installing the SDK. You can find the most recent SDK
+[here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/xiphos-q7s-sdk).
+
+If you are compiling for the Q7S or the TE7020, the `ZYNQ_7020_SYSROOT` environment variable
+must be set to the location of the SDK compile sysroot. Here is an example on how to do this
+in Ubuntu, assuming the SDK was installed in the default location
+
+```sh
+export ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
+```
+
+If you are comiling for the Raspberry Pi, you have to set the `LINUX_ROOTFS` environmental
+variable instead. You can find a base root filesystem for the Raspberry Pi
+[here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs).
+
+## <a id="vivado"></a> Installing Vivado and the Xilinx development tools
 
 It's also possible to perform debugging with a normal Eclipse installation by installing 
 the TCF plugin and downloading the cross-compiler as specified in the section below. However,
@@ -323,9 +390,9 @@ installed Vivado with the SDK core tools.
 
 <img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/vivado-edition.png" width="50%"> <br>
 
-<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/mueller/master/doc/img/vivado-hl-design.png" width="50%"> <br>
+<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/vivado-hl-design.png" width="50%"> <br>
 
-<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/mueller/master/doc/img/xilinx-install.PNG" width="50%"> <br>
+<img src="https://egit.irs.uni-stuttgart.de/eive/eive-obsw/raw/branch/develop/doc/img/xilinx-install.PNG" width="50%"> <br>
 
 * For supported OS refer to https://www.xilinx.com/support/documentation/sw_manuals/xilinx2018_2/ug973-vivado-release-notes-install-license.pdf . 
   Installation was tested on Windows and Ubuntu 21.04.
@@ -345,7 +412,9 @@ twice) and generate this list manually with the following commands, according to
    sudo apt install libncurses5
    ```
 
-2. ```sh 
+2. Execute the following command
+
+   ```sh 
    sudo <installRoot>/Vivado/2018.2/bin/vivado -nolog -nojournal -mode batch -source 
    <installRoot>/.xinstall/Vivado_2018.2/scripts/xlpartinfo.tcl -tclargs 
    <installRoot>/Vivado/2018.2/data/parts/installed_devices.txt
@@ -419,21 +488,6 @@ You can download the toolchains for Windows and Linux
    ```sh
    sudo apt-get install cmake
    ```` 
-   
-## <a id="q7s-sysroot"></a> Getting the Q7S system root
-
-It is necessary to copy the Q7S system root to your local development machine for libraries
-like `libgpio`. You can find the system root for the Q7S, the Raspberry Pi and the
-Beagle Bone Black for download here
-[here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs&fileid=831849). 
-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
-```
-
-Then, create a new environmental variables `Q7S_SYSROOT` and set it to the local system root path.
 
 ### Updating system root for CI
 
@@ -655,35 +709,7 @@ Thus the replies are received with a larger delay compared to a direct TCP conne
 3. Make sure the netmask of the ehternet interface of the workstation matches the netmask of the Q7S
    * When IP address is set to 192.168.133.10 and the netmask is 255.255.255.0, an example IP address for the workstation
      is 192.168.133.2
-     
-4. Run tcf-agent on Q7S
-
-   * Tcf-agent is not yet integrated in the rootfs of the Q7S. Therefore build tcf-agent manually
-   
-    ```sh
-    git clone git://git.eclipse.org/gitroot/tcf/org.eclipse.tcf.agent.git
-    cd org.eclipse.tcf.agent/agent
-    make CC=arm-linux-gnueabihf-gcc LD=arm-linux-gnueabihf-ld MACHINE=arm NO_SSL=1 NO_UUID=1
-    ```
-
-   * Transfer executable agent from org.eclipse.tcf.agent/agent/obj/GNU/Linux/arm/Debug to /tmp of Q7S
-   
-    ```sh
-    cd obj/GNU/Linux/arm/Debug
-    scp agent root@192.168.133.10:/tmp
-    ```
-
-   * On Q7S 
-    ```sh
-    cd /tmp
-    chmod +x agent
-    ```
-
-   * Run agent
-    ```sh
-    ./agent
-    ```
-
+4. Make sure th `tcf-agent` is running by checking `systemctl status tcf-agent`
 5. In Xilinx SDK 2018.2 right click on project &rarr; Debug As &rarr; Debug Configurations
 6. Right click Xilinx C/C++ applicaton (System Debugger) &rarr; New &rarr; 
 7. Set Debug Type to Linux Application Debug and Connectin to Linux Agent
@@ -693,8 +719,8 @@ Thus the replies are received with a larger delay compared to a direct TCP conne
 11. Test connection (This ensures the TCF Agent is running on the Q7S)
 12. Select Application tab
    * Project Name: eive_obsw
-   * Local File Path: Path to eiveobsw-linux.elf (in `_bin\linux\devel`)
-   * Remote File Path: `/tmp/eive_obsw.elf`
+   * Local File Path: Path to OBSW application image with debug symbols (non-stripped)
+   * Remote File Path: `/tmp/<OBSW NAME>`
 
 # <a id="file-transfer"></a> Transfering Files to the Q7S
 
@@ -720,11 +746,15 @@ From a windows machine files can be copied with putty tools (note: use IPv4 addr
 pscp -scp -P 22 eive@192.168.199.227:</directory-to-example-file/>/example-file </windows-machine-path/>
 ````
 
-More detailed information about the used q7s commands can be found in the Q7S user manual.
+A helper script named `q7s-cp.py` can be used together with the `q7s-port.sh`
+script to make this process easier.
 
 # <a id="q7s"></a> Q7S OBC
 
-## Launching an application at start-up
+## Launching an application at start-up - deprecated
+
+This way to enable auto-startup is deprecated. It is instead recommended to tweak the yocto
+recipes file for the related `systemd` service to enable auto-startup with `SYSTEMD_AUTO_ENABLE`.
 
 You can also do the steps performed here on a host computer inside the `q7s-rootfs` directory
 of the [Q7S base repository](https://egit.irs.uni-stuttgart.de/eive/q7s-base). This might
@@ -826,10 +856,9 @@ If a timeout occurs, this special file will be deleted as well.
 The watchdog and its configuration will be directly integrated into this repostory, which
 makes adaptions easy.
 
-### `tcfagent`
+### `tcf-agent`
 
-This starts the `/usr/bin/agent` program to allows remote debugging. Might not be part of
-the mission code
+This starts the `/usr/bin/tcf-agent` program to allows remote debugging
 
 ### `eive-early-config`
 
@@ -1098,16 +1127,28 @@ Eclipse indexer.
 
 The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debugging on the Q7S.
 
-1. Install the TCF agent plugin in Eclipse from
+1. Copy the `.cproject` file and the `.project` file inside the `misc/eclipse` folder into the
+   repo root
+
+   ```sh
+   cd eive-obsw
+   cp misc/eclipse/.cproject .
+   cp misc/eclipse/.project .
+   ```
+
+2. Open the repo in Eclipse as a folder.
+
+3. 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/1.7/1.7.0/ to search for the plugin and
+   install it. You can find the newest version [here](https://www.eclipse.org/tcf/downloads.php)
 
-2. Go to Window &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**. 
+4. 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.
    Please note that you have to connect to `localhost` and port `1534` with port forwaring set up.
    
-3. A launch configuration was provided, but it might be necessary to adapt it for your own needs.
+5. A launch configuration was provided, but it might be necessary to adapt it for your own needs.
    Alternatively:
 
  - Create a new **TCF Remote Application** by pressing the cogs button at the top or going to
@@ -1193,8 +1234,11 @@ Alternatively, changes from other upstreams (forks) and branches can be merged l
 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
+
+## Setting up auto-formatter with clang-format in Xilinx SDK
+
 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
@@ -1203,3 +1247,11 @@ in the same way.
 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
+
+## Setting up auto-fromatter with clang-format in eclipse
+1. Help &rarr; Eclipse market place &rarr; Search for "Cppstyle" and install
+2. On windows download the clang-formatting tools from https://llvm.org/builds/. On linux clang-format can be installed with the package manager.
+3. Navigate to Preferences &rarr; C/C++ &rarr; CppStyle 
+4. Insert the path to the clang-format executable
+5. Under C/C++ &rarr; Code Style &rarr; Formatter, change the formatter to CppStyle (clang-format)
+6. Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f

automation/Dockerfile

@@ -4,17 +4,24 @@ RUN apt-get update
 RUN apt-get --yes upgrade
 #tzdata is a dependency, won't install otherwise
 ARG DEBIAN_FRONTEND=noninteractive
-RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind libgps-dev
+RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl git gcc g++ lcov valgrind libgps-dev python3
 
-# Q7S root filesystem, required for cross-compilation.
-RUN mkdir -p /usr/rootfs; \
-curl https://buggy.irs.uni-stuttgart.de/eive/tools/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz \
-    | tar -xz -C /usr/rootfs
+ARG XIPHOS_SDK_NAME=sdk-xiphos-eive-v0.2.0
+# Install Xiphos ARK SDK, which also installs Q7S root filesystem, required for cross-compilation.
+RUN curl https://buggy.irs.uni-stuttgart.de/eive/tools/${XIPHOS_SDK_NAME}.tar | tar -x && \
+    cd ${XIPHOS_SDK_NAME} && \
+    ./ark-glibc-x86_64-eive-image-cortexa9hf-neon-toolchain-nodistro.0.sh -y
 
 # Cross compiler
 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 ZYNQ_7020_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
+RUN git clone https://github.com/catchorg/Catch2.git && \
+    cd Catch2 && \
+    git checkout v3.0.0-preview5 && \
+    cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
+    cmake --build build/ --target install
+
+ENV ZYNQ_7020_SYSROOT="/opt/xiphos/sdk/ark/sysroots/cortexa9hf-neon-xiphos-linux-gnueabi"
 ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"

automation/Jenkinsfile

@@ -5,7 +5,7 @@ pipeline {
     }
     agent {
         docker {
-            image 'eive-obsw-ci:d2'
+            image 'eive-obsw-ci:d5'
             args '--sysctl fs.mqueue.msg_max=100'
         }
     }
@@ -24,11 +24,11 @@ pipeline {
                 }
             }
         }
-        stage('Unittests') {
+        stage('Build Host and Tests') {
             steps {
                 dir(BUILDDIR_LINUX) {
                     sh 'cmake ..'
-                    sh 'cmake --build . -t eive-unittest -j4'
+                    sh 'cmake --build . -j4'
                     sh './eive-unittest'
                 }
             }

bsp_egse/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PUBLIC
-	InitMission.cpp
-	main.cpp
-	ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp ObjectFactory.cpp)
 
 add_subdirectory(boardconfig)

bsp_egse/boardconfig/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${OBSW_NAME} PRIVATE print.c)
 
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

bsp_hosted/CMakeLists.txt

@@ -1,8 +1,4 @@
-target_sources(${OBSW_NAME} PUBLIC
-	InitMission.cpp
-	main.cpp
-	ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp ObjectFactory.cpp)
 
 add_subdirectory(fsfwconfig)
 add_subdirectory(boardconfig)

bsp_hosted/InitMission.cpp

@@ -1,6 +1,7 @@
 #include "InitMission.h"
 
 #include <OBSWConfig.h>
+#include <bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@@ -89,9 +90,13 @@ void initmission::initTasks() {
     sif::error << "Object add component failed" << std::endl;
   }
 
-  PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
-      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-  result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  PeriodicTaskIF* eventHandling = factory->createPeriodicTask(
+      "EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = eventHandling->addComponent(objects::EVENT_MANAGER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
+  }
+  result = eventHandling->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
@@ -106,6 +111,10 @@ void initmission::initTasks() {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+  }
 
   PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
       "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
@@ -129,8 +138,34 @@ void initmission::initTasks() {
     initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
   }
 
-  PeriodicTaskIF* testTask = factory->createPeriodicTask(
-      "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
+      "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = thermalTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("RTD_0_dummy", objects::RTD_0_IC3_PLOC_HEATSPREADER);
+  }
+  result = thermalTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("SUS_0_dummy", objects::SUS_0_N_LOC_XFYFZM_PT_XF);
+  }
+
+  result = thermalTask->addComponent(objects::CORE_CONTROLLER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
+  }
+
+  result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
+  }
+
+  FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
+      "DUMMY_PST", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  result = dummy_pst::pst(pstTask);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
+  }
+
 #if OBSW_ADD_TEST_CODE == 1
   result = testTask->addComponent(objects::TEST_TASK);
   if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -144,11 +179,14 @@ void initmission::initTasks() {
   tmtcPollingTask->startTask();
 
   pusVerification->startTask();
-  pusEvents->startTask();
+  eventHandling->startTask();
   pusHighPrio->startTask();
   pusMedPrio->startTask();
   pusLowPrio->startTask();
 
+  pstTask->startTask();
+  thermalTask->startTask();
+
 #if OBSW_ADD_TEST_CODE == 1
   testTask->startTask();
 #endif /* OBSW_ADD_TEST_CODE == 1 */

bsp_hosted/OBSWConfig.h.in

@@ -0,0 +1,122 @@
+/**
+ * @brief   This file can be used to add preprocessor define for conditional
+ *          code inclusion exclusion or various other project constants and
+ *          properties in one place.
+ */
+#ifndef FSFWCONFIG_OBSWCONFIG_H_
+#define FSFWCONFIG_OBSWCONFIG_H_
+
+#include "commonConfig.h"
+#include "OBSWVersion.h"
+    
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_STAR_TRACKER                       0
+#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_MGT                                0
+#define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_ACS_HANDLERS                       0
+#define OBSW_ADD_GPS_0                              0
+#define OBSW_ADD_GPS_1                              0
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_BPX_BATTERY_HANDLER                0
+#define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_PL_PCDU                            0
+#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_RAD_SENSORS                        0
+#define OBSW_ADD_SYRLINKS                           0
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
+
+/*******************************************************************/
+/** All of the following flags should be disabled for mission code */
+/*******************************************************************/
+
+// Can be used to switch device to NORMAL mode immediately
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_TEST_TASK                          0
+#define OBSW_ADD_TEST_PST                           0
+// If this is enabled, all other SPI code should be disabled
+#define OBSW_ADD_SPI_TEST_CODE                      0
+// If this is enabled, all other I2C code should be disabled
+#define OBSW_ADD_I2C_TEST_CODE                      0
+#define OBSW_ADD_UART_TEST_CODE                     0
+
+#define OBSW_TEST_ACS                               0
+#define OBSW_DEBUG_ACS                              0
+#define OBSW_TEST_SUS                               0
+#define OBSW_DEBUG_SUS                              0
+#define OBSW_TEST_RTD                               0
+#define OBSW_DEBUG_RTD                              0
+#define OBSW_TEST_RAD_SENSOR                        0
+#define OBSW_DEBUG_RAD_SENSOR                       0
+#define OBSW_TEST_PL_PCDU                           0
+#define OBSW_DEBUG_PL_PCDU                          0
+#define OBSW_TEST_BPX_BATT                          0
+#define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
+
+#define OBSW_TEST_LIBGPIOD                          0
+#define OBSW_TEST_PLOC_HANDLER                      0
+#define OBSW_TEST_CCSDS_BRIDGE                      0
+#define OBSW_TEST_CCSDS_PTME                        0
+#define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_OPEN_BY_LABEL                0
+#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME            0
+#define OBSW_DEBUG_P60DOCK                          0
+
+#define OBSW_PRINT_CORE_HK                          0
+#define OBSW_DEBUG_PDU1                             0
+#define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
+#define OBSW_DEBUG_ACU                              0
+#define OBSW_DEBUG_SYRLINKS                         0
+
+#define OBSW_DEBUG_PDEC_HANDLER                     0
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
+#define OBSW_DEBUG_STARTRACKER                      0
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
+/*******************************************************************/
+/** CMake Defines                                                  */
+/*******************************************************************/
+#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
+
+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
+
+#ifdef RASPBERRY_PI
+#include "rpiConfig.h"
+#elif defined(XIPHOS_Q7S)
+#include "q7sConfig.h"
+#endif
+
+#ifdef __cplusplus
+
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+#endif
+
+#endif /* FSFWCONFIG_OBSWCONFIG_H_ */

bsp_hosted/ObjectFactory.cpp

@@ -2,13 +2,15 @@
 
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
+#include <mission/controller/ThermalController.h>
 #include <mission/core/GenericFactory.h>
-#include <mission/utility/TmFunnel.h>
+#include <mission/tmtc/TmFunnel.h>
 #include <objects/systemObjectList.h>
 #include <tmtc/apid.h>
 #include <tmtc/pusIds.h>
 
 #include "OBSWConfig.h"
+#include "fsfw_tests/integration/task/TestTask.h"
 
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTcPollingTask.h"
@@ -24,6 +26,24 @@
 #include <test/testtasks/TestTask.h>
 #endif
 
+#include <dummies/AcuDummy.h>
+#include <dummies/BpxDummy.h>
+#include <dummies/ComCookieDummy.h>
+#include <dummies/ComIFDummy.h>
+#include <dummies/CoreControllerDummy.h>
+#include <dummies/GyroAdisDummy.h>
+#include <dummies/GyroL3GD20Dummy.h>
+#include <dummies/ImtqDummy.h>
+#include <dummies/MgmLIS3MDLDummy.h>
+#include <dummies/P60DockDummy.h>
+#include <dummies/PduDummy.h>
+#include <dummies/PlPcduDummy.h>
+#include <dummies/RwDummy.h>
+#include <dummies/StarTrackerDummy.h>
+#include <dummies/SusDummy.h>
+#include <dummies/SyrlinksDummy.h>
+#include <dummies/TemperatureSensorsDummy.h>
+
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
   PusServiceBase::packetDestination = objects::TM_FUNNEL;
@@ -43,5 +63,31 @@ void ObjectFactory::produce(void* args) {
   Factory::setStaticFrameworkObjectIds();
   ObjectFactory::produceGenericObjects();
 
-  new TestTask(objects::TEST_TASK);
+  new ComIFDummy(objects::DUMMY_COM_IF);
+  ComCookieDummy* comCookieDummy = new ComCookieDummy();
+  new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new CoreControllerDummy(objects::CORE_CONTROLLER);
+  new RwDummy(objects::RW1, objects::DUMMY_COM_IF, comCookieDummy);
+  new RwDummy(objects::RW2, objects::DUMMY_COM_IF, comCookieDummy);
+  new RwDummy(objects::RW3, objects::DUMMY_COM_IF, comCookieDummy);
+  new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
+  new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
+  new SyrlinksDummy(objects::SYRLINKS_HK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new GyroAdisDummy(objects::GYRO_0_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new GyroL3GD20Dummy(objects::GYRO_1_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new MgmLIS3MDLDummy(objects::MGM_0_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new MgmLIS3MDLDummy(objects::MGM_2_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  new TemperatureSensorsDummy();
+  new SusDummy();
+  new ThermalController(objects::THERMAL_CONTROLLER, objects::NO_OBJECT);
+
+  // new TestTask(objects::TEST_TASK);
 }

bsp_hosted/boardconfig/CMakeLists.txt

@@ -1,10 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
-
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-
+target_sources(${OBSW_NAME} PRIVATE print.c)
 
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

bsp_hosted/bsp_hosted.mk

@@ -1,11 +0,0 @@
-# add main and others
-CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/*.c)
-
-CSRC += $(wildcard $(CURRENTPATH)/boardconfig/*.c)
-
-CXXSRC += $(wildcard $(CURRENTPATH)/comIF/*.cpp)
-CSRC += $(wildcard $(CURRENTPATH)/comIF/*.c)
-
-INCLUDES += $(CURRENTPATH)/boardconfig
-INCLUDES += $(CURRENTPATH)/fsfwconfig

bsp_hosted/comIF/CMakeLists.txt

@@ -1,8 +1 @@
-target_sources(${TARGET_NAME} PUBLIC
-	ArduinoComIF.cpp
-	ArduinoCookie.cpp
-)
-
-
-
-
+target_sources(${OBSW_NAME} PUBLIC ArduinoComIF.cpp ArduinoCookie.cpp)

bsp_hosted/fsfwconfig/CMakeLists.txt

@@ -1,27 +1,17 @@
-target_sources(${OBSW_NAME} PRIVATE
-	ipc/MissionMessageTypes.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE ipc/MissionMessageTypes.cpp)
 
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_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
-        objects/translateObjects.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        objects/translateObjects.cpp
-    )
+  target_sources(${OBSW_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
-        events/translateEvents.cpp
-    )
-    target_sources(${UNITTEST_NAME} PRIVATE
-        events/translateEvents.cpp
-    )
+  target_sources(${OBSW_NAME} PRIVATE events/translateEvents.cpp)
+  target_sources(${UNITTEST_NAME} PRIVATE events/translateEvents.cpp)
 endif()
+
+add_subdirectory(pollingsequence)

bsp_hosted/fsfwconfig/FSFWConfig.h.in

@@ -7,41 +7,41 @@
 //! Used to determine whether C++ ostreams are used which can increase
 //! the binary size significantly. If this is disabled,
 //! the C stdio functions can be used alternatively
-#define FSFW_CPP_OSTREAM_ENABLED 	1
+#define FSFW_CPP_OSTREAM_ENABLED 1
 
 //! More FSFW related printouts depending on level. Useful for development.
-#define FSFW_VERBOSE_LEVEL			1
+#define FSFW_VERBOSE_LEVEL 1
 
 //! Can be used to completely disable printouts, even the C stdio ones.
 #if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
-	#define FSFW_DISABLE_PRINTOUT 	0
+#define FSFW_DISABLE_PRINTOUT 0
 #endif
 
-#define FSFW_USE_PUS_C_TELEMETRY    1
+#define FSFW_USE_PUS_C_TELEMETRY 1
 #define FSFW_USE_PUS_C_TELECOMMANDS 1
 
 //! Can be used to disable the ANSI color sequences for C stdio.
-#define FSFW_COLORED_OUTPUT 		1
+#define FSFW_COLORED_OUTPUT 1
 
 //! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
 //! additional output which requires the translation files translateObjects
 //! and translateEvents (and their compiled source files)
-#define FSFW_OBJ_EVENT_TRANSLATION	1
+#define FSFW_OBJ_EVENT_TRANSLATION 1
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
 //! Specify whether info events are printed too.
-#define FSFW_DEBUG_INFO				1
-#include "objects/translateObjects.h"
+#define FSFW_DEBUG_INFO 1
 #include "events/translateEvents.h"
+#include "objects/translateObjects.h"
 #else
 #endif
 
 //! When using the newlib nano library, C99 support for stdio facilities
 //! will not be provided. This define should be set to 1 if this is the case.
-#define FSFW_NO_C99_IO 	            1
+#define FSFW_NO_C99_IO 1
 
 //! Specify whether a special mode store is used for Subsystem components.
-#define FSFW_USE_MODESTORE          0
+#define FSFW_USE_MODESTORE 0
 
 //! Defines if the real time scheduler for linux should be used.
 //! If set to 0, this will also disable priority settings for linux
@@ -58,7 +58,7 @@ static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 7;
 //! Configure the allocated pool sizes for the event manager.
 static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
 static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
-static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
@@ -70,6 +70,6 @@ static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
 
 static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 
-}
+}  // namespace fsfwconfig
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

bsp_hosted/fsfwconfig/OBSWConfig.h.in

@@ -8,11 +8,13 @@
 
 #include "commonConfig.h"
 
-#define OBSW_ADD_TEST_CODE      1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_ADD_TEST_CODE                          1
 
 /* These defines should be disabled for mission code but are useful for
 debugging. */
-#define OBSW_VEBOSE_LEVEL       1
+#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
@@ -20,6 +22,12 @@ debugging. */
 // Set to 1 if telecommands are received via the PDEC IP Core
 #define OBSW_TC_FROM_PDEC                           0
 
+#define OBSW_SYRLINKS_SIMULATED                     0
+
+#define OBSW_INITIALIZE_SWITCHES                    0
+
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
 #ifdef __cplusplus
 
 #include "objects/systemObjectList.h"

bsp_hosted/fsfwconfig/objects/systemObjectList.h

@@ -22,10 +22,11 @@ enum sourceObjects : uint32_t {
 
   TEST_TASK = 0x42694269,
   DUMMY_INTERFACE = 0xCAFECAFE,
-  DUMMY_HANDLER = 0x4400AFFE,
-
+  DUMMY_HANDLER = 0x44000001,
   /* 0x49 ('I') for Communication Interfaces **/
-  ARDUINO_COM_IF = 0x49000001
+  ARDUINO_COM_IF = 0x49000001,
+
+  DUMMY_COM_IF = 0x49000002
 };
 }
 

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -6,6 +6,8 @@
  */
 #include "translateObjects.h"
 
+#include "systemObjectList.h"
+
 const char *TEST_TASK_STRING = "TEST_TASK";
 const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
 const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF";
@@ -36,6 +38,7 @@ const char *IPC_STORE_STRING = "IPC_STORE";
 const char *TIME_STAMPER_STRING = "TIME_STAMPER";
 const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
+const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
 const char *translateObject(object_id_t object) {
@@ -100,6 +103,8 @@ const char *translateObject(object_id_t object) {
       return FSFW_OBJECTS_END_STRING;
     case 0xCAFECAFE:
       return DUMMY_INTERFACE_STRING;
+    case objects::THERMAL_CONTROLLER:
+      return THERMAL_CONTROLLER_STRING;
     case 0xFFFFFFFF:
       return NO_OBJECT_STRING;
     default:

bsp_hosted/fsfwconfig/pollingsequence/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${OBSW_NAME} PRIVATE DummyPst.cpp)

bsp_hosted/fsfwconfig/pollingsequence/DummyPst.cpp

@@ -0,0 +1,140 @@
+#include "DummyPst.h"
+
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+#include <objects/systemObjectList.h>
+
+ReturnValue_t dummy_pst::pst(FixedTimeslotTaskIF *thisSequence) {
+  uint32_t length = thisSequence->getPeriodMs();
+
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
+                        DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
+  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
+
+  if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+    return HasReturnvaluesIF::RETURN_OK;
+  } else {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!" << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+}

bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h

@@ -0,0 +1,14 @@
+#ifndef POLLINGSEQUENCEFACTORY_H_
+#define POLLINGSEQUENCEFACTORY_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+class FixedTimeslotTaskIF;
+
+namespace dummy_pst {
+
+ReturnValue_t pst(FixedTimeslotTaskIF *thisSequence);
+
+}
+
+#endif /* POLLINGSEQUENCEINIT_H_ */

bsp_hosted/fsfwconfig/tmtc/apid.h

@@ -1,18 +0,0 @@
-#ifndef FSFWCONFIG_TMTC_APID_H_
-#define FSFWCONFIG_TMTC_APID_H_
-
-#include <stdint.h>
-
-/**
- * Application Process Definition: entity, uniquely identified by an
- * application process ID (APID), capable of generating telemetry source
- * packets and receiving telecommand packets
- *
- * SOURCE APID: 0x73 / 115 / s
- * APID is a 11 bit number
- */
-namespace apid {
-static const uint16_t EIVE_OBSW = 0x65;
-}
-
-#endif /* FSFWCONFIG_TMTC_APID_H_ */

bsp_hosted/fsfwconfig/tmtc/pusIds.h

@@ -1,23 +0,0 @@
-#ifndef CONFIG_TMTC_PUSIDS_HPP_
-#define CONFIG_TMTC_PUSIDS_HPP_
-
-namespace pus {
-enum Ids {
-  PUS_SERVICE_1 = 1,
-  PUS_SERVICE_2 = 2,
-  PUS_SERVICE_3 = 3,
-  PUS_SERVICE_3_PSB = 3,
-  PUS_SERVICE_5 = 5,
-  PUS_SERVICE_6 = 6,
-  PUS_SERVICE_8 = 8,
-  PUS_SERVICE_9 = 9,
-  PUS_SERVICE_17 = 17,
-  PUS_SERVICE_19 = 19,
-  PUS_SERVICE_20 = 20,
-  PUS_SERVICE_23 = 23,
-  PUS_SERVICE_200 = 200,
-  PUS_SERVICE_201 = 201,
-};
-};
-
-#endif /* CONFIG_TMTC_PUSIDS_HPP_ */

bsp_hosted/main.cpp

@@ -1,9 +1,17 @@
+#include <objects/systemObjectList.h>
+
 #include <iostream>
 
 #include "InitMission.h"
-#include "OBSWVersion.h"
+#include "commonConfig.h"
 #include "fsfw/FSFWVersion.h"
+#include "fsfw/controller/ControllerBase.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/modes/HasModesIF.h"
+#include "fsfw/modes/ModeMessage.h"
+#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/tasks/TaskFactory.h"
+
 #ifdef WIN32
 static const char* COMPILE_PRINTOUT = "Windows";
 #elif LINUX
@@ -19,9 +27,9 @@ static const char* COMPILE_PRINTOUT = "unknown OS";
 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 << "."
-            << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "."
-            << FSFW_REVISION << "--" << std::endl;
+  std::cout << "-- OBSW "
+            << "v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
+            << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
   initmission::initMission();

bsp_linux_board/CMakeLists.txt

@@ -1,8 +1,5 @@
-target_sources(${OBSW_NAME} PUBLIC
-	InitMission.cpp
-	main.cpp
-	ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC InitMission.cpp main.cpp gpioInit.cpp
+                                   ObjectFactory.cpp)
 
 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)

bsp_linux_board/InitMission.cpp

@@ -192,7 +192,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   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, 1.0, missedDeadlineFunc);
   result = pst::pstSpi(spiPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;

bsp_linux_board/InitMission.h

@@ -3,7 +3,7 @@
 
 #include <vector>
 
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class PeriodicTaskIF;
 class TaskFactory;

bsp_linux_board/OBSWConfig.h.in

@@ -0,0 +1,122 @@
+/**
+ * @brief   This file can be used to add preprocessor define for conditional
+ *          code inclusion exclusion or various other project constants and
+ *          properties in one place.
+ */
+#ifndef FSFWCONFIG_OBSWCONFIG_H_
+#define FSFWCONFIG_OBSWCONFIG_H_
+
+#include "commonConfig.h"
+#include "OBSWVersion.h"
+     
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_STAR_TRACKER                       0
+#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_MGT                                0
+#define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_ACS_HANDLERS                       0
+#define OBSW_ADD_GPS_0                              0
+#define OBSW_ADD_GPS_1                              0
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_BPX_BATTERY_HANDLER                0
+#define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_PL_PCDU                            0
+#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_RAD_SENSORS                        0
+#define OBSW_ADD_SYRLINKS                           0
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
+
+/*******************************************************************/
+/** All of the following flags should be disabled for mission code */
+/*******************************************************************/
+
+// Can be used to switch device to NORMAL mode immediately
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_TEST_TASK                          0
+#define OBSW_ADD_TEST_PST                           0
+// If this is enabled, all other SPI code should be disabled
+#define OBSW_ADD_SPI_TEST_CODE                      0
+// If this is enabled, all other I2C code should be disabled
+#define OBSW_ADD_I2C_TEST_CODE                      0
+#define OBSW_ADD_UART_TEST_CODE                     0
+
+#define OBSW_TEST_ACS                               0
+#define OBSW_DEBUG_ACS                              0
+#define OBSW_TEST_SUS                               0
+#define OBSW_DEBUG_SUS                              0
+#define OBSW_TEST_RTD                               0
+#define OBSW_DEBUG_RTD                              0
+#define OBSW_TEST_RAD_SENSOR                        0
+#define OBSW_DEBUG_RAD_SENSOR                       0
+#define OBSW_TEST_PL_PCDU                           0
+#define OBSW_DEBUG_PL_PCDU                          0
+#define OBSW_TEST_BPX_BATT                          0
+#define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
+
+#define OBSW_TEST_LIBGPIOD                          0
+#define OBSW_TEST_PLOC_HANDLER                      0
+#define OBSW_TEST_CCSDS_BRIDGE                      0
+#define OBSW_TEST_CCSDS_PTME                        0
+#define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_OPEN_BY_LABEL                0
+#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME            0
+#define OBSW_DEBUG_P60DOCK                          0
+
+#define OBSW_PRINT_CORE_HK                          0
+#define OBSW_DEBUG_PDU1                             0
+#define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
+#define OBSW_DEBUG_ACU                              0
+#define OBSW_DEBUG_SYRLINKS                         0
+
+#define OBSW_DEBUG_PDEC_HANDLER                     0
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
+#define OBSW_DEBUG_STARTRACKER                      0
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
+/*******************************************************************/
+/** CMake Defines                                                  */
+/*******************************************************************/
+#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
+
+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
+
+#ifdef RASPBERRY_PI
+#include "rpiConfig.h"
+#elif defined(XIPHOS_Q7S)
+#include "q7sConfig.h"
+#endif
+
+#ifdef __cplusplus
+
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+#endif
+
+#endif /* FSFWCONFIG_OBSWCONFIG_H_ */

bsp_linux_board/ObjectFactory.cpp

@@ -5,10 +5,13 @@
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
+#include "fsfw/power/DummyPowerSwitcher.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 #include "fsfw/tmtcservices/PusServiceBase.h"
+#include "gpioInit.h"
+#include "linux/ObjectFactory.h"
 #include "linux/boardtest/LibgpiodTest.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
@@ -64,116 +67,127 @@ void ObjectFactory::produce(void* args) {
   GpioCookie* gpioCookie = nullptr;
   static_cast<void>(gpioCookie);
 
-  new SpiComIF(objects::SPI_COM_IF, gpioIF);
+  SpiComIF* spiComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, spi::DEV, gpioIF);
+  static_cast<void>(spiComIF);
+  auto pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  static_cast<void>(pwrSwitcher);
 
-  std::string spiDev;
-  SpiCookie* spiCookie = nullptr;
-  static_cast<void>(spiCookie);
-
-#if OBSW_ADD_ACS_BOARD == 1
-  if (gpioCookie == nullptr) {
-    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::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::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::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::Direction::OUT, 1);
-  gpioIF->addGpios(gpioCookie);
-
-  spiDev = "/dev/spidev0.1";
-  spiCookie =
-      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 =
-      new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
-  mgmLis3Handler->setStartUpImmediately();
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-  mgmLis3Handler->setToGoToNormalMode(true);
+#if OBSW_ADD_ACS_BOARD == 1 && defined(RASPBERRY_PI)
+  createRpiAcsBoard(gpioIF, spiDev);
 #endif
 
-  spiCookie =
-      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 =
-      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
-  mgmRm3100Handler->setStartUpImmediately();
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  mgmRm3100Handler->setToGoToNormalMode(true);
+#if OBSW_ADD_SUN_SENSORS == 1 || defined(OBSW_ADD_RTD_DEVICES)
+#ifdef RASPBERRY_PI
+  rpi::gpio::initSpiCsDecoder(gpioIF);
+#endif
 #endif
 
-  spiCookie =
-      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 =
-      new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
-  mgmLis3Handler->setStartUpImmediately();
-#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-  mgmLis3Handler->setToGoToNormalMode(true);
+#if OBSW_ADD_SUN_SENSORS == 1
+  createSunSensorComponents(gpioIF, spiComIF, pwrSwitcher, spi::DEV);
 #endif
 
-  spiCookie =
-      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 =
-      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
-  mgmRm3100Handler->setStartUpImmediately();
-#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-  mgmRm3100Handler->setToGoToNormalMode(true);
+#if OBSW_ADD_RTD_DEVICES == 1
+  createRtdComponents(spi::DEV, gpioIF, pwrSwitcher);
 #endif
 
-  spiCookie =
-      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 =
-      new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
-  adisHandler->setStartUpImmediately();
-  spiCookie =
-      new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
-                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto gyroL3gHandler =
-      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 =
-      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 =
-      new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
-  adisHandler->setStartUpImmediately();
-
-  spiCookie =
-      new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
-                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  gyroL3gHandler =
-      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);
-#endif
-
-#endif /* RPI_TEST_ACS_BOARD == 1 */
-
 #if OBSW_ADD_TEST_CODE == 1
   createTestTasks();
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 }
 
+void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
+  GpioCookie* 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::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
+                            "MGM_1_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
+                            "MGM_3_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
+                            "GYRO_0_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
+                            "GYRO_2_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpioIF->addGpios(gpioCookie);
+  SpiCookie* spiCookie =
+      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+  auto mgmLis3Handler =
+      new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
+  mgmLis3Handler->setStartUpImmediately();
+#if OBSW_TEST_ACS == 1
+  mgmLis3Handler->setToGoToNormalMode(true);
+#endif
+
+  spiCookie =
+      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  auto mgmRm3100Handler =
+      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
+  mgmRm3100Handler->setStartUpImmediately();
+#if OBSW_TEST_ACS == 1
+  mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
+
+  spiCookie =
+      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+  mgmLis3Handler =
+      new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
+  mgmLis3Handler->setStartUpImmediately();
+#if OBSW_TEST_ACS == 1
+  mgmLis3Handler->setToGoToNormalMode(true);
+#endif
+
+  spiCookie =
+      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
+                    spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+  mgmRm3100Handler =
+      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
+  mgmRm3100Handler->setStartUpImmediately();
+#if OBSW_TEST_ACS == 1
+  mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
+
+  spiCookie =
+      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  auto adisHandler =
+      new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
+                               ADIS1650X::Type::ADIS16505);
+  adisHandler->setStartUpImmediately();
+  spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  auto gyroL3gHandler =
+      new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
+  gyroL3gHandler->setStartUpImmediately();
+#if OBSW_TEST_ACS == 1
+  gyroL3gHandler->setToGoToNormalMode(true);
+#endif
+
+  spiCookie =
+      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
+                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
+                                         spiCookie, ADIS1650X::Type::ADIS16505);
+  adisHandler->setStartUpImmediately();
+
+  spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
+                            spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  gyroL3gHandler =
+      new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, 0);
+  gyroL3gHandler->setStartUpImmediately();
+#if OBSW_TEST_ACS == 1
+  gyroL3gHandler->setToGoToNormalMode(true);
+#endif
+}
+
 void ObjectFactory::createTestTasks() {
   new TestTask(objects::TEST_TASK);
 

bsp_linux_board/ObjectFactory.h

@@ -1,10 +1,15 @@
 #ifndef BSP_LINUX_OBJECTFACTORY_H_
 #define BSP_LINUX_OBJECTFACTORY_H_
 
+#include <string>
+
+class GpioIF;
+
 namespace ObjectFactory {
 void setStatics();
 void produce(void* args);
 
+void createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev);
 void createTestTasks();
 };  // namespace ObjectFactory
 

bsp_linux_board/boardconfig/CMakeLists.txt

@@ -1,7 +1,3 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${OBSW_NAME} PRIVATE print.c)
 
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

bsp_linux_board/boardconfig/rpiConfig.h.in

@@ -17,16 +17,4 @@
 
 #define RPI_ADD_UART_TEST               0
 
-/* Adapt these values accordingly */
-namespace gpio {
-static constexpr uint8_t MGM_0_BCM_PIN = 17;
-static constexpr uint8_t MGM_1_BCM_PIN = 27;
-static constexpr uint8_t MGM_2_BCM_PIN = 22;
-static constexpr uint8_t MGM_3_BCM_PIN = 23;
-static constexpr uint8_t GYRO_0_BCM_PIN = 5;
-static constexpr uint8_t GYRO_1_BCM_PIN = 6;
-static constexpr uint8_t GYRO_2_BCM_PIN = 13;
-static constexpr uint8_t GYRO_3_BCM_PIN = 19;
-}
-
 #endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */

bsp_linux_board/boardtest/CMakeLists.txt

@@ -1,6 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-)
-
-
-
-
+target_sources(${OBSW_NAME} PRIVATE)

bsp_linux_board/definitions.h

@@ -0,0 +1,37 @@
+#ifndef BSP_LINUX_BOARD_DEFINITIONS_H_
+#define BSP_LINUX_BOARD_DEFINITIONS_H_
+
+#include <cstdint>
+
+#include "OBSWConfig.h"
+
+#ifdef RASPBERRY_PI
+
+namespace spi {
+
+static constexpr char DEV[] = "/dev/spidev0.1";
+
+}
+
+/* Adapt these values accordingly */
+namespace gpio {
+static constexpr uint8_t MGM_0_BCM_PIN = 17;
+static constexpr uint8_t MGM_1_BCM_PIN = 27;
+static constexpr uint8_t MGM_2_BCM_PIN = 22;
+static constexpr uint8_t MGM_3_BCM_PIN = 23;
+static constexpr uint8_t GYRO_0_BCM_PIN = 5;
+static constexpr uint8_t GYRO_1_BCM_PIN = 6;
+static constexpr uint8_t GYRO_2_BCM_PIN = 13;
+static constexpr uint8_t GYRO_3_BCM_PIN = 19;
+
+static constexpr uint8_t SPI_MUX_0_BCM = 17;
+static constexpr uint8_t SPI_MUX_1_BCM = 27;
+static constexpr uint8_t SPI_MUX_2_BCM = 22;
+static constexpr uint8_t SPI_MUX_3_BCM = 23;
+static constexpr uint8_t SPI_MUX_4_BCM = 5;
+static constexpr uint8_t SPI_MUX_5_BCM = 6;
+}  // namespace gpio
+
+#endif
+
+#endif /* BSP_LINUX_BOARD_DEFINITIONS_H_ */

bsp_linux_board/gpioInit.cpp

@@ -0,0 +1,56 @@
+#include "gpioInit.h"
+
+#include <devices/gpioIds.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+
+#include "definitions.h"
+#include "fsfw_hal/linux/rpi/GpioRPi.h"
+
+#ifdef RASPBERRY_PI
+
+struct MuxInfo {
+  MuxInfo(gpioId_t gpioId, int bcmNum, std::string consumer)
+      : gpioId(gpioId), bcmNum(bcmNum), consumer(consumer) {}
+  gpioId_t gpioId;
+  int bcmNum;
+  std::string consumer;
+};
+
+void rpi::gpio::initSpiCsDecoder(GpioIF* gpioComIF) {
+  using namespace ::gpio;
+  ReturnValue_t result;
+
+  if (gpioComIF == nullptr) {
+    sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
+    return;
+  }
+
+  std::array<::MuxInfo, 6> muxInfo{
+      MuxInfo(gpioIds::SPI_MUX_BIT_0, SPI_MUX_0_BCM, "SPI_MUX_0"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_1, SPI_MUX_1_BCM, "SPI_MUX_1"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_2, SPI_MUX_2_BCM, "SPI_MUX_2"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_3, SPI_MUX_3_BCM, "SPI_MUX_3"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_4, SPI_MUX_4_BCM, "SPI_MUX_4"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_5, SPI_MUX_5_BCM, "SPI_MUX_5"),
+  };
+  GpioCookie* spiMuxGpios = new GpioCookie;
+
+  for (const auto& info : muxInfo) {
+    result = createRpiGpioConfig(spiMuxGpios, info.gpioId, info.bcmNum, info.consumer,
+                                 Direction::OUT, Levels::LOW);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::error << "Creating Raspberry Pi SPI Mux GPIO failed with code " << result << std::endl;
+      return;
+    }
+  }
+
+  result = gpioComIF->addGpios(spiMuxGpios);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
+    return;
+  }
+}
+
+#endif

bsp_linux_board/gpioInit.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "OBSWConfig.h"
+
+class GpioIF;
+
+#ifdef RASPBERRY_PI
+namespace rpi {
+namespace gpio {
+
+/**
+ * @brief   This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
+ *          the TCS Board and the interface board.
+ */
+void initSpiCsDecoder(GpioIF* gpioComIF);
+
+}  // namespace gpio
+}  // namespace rpi
+
+#endif

bsp_linux_board/main.cpp

@@ -22,7 +22,7 @@ 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 << "."
-            << SW_REVISION << ", FSFW v" << fsfw::FSFW_VERSION << "--" << std::endl;
+            << SW_REVISION << ", FSFW v" << fsfw::FSFW_VERSION << " --" << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
   initmission::initMission();

bsp_q7s/CMakeLists.txt

@@ -1,25 +1,26 @@
-#simple mode
+# simple mode
 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
-    ${LIB_FSFW_NAME}
-)
+target_sources(${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(${OBSW_NAME} PUBLIC
-	main.cpp
-)
+target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp)
 
 add_subdirectory(boardtest)
 
 add_subdirectory(boardconfig)
 add_subdirectory(comIF)
 add_subdirectory(core)
+
+if(EIVE_Q7S_EM)
+  add_subdirectory(em)
+else()
+  target_sources(${OBSW_NAME} PUBLIC fmObjectFactory.cpp)
+endif()
+
 add_subdirectory(memory)
 add_subdirectory(callbacks)
 add_subdirectory(xadc)

bsp_q7s/OBSWConfig.h.in

@@ -0,0 +1,127 @@
+/**
+ * @brief   This file can be used to add preprocessor define for conditional
+ *          code inclusion exclusion or various other project constants and
+ *          properties in one place.
+ */
+#ifndef FSFWCONFIG_OBSWCONFIG_H_
+#define FSFWCONFIG_OBSWCONFIG_H_
+
+#include "commonConfig.h"
+#include "q7sConfig.h"
+#include "OBSWVersion.h"
+
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+#define OBSW_USE_CCSDS_IP_CORE                      1
+// 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
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
+#define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
+#define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
+#define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
+#define OBSW_ADD_PLOC_SUPERVISOR                    1
+#define OBSW_ADD_PLOC_MPSOC                         1
+#define OBSW_ADD_SUN_SENSORS                        @OBSW_ADD_SUN_SENSORS@
+#define OBSW_ADD_SUS_BOARD_ASS                      @OBSW_ADD_SUS_BOARD_ASS@
+#define OBSW_ADD_ACS_BOARD                          @OBSW_ADD_ACS_BOARD@
+#define OBSW_ADD_ACS_HANDLERS                       @OBSW_ADD_ACS_HANDLERS@
+#define OBSW_ADD_RW                                 @OBSW_ADD_RW@
+#define OBSW_ADD_RTD_DEVICES                        @OBSW_ADD_RTD_DEVICES@
+#define OBSW_ADD_TMP_DEVICES                        @OBSW_ADD_TMP_DEVICES@
+#define OBSW_ADD_RAD_SENSORS                        @OBSW_ADD_RAD_SENSORS@
+#define OBSW_ADD_PL_PCDU                            @OBSW_ADD_PL_PCDU@
+#define OBSW_ADD_SYRLINKS                           @OBSW_ADD_SYRLINKS@
+#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
+#define OBSW_MPSOC_JTAG_BOOT                        0
+
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
+
+/*******************************************************************/
+/** All of the following flags should be disabled for mission code */
+/*******************************************************************/
+
+// Can be used to switch device to NORMAL mode immediately
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_PRINT_MISSED_DEADLINES                 1
+
+#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
+#define OBSW_SYRLINKS_SIMULATED                     1
+#define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_TEST_TASK                          0
+#define OBSW_ADD_TEST_PST                           0
+// If this is enabled, all other SPI code should be disabled
+#define OBSW_ADD_SPI_TEST_CODE                      0
+// If this is enabled, all other I2C code should be disabled
+#define OBSW_ADD_I2C_TEST_CODE                      0
+#define OBSW_ADD_UART_TEST_CODE                     0
+
+#define OBSW_TEST_ACS                               0
+#define OBSW_DEBUG_ACS                              0
+#define OBSW_TEST_SUS                               0
+#define OBSW_DEBUG_SUS                              0
+#define OBSW_TEST_RTD                               0
+#define OBSW_DEBUG_RTD                              0
+#define OBSW_TEST_RAD_SENSOR                        0
+#define OBSW_DEBUG_RAD_SENSOR                       0
+#define OBSW_TEST_PL_PCDU                           0
+#define OBSW_DEBUG_PL_PCDU                          0
+#define OBSW_TEST_BPX_BATT                          0
+#define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
+
+#define OBSW_TEST_LIBGPIOD                          0
+#define OBSW_TEST_PLOC_HANDLER                      0
+#define OBSW_TEST_CCSDS_BRIDGE                      0
+#define OBSW_TEST_CCSDS_PTME                        0
+#define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_OPEN_BY_LABEL                0
+#define OBSW_TEST_GPIO_OPEN_BY_LINE_NAME            0
+#define OBSW_DEBUG_P60DOCK                          0
+
+#define OBSW_PRINT_CORE_HK                          0
+#define OBSW_DEBUG_PDU1                             0
+#define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
+#define OBSW_DEBUG_ACU                              0
+#define OBSW_DEBUG_SYRLINKS                         0
+
+#define OBSW_DEBUG_PDEC_HANDLER                     0
+#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
+#define OBSW_DEBUG_PLOC_MPSOC                       0
+#define OBSW_DEBUG_STARTRACKER                      0
+
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
+
+/*******************************************************************/
+/** CMake Defines                                                  */
+/*******************************************************************/
+#cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
+
+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
+
+
+#ifdef __cplusplus
+
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
+#endif
+
+#endif /* FSFWCONFIG_OBSWCONFIG_H_ */

bsp_q7s/boardconfig/CMakeLists.txt

@@ -1,12 +1,5 @@
-target_sources(${OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${OBSW_NAME} PRIVATE print.c)
 
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-	print.c
-)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE print.c)
 
-
-target_include_directories(${OBSW_NAME} PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_include_directories(${OBSW_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

bsp_q7s/boardconfig/busConf.h

@@ -4,20 +4,22 @@
 namespace q7s {
 
 static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
+static constexpr uint32_t SPI_MAIN_BUS_LOCK_TIMEOUT = 50;
+
 static constexpr char SPI_RW_DEV[] = "/dev/spi-rw";
 
 static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";
 
-static constexpr char UART_GNSS_DEV[] = "/dev/ul-gps";
+static constexpr char UART_GNSS_DEV[] = "/dev/gps0";
 static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ul-plmpsoc";
 static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ul-plsv";
 static constexpr char UART_SYRLINKS_DEV[] = "/dev/ul-syrlinks";
 static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ul-str";
 
 static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
+static constexpr char UIO_PTME[] = "/dev/uio1";
 static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
 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 {
@@ -84,6 +86,7 @@ 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 SYRLINKS_FAULT[] = "syrlinks_fault";
 
 static constexpr char PL_PCDU_ENABLE_VBAT0[] = "enable_plpcdu_vbat0";
 static constexpr char PL_PCDU_ENABLE_VBAT1[] = "enable_plpcdu_vbat1";

bsp_q7s/boardconfig/etl_profile.h

@@ -34,5 +34,6 @@ SOFTWARE.
 
 #define ETL_CPP11_SUPPORTED 1
 #define ETL_NO_NULLPTR_SUPPORT 0
+#define ETL_HAS_ERROR_ON_STRING_TRUNCATION 1
 
 #endif

bsp_q7s/boardconfig/q7sConfig.h.in

@@ -3,6 +3,8 @@
 
 #include <cstdint>
 
+#define OBSW_Q7S_EM                                 @OBSW_Q7S_EM@
+
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/

bsp_q7s/boardtest/CMakeLists.txt

@@ -1,10 +1,5 @@
-target_sources(${OBSW_NAME} PRIVATE
-    FileSystemTest.cpp
-    Q7STestTask.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE FileSystemTest.cpp Q7STestTask.cpp)
 
 if(EIVE_BUILD_Q7S_SIMPLE_MODE)
-    target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-        FileSystemTest.cpp
-    )
-endif()
+  target_sources(${SIMPLE_OBSW_NAME} PRIVATE FileSystemTest.cpp)
+endif()

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -23,8 +23,9 @@
 Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
   doTestSdCard = false;
   doTestScratchApi = false;
-  doTestGps = false;
-  doTestXadc = true;
+  doTestGpsShm = false;
+  doTestGpsSocket = false;
+  doTestXadc = false;
 }
 
 ReturnValue_t Q7STestTask::performOneShotAction() {
@@ -36,15 +37,20 @@ ReturnValue_t Q7STestTask::performOneShotAction() {
   }
   // testJsonLibDirect();
   // testDummyParams();
-  // testProtHandler();
+  if (doTestProtHandler) {
+    testProtHandler();
+  }
   FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
   testFileSystemHandlerDirect(opCode);
   return TestTask::performOneShotAction();
 }
 
 ReturnValue_t Q7STestTask::performPeriodicAction() {
-  if (doTestGps) {
-    testGpsDaemon();
+  if (doTestGpsShm) {
+    testGpsDaemonShm();
+  }
+  if (doTestGpsSocket) {
+    testGpsDaemonSocket();
   }
   if (doTestXadc) {
     xadcTest();
@@ -238,15 +244,19 @@ void Q7STestTask::testProtHandler() {
   }
 }
 
-void Q7STestTask::testGpsDaemon() {
-  gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
+void Q7STestTask::testGpsDaemonShm() {
+  gpsmm gpsmm(GPSD_SHARED_MEMORY, "");
   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;
+#if LIBGPS_VERSION_MINOR <= 17
+  time_t timeRaw = gps->fix.time;
+#else
   time_t timeRaw = gps->fix.time.tv_sec;
+#endif
   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;
@@ -254,10 +264,76 @@ void Q7STestTask::testGpsDaemon() {
   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;
+#if LIBGPS_VERSION_MINOR <= 17
+  sif::info << "Altitude(MSL): " << gps->fix.altitude << std::endl;
+#else
   sif::info << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+#endif
   sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
 }
 
+void Q7STestTask::testGpsDaemonSocket() {
+  if (gpsmmShmPtr == nullptr) {
+    gpsmmShmPtr = new gpsmm("localhost", DEFAULT_GPSD_PORT);
+  }
+  // The data from the device will generally be read all at once. Therefore, we
+  // can set all field here
+  if (not gpsmmShmPtr->is_open()) {
+    if (gpsNotOpenSwitch) {
+      // Opening failed
+#if FSFW_VERBOSE_LEVEL >= 1
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: Opening GPSMM failed | "
+                   << "Error " << errno << " | " << gps_errstr(errno) << std::endl;
+#endif
+
+      gpsNotOpenSwitch = false;
+    }
+    return;
+  }
+  // Stopwatch watch;
+  gps_data_t* gps = nullptr;
+  gpsmmShmPtr->stream(WATCH_ENABLE | WATCH_JSON);
+  if (not gpsmmShmPtr->waiting(50000000)) {
+    return;
+  }
+  gps = gpsmmShmPtr->read();
+  if (gps == nullptr) {
+    if (gpsReadFailedSwitch) {
+      gpsReadFailedSwitch = false;
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: Reading GPS data failed" << std::endl;
+    }
+    return;
+  }
+  if (MODE_SET != (MODE_SET & gps->set)) {
+    if (noModeSetCntr >= 0) {
+      noModeSetCntr++;
+    }
+    if (noModeSetCntr == 10) {
+      // TODO: Trigger event here
+      sif::warning << "Q7STestTask::testGpsDaemonSocket: No mode could be "
+                      "read for 10 consecutive reads"
+                   << std::endl;
+      noModeSetCntr = -1;
+    }
+    return;
+  } else {
+    noModeSetCntr = 0;
+  }
+  sif::info << "-- Q7STestTask: GPS socket read test --" << std::endl;
+#if LIBGPS_VERSION_MINOR <= 17
+  time_t timeRaw = gps->fix.time;
+#else
+  time_t timeRaw = gps->fix.time.tv_sec;
+#endif
+  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;
+}
+
 void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
   auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
   if (fsHandler == nullptr) {

bsp_q7s/boardtest/Q7STestTask.h

@@ -1,6 +1,8 @@
 #ifndef BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
 #define BSP_Q7S_BOARDTEST_Q7STESTTASK_H_
 
+#include <libgpsmm.h>
+
 #include "test/testtasks/TestTask.h"
 
 class CoreController;
@@ -14,14 +16,22 @@ class Q7STestTask : public TestTask {
  private:
   bool doTestSdCard = false;
   bool doTestScratchApi = false;
-  bool doTestGps = false;
+  bool doTestGpsShm = false;
+  bool doTestGpsSocket = false;
+  bool doTestProtHandler = false;
   bool doTestXadc = false;
 
+  bool gpsNotOpenSwitch = false;
+  bool gpsReadFailedSwitch = false;
+  int32_t noModeSetCntr = 0;
+  gpsmm* gpsmmShmPtr = nullptr;
+
   CoreController* coreController = nullptr;
   ReturnValue_t performOneShotAction() override;
   ReturnValue_t performPeriodicAction() override;
 
-  void testGpsDaemon();
+  void testGpsDaemonShm();
+  void testGpsDaemonSocket();
 
   void testSdCard();
   void fileTests();

bsp_q7s/callbacks/CMakeLists.txt

@@ -1,6 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE
-	rwSpiCallback.cpp
-	gnssCallback.cpp
-	pcduSwitchCb.cpp
-	gpioCallbacks.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE rwSpiCallback.cpp gnssCallback.cpp
+                                    pcduSwitchCb.cpp q7sGpioCallbacks.cpp)

bsp_q7s/callbacks/gnssCallback.cpp

@@ -1,9 +1,14 @@
 #include "gnssCallback.h"
 
 #include "devices/gpioIds.h"
+#include "fsfw/action/HasActionsIF.h"
 #include "fsfw/tasks/TaskFactory.h"
 
-ReturnValue_t gps::triggerGpioResetPin(void* args) {
+ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args) {
+  // At least one byte which denotes which GPS to reset is required
+  if (len < 1 or actionData == nullptr) {
+    return HasActionsIF::INVALID_PARAMETERS;
+  }
   ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
   if (args == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
@@ -12,11 +17,10 @@ ReturnValue_t gps::triggerGpioResetPin(void* args) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   gpioId_t gpioId;
-  if (resetArgs->gnss1) {
-    gpioId = gpioIds::GNSS_1_NRESET;
-
-  } else {
+  if (actionData[0] == 0) {
     gpioId = gpioIds::GNSS_0_NRESET;
+  } else {
+    gpioId = gpioIds::GNSS_1_NRESET;
   }
   resetArgs->gpioComIF->pullLow(gpioId);
   TaskFactory::delayTask(resetArgs->waitPeriodMs);

bsp_q7s/callbacks/gnssCallback.h

@@ -5,14 +5,13 @@
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 
 struct ResetArgs {
-  bool gnss1 = false;
   LinuxLibgpioIF* gpioComIF = nullptr;
   uint32_t waitPeriodMs = 100;
 };
 
 namespace gps {
 
-ReturnValue_t triggerGpioResetPin(void* args);
+ReturnValue_t triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args);
 
 }
 

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/pcduSwitchCb.cpp

@@ -10,8 +10,8 @@ void pcdu::switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void*
     return;
   }
   if (pdu == GOMSPACE::Pdu::PDU1) {
-    PDU1::SwitchChannels typedChannel = static_cast<PDU1::SwitchChannels>(channel);
-    if (typedChannel == PDU1::SwitchChannels::ACS_A_SIDE) {
+    PDU1::Channels typedChannel = static_cast<PDU1::Channels>(channel);
+    if (typedChannel == PDU1::Channels::ACS_A_SIDE) {
       if (state) {
         gpioComIF->pullHigh(gpioIds::GNSS_0_NRESET);
       } else {
@@ -20,8 +20,8 @@ void pcdu::switchCallback(GOMSPACE::Pdu pdu, uint8_t channel, bool state, void*
     }
 
   } else if (pdu == GOMSPACE::Pdu::PDU2) {
-    PDU2::SwitchChannels typedChannel = static_cast<PDU2::SwitchChannels>(channel);
-    if (typedChannel == PDU2::SwitchChannels::ACS_B_SIDE) {
+    PDU2::Channels typedChannel = static_cast<PDU2::Channels>(channel);
+    if (typedChannel == PDU2::Channels::ACS_B_SIDE) {
       if (state) {
         gpioComIF->pullHigh(gpioIds::GNSS_1_NRESET);
       } else {

bsp_q7s/callbacks/q7sGpioCallbacks.cpp

@@ -0,0 +1,54 @@
+#include "q7sGpioCallbacks.h"
+
+#include <devices/gpioIds.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+
+#include "busConf.h"
+
+void q7s::gpioCallbacks::initSpiCsDecoder(GpioIF* gpioComIF) {
+  using namespace gpio;
+  ReturnValue_t result;
+
+  if (gpioComIF == nullptr) {
+    sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
+    return;
+  }
+
+  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 = gpioComIF->addGpios(spiMuxGpios);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "initSpiCsDecoder: Failed to add SPI MUX bit GPIOs" << std::endl;
+    return;
+  }
+}

bsp_q7s/callbacks/q7sGpioCallbacks.h

@@ -0,0 +1,15 @@
+#pragma once
+
+class GpioIF;
+
+namespace q7s {
+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);
+
+}  // namespace gpioCallbacks
+}  // namespace q7s

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -1,5 +1,7 @@
 #include "rwSpiCallback.h"
 
+#include <fsfw/timemanager/Stopwatch.h>
+
 #include "devices/gpioIds.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/UnixFileGuard.h"
@@ -8,8 +10,25 @@
 
 namespace rwSpiCallback {
 
+namespace {
+static bool MODE_SET = false;
+
+ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
+                      MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
+                      int& fd);
+/**
+ * @brief   This function closes a spi session. Pulls the chip select to high an releases the
+ *          mutex.
+ * @param gpioId    Gpio ID of chip select
+ * @param gpioIF    Pointer to gpio interface to drive the chip select
+ * @param mutex     The spi mutex
+ */
+void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
+}  // namespace
+
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                           size_t sendLen, void* args) {
+  // Stopwatch watch;
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
   RwHandler* handler = reinterpret_cast<RwHandler*>(args);
@@ -18,51 +37,45 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
-  uint8_t writeBuffer[2];
+  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);
+  MutexIF* mutex = comIf->getCsMutex();
+  cookie->getMutexParams(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");
-  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
-    return SpiComIF::OPENING_FILE_FAILED;
-  }
-  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
-  uint32_t spiSpeed = 0;
-  cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
-  comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
-
-  result = mutex->lockMutex(timeoutType, timeoutMs);
+  const std::string& dev = comIf->getSpiDev();
+  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
     return result;
   }
 
-  /** Sending frame start sign */
-  writeBuffer[0] = 0x7E;
-  writeSize = 1;
-
-  // Pull SPI CS low. For now, no support for active high given
-  if (gpioId != gpio::NO_GPIO) {
-    if (gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
-      sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
-    }
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+  uint32_t spiSpeed = 0;
+  cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+  // We are in protected section, so we can use the static variable here without issues.
+  // We don't need to set the speed because a SPI core is used, but the mode has to be set once
+  // correctly for all RWs
+  if (not MODE_SET) {
+    comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+    MODE_SET = true;
   }
 
+  /** Sending frame start sign */
+  writeBuffer[0] = FLAG_BYTE;
+  writeSize = 1;
+
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
@@ -87,33 +100,39 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     }
     if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
       sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::SPI_WRITE_FAILURE;
     }
     idx++;
   }
 
   /** Sending frame end sign */
-  writeBuffer[0] = 0x7E;
+  writeBuffer[0] = FLAG_BYTE;
   writeSize = 1;
 
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
   uint8_t* rxBuf = nullptr;
   result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return result;
   }
 
   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 at least 20 ms after sending the command.
+  // Delay for 70 ms here and release the SPI bus for that duration.
+  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
   usleep(RwDefinitions::SPI_REPLY_DELAY);
+  result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
 
   /**
    * The reaction wheel responds with empty frames while preparing the reply data.
@@ -123,13 +142,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   for (int idx = 0; idx < 10; idx++) {
     if (read(fileDescriptor, &byteRead, 1) != 1) {
       sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, 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);
+        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
         return RwHandler::NO_START_MARKER;
       }
     }
@@ -140,7 +159,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
     if (idx == 9) {
       sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::NO_REPLY;
     }
   }
@@ -180,7 +199,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
         continue;
       } else {
         sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
-        closeSpi(gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
         result = RwHandler::INVALID_SUBSTITUTE;
         break;
       }
@@ -201,8 +220,9 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
         result = RwHandler::SPI_READ_FAILURE;
         break;
       }
-      if (byteRead != 0x7E) {
-        sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
+      if (byteRead != FLAG_BYTE) {
+        sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
+                   << std::endl;
         decodedFrameLen--;
         result = RwHandler::MISSING_END_SIGN;
         break;
@@ -213,12 +233,40 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
   cookie->setTransferSize(decodedFrameLen);
 
-  closeSpi(gpioId, gpioIF, mutex);
+  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
 
   return result;
 }
 
-void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+namespace {
+
+ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
+                      MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
+                      int& fd) {
+  ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
+    return result;
+  }
+
+  fd = open(devname.c_str(), flags);
+  if (fd < 0) {
+    sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
+    return SpiComIF::OPENING_FILE_FAILED;
+  }
+
+  // Pull SPI CS low. For now, no support for active high given
+  if (gpioId != gpio::NO_GPIO) {
+    result = gpioIF->pullLow(gpioId);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
+      return result;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+  close(fd);
   if (gpioId != gpio::NO_GPIO) {
     if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
       sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
@@ -229,4 +277,7 @@ void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
     ;
   }
 }
+
+}  // namespace
+
 }  // namespace rwSpiCallback

bsp_q7s/callbacks/rwSpiCallback.h

@@ -33,14 +33,5 @@ static constexpr uint8_t FLAG_BYTE = 0x7E;
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                           size_t sendLen, void* args);
 
-/**
- * @brief   This function closes a spi session. Pulls the chip select to high an releases the
- *          mutex.
- * @param gpioId    Gpio ID of chip select
- * @param gpioIF    Pointer to gpio interface to drive the chip select
- * @param mutex     The spi mutex
- */
-void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
-
 }  // namespace rwSpiCallback
 #endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */

bsp_q7s/comIF/CMakeLists.txt

@@ -1,6 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-)
-
-
-
-
+target_sources(${OBSW_NAME} PRIVATE)

bsp_q7s/core/CMakeLists.txt

@@ -1,10 +1,4 @@
-target_sources(${OBSW_NAME} PRIVATE
-    CoreController.cpp
-    obsw.cpp
-    InitMission.cpp
-    ObjectFactory.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE CoreController.cpp InitMission.cpp
+                                    ObjectFactory.cpp)
 
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-    InitMission.cpp
-)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE InitMission.cpp)

bsp_q7s/core/CoreController.cpp

@@ -1,13 +1,14 @@
 #include "CoreController.h"
 
 #include <fsfw/events/EventManager.h>
+#include <fsfw/ipc/QueueFactory.h>
 
 #include "OBSWConfig.h"
 #include "OBSWVersion.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/version.h"
-#include "watchdogConf.h"
+#include "watchdog/definitions.h"
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTmTcBridge.h"
 #else
@@ -16,17 +17,22 @@
 #include <fcntl.h>
 #include <unistd.h>
 
+#include <algorithm>
 #include <filesystem>
 
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "bsp_q7s/memory/scratchApi.h"
 #include "bsp_q7s/xadc/Xadc.h"
+#include "linux/utility/utility.h"
 
 xsc::Chip CoreController::CURRENT_CHIP = xsc::Chip::NO_CHIP;
 xsc::Copy CoreController::CURRENT_COPY = xsc::Copy::NO_COPY;
 
 CoreController::CoreController(object_id_t objectId)
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT, 5), opDivider(5), hkSet(this) {
+    : ExtendedControllerBase(objectId, objects::NO_OBJECT, 5),
+      opDivider5(5),
+      opDivider10(10),
+      hkSet(this) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   try {
     result = initWatchdogFifo();
@@ -50,6 +56,8 @@ CoreController::CoreController(object_id_t objectId)
   } catch (const std::filesystem::filesystem_error &e) {
     sif::error << "CoreController::CoreController: Failed with exception " << e.what() << std::endl;
   }
+  sdCardCheckCd.timeOut();
+  eventQueue = QueueFactory::instance()->createMessageQueue(5, EventMessage::MAX_MESSAGE_SIZE);
 }
 
 ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
@@ -57,10 +65,26 @@ ReturnValue_t CoreController::handleCommandMessage(CommandMessage *message) {
 }
 
 void CoreController::performControlOperation() {
+  EventMessage event;
+  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
+       result = eventQueue->receiveMessage(&event)) {
+    switch (event.getEvent()) {
+      case (GpsHyperion::GPS_FIX_CHANGE): {
+        gpsFix = static_cast<GpsHyperion::FixMode>(event.getParameter2());
+        break;
+      }
+    }
+  }
   performWatchdogControlOperation();
   sdStateMachine();
   performMountedSdCardOperations();
+  if (sdCardCheckCd.hasTimedOut()) {
+    performSdCardCheck();
+    sdCardCheckCd.resetTimer();
+  }
   readHkData();
+  opDivider5.checkAndIncrement();
+  opDivider10.checkAndIncrement();
 }
 
 ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
@@ -68,6 +92,7 @@ ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &local
   localDataPoolMap.emplace(core::TEMPERATURE, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(core::PS_VOLTAGE, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(core::PL_VOLTAGE, new PoolEntry<float>({0}));
+  poolManager.subscribeForPeriodicPacket(hkSet.getSid(), false, 10.0, false);
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -79,8 +104,10 @@ LocalPoolDataSetBase *CoreController::getDataSetHandle(sid_t sid) {
 }
 
 ReturnValue_t CoreController::initialize() {
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-
+  ReturnValue_t result = ExtendedControllerBase::initialize();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "CoreController::initialize: Base init failed" << std::endl;
+  }
   result = scratch::writeNumber(scratch::ALLOC_FAILURE_COUNT, 0);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "CoreController::initialize: Setting up alloc failure "
@@ -91,11 +118,30 @@ ReturnValue_t CoreController::initialize() {
   sdStateMachine();
 
   triggerEvent(REBOOT_SW, CURRENT_CHIP, CURRENT_COPY);
-  return ExtendedControllerBase::initialize();
+  EventManagerIF *eventManager =
+      ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (eventManager == nullptr or eventQueue == nullptr) {
+    sif::warning << "CoreController::initialize: No valid event manager found or "
+                    "queue invalid"
+                 << std::endl;
+  }
+  result = eventManager->registerListener(eventQueue->getId());
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "CoreController::initialize: Registering as event listener failed" << std::endl;
+  }
+  result = eventManager->subscribeToEvent(eventQueue->getId(),
+                                          event::getEventId(GpsHyperion::GPS_FIX_CHANGE));
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Subscribing for GPS GPS_FIX_CHANGE event failed" << std::endl;
+  }
+  return RETURN_OK;
 }
 
 ReturnValue_t CoreController::initializeAfterTaskCreation() {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  sdInfo.pref = sdcMan->getPreferredSdCard();
+  sdcMan->setActiveSdCard(sdInfo.pref);
+  currMntPrefix = sdcMan->getCurrentMountPrefix();
   if (BLOCKING_SD_INIT) {
     ReturnValue_t result = initSdCardBlocking();
     if (result != HasReturnvaluesIF::RETURN_OK and result != SdCardManager::ALREADY_MOUNTED) {
@@ -109,7 +155,7 @@ ReturnValue_t CoreController::initializeAfterTaskCreation() {
   }
   // Add script folder to path
   char *currentEnvPath = getenv("PATH");
-  std::string updatedEnvPath = std::string(currentEnvPath) + ":/home/root/scripts";
+  std::string updatedEnvPath = std::string(currentEnvPath) + ":/home/root/scripts:/usr/local/bin";
   setenv("PATH", updatedEnvPath.c_str(), true);
   updateProtInfo();
   initPrint();
@@ -127,7 +173,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       if (size < 1) {
         return HasActionsIF::INVALID_PARAMETERS;
       }
-      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
       // Disable the reboot file mechanism
       parseRebootFile(path, rebootFile);
       if (data[0] == 0) {
@@ -167,15 +213,20 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       if (size < 1) {
         return HasActionsIF::INVALID_PARAMETERS;
       }
-      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+      std::string path = sdcMan->getCurrentMountPrefix() + REBOOT_FILE;
       // Disable the reboot file mechanism
       parseRebootFile(path, rebootFile);
       rebootFile.maxCount = data[0];
       rewriteRebootFile(rebootFile);
       return HasActionsIF::EXECUTION_FINISHED;
     }
+    case (XSC_REBOOT_OBC): {
+      // Warning: This function will never return, because it reboots the system
+      return actionXscReboot(data, size);
+    }
     case (REBOOT_OBC): {
-      return actionPerformReboot(data, size);
+      // Warning: This function will never return, because it reboots the system
+      return actionReboot(data, size);
     }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
@@ -199,13 +250,12 @@ ReturnValue_t CoreController::initSdCardBlocking() {
   return HasReturnvaluesIF::RETURN_OK;
 #else
 
-  result = sdcMan->getSdCardActiveStatus(sdInfo.currentState);
+  result = sdcMan->getSdCardsStatus(sdInfo.currentState);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::warning << "Getting SD card activity status failed" << std::endl;
   }
 
 #if Q7S_SD_CARD_CONFIG == Q7S_SD_COLD_REDUNDANT
-  determinePreferredSdCard();
   updateSdInfoOther();
   sif::info << "Cold redundant SD card configuration, preferred SD card: "
             << static_cast<int>(sdInfo.pref) << std::endl;
@@ -286,8 +336,8 @@ ReturnValue_t CoreController::sdStateMachine() {
 
   if (sdInfo.state == SdStates::SET_STATE_SELF) {
     if (not sdInfo.commandExecuted) {
-      result = sdcMan->getSdCardActiveStatus(sdInfo.currentState);
-      determinePreferredSdCard();
+      result = sdcMan->getSdCardsStatus(sdInfo.currentState);
+      sdInfo.pref = sdcMan->getPreferredSdCard();
       updateSdInfoOther();
       if (sdInfo.pref != sd::SdCard::SLOT_0 and sdInfo.pref != sd::SdCard::SLOT_1) {
         sif::warning << "Preferred SD card invalid. Setting to card 0.." << std::endl;
@@ -430,7 +480,7 @@ ReturnValue_t CoreController::sdStateMachine() {
     sdInfo.state = SdStates::IDLE;
     sdInfo.cycleCount = 0;
     sdcMan->setBlocking(false);
-    sdcMan->getSdCardActiveStatus(sdInfo.currentState);
+    sdcMan->getSdCardsStatus(sdInfo.currentState);
     if (not sdInfo.initFinished) {
       updateSdInfoOther();
       sdInfo.initFinished = true;
@@ -639,8 +689,7 @@ ReturnValue_t CoreController::initVersionFile() {
   fsfw::FSFW_VERSION.getVersion(versionString, sizeof(versionString));
   std::string fullFsfwVersionString = "FSFW: v" + std::string(versionString);
   std::string systemString = "System: " + unameLine;
-  std::string mountPrefix = SdCardManager::instance()->getCurrentMountPrefix();
-  std::string versionFilePath = mountPrefix + VERSION_FILE;
+  std::string versionFilePath = currMntPrefix + VERSION_FILE;
   std::fstream versionFile;
 
   if (not std::filesystem::exists(versionFilePath)) {
@@ -808,25 +857,18 @@ void CoreController::initPrint() {
 #endif
 }
 
-ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t size) {
+ReturnValue_t CoreController::actionXscReboot(const uint8_t *data, size_t size) {
   if (size < 1) {
     return HasActionsIF::INVALID_PARAMETERS;
   }
   bool rebootSameBootCopy = data[0];
-  bool protOpPerformed;
+  bool protOpPerformed = false;
+  SdCardManager::instance()->setBlocking(true);
   if (rebootSameBootCopy) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::actionPerformReboot: Rebooting on current image" << std::endl;
 #endif
-    // Attempt graceful shutdown by unmounting and switching off SD cards
-    SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_0);
-    SdCardManager::instance()->switchOffSdCard(sd::SdCard::SLOT_1);
-    // If any boot copies are unprotected
-    ReturnValue_t retval = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
-                                                 protOpPerformed, false);
-    if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
-      sif::info << "Running slot was writeprotected before reboot" << std::endl;
-    }
+    gracefulShutdownTasks(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, protOpPerformed);
     int result = std::system("xsc_boot_copy -r");
     if (result != 0) {
       utility::handleSystemError(result, "CoreController::executeAction");
@@ -848,12 +890,8 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
   auto tgtChip = static_cast<xsc::Chip>(data[1]);
   auto tgtCopy = static_cast<xsc::Copy>(data[2]);
 
-  ReturnValue_t retval =
-      setBootCopyProtection(static_cast<xsc::Chip>(data[1]), static_cast<xsc::Copy>(data[2]), true,
-                            protOpPerformed, false);
-  if (retval == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
-    sif::info << "Target slot was writeprotected before reboot" << std::endl;
-  }
+  // This function can not really fail
+  gracefulShutdownTasks(tgtChip, tgtCopy, protOpPerformed);
 
   switch (tgtChip) {
     case (xsc::Chip::CHIP_0): {
@@ -894,27 +932,32 @@ ReturnValue_t CoreController::actionPerformReboot(const uint8_t *data, size_t si
   return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-CoreController::~CoreController() {}
-
-void CoreController::determinePreferredSdCard() {
-  if (sdInfo.pref == sd::SdCard::NONE) {
-    ReturnValue_t result = sdcMan->getPreferredSdCard(sdInfo.pref);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      if (result == scratch::KEY_NOT_FOUND) {
-        sif::warning << "CoreController::sdCardInit: "
-                        "Preferred SD card not set. Setting to 0"
-                     << std::endl;
-        sdcMan->setPreferredSdCard(sd::SdCard::SLOT_0);
-        sdInfo.pref = sd::SdCard::SLOT_0;
-      } else {
-        sif::warning << "CoreController::sdCardInit: Could not get preferred SD card"
-                        "information from the scratch buffer"
-                     << std::endl;
-      }
-    }
-  }
+ReturnValue_t CoreController::actionReboot(const uint8_t *data, size_t size) {
+  bool protOpPerformed = false;
+  gracefulShutdownTasks(xsc::Chip::CHIP_0, xsc::Copy::COPY_0, protOpPerformed);
+  std::system("reboot");
+  return RETURN_OK;
 }
 
+ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy,
+                                                    bool &protOpPerformed) {
+  sdcMan->setBlocking(true);
+  // Attempt graceful shutdown by unmounting and switching off SD cards
+  sdcMan->switchOffSdCard(sd::SdCard::SLOT_0);
+  sdcMan->switchOffSdCard(sd::SdCard::SLOT_1);
+  // If any boot copies are unprotected
+  ReturnValue_t result = setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
+                                               protOpPerformed, false);
+  if (result == HasReturnvaluesIF::RETURN_OK and protOpPerformed) {
+    // TODO: Would be nice to notify operator. But we can't use the filesystem anymore
+    // and a reboot is imminent. Use scratch buffer?
+    sif::info << "Running slot was writeprotected before reboot" << std::endl;
+  }
+  return result;
+}
+
+CoreController::~CoreController() {}
+
 void CoreController::updateSdInfoOther() {
   if (sdInfo.pref == sd::SdCard::SLOT_0) {
     sdInfo.prefChar = "0";
@@ -1169,7 +1212,7 @@ ReturnValue_t CoreController::handleProtInfoUpdateLine(std::string nextLine) {
 
 void CoreController::performWatchdogControlOperation() {
   // Only perform each fifth iteration
-  if (watchdogFifoFd != 0 and opDivider.checkAndIncrement()) {
+  if (watchdogFifoFd != 0 and opDivider5.check()) {
     if (watchdogFifoFd == RETRY_FIFO_OPEN) {
       // Open FIFO write only and non-blocking
       watchdogFifoFd = open(watchdog::FIFO_NAME.c_str(), O_WRONLY | O_NONBLOCK);
@@ -1198,24 +1241,76 @@ void CoreController::performWatchdogControlOperation() {
 }
 
 void CoreController::performMountedSdCardOperations() {
-  if (doPerformMountedSdCardOps) {
-    bool sdCardMounted = false;
-    sdCardMounted = sdcMan->isSdCardMounted(sdInfo.pref);
-    if (sdCardMounted) {
-      std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + "/" + CONF_FOLDER;
-      if (not std::filesystem::exists(path)) {
-        std::filesystem::create_directory(path);
+  auto mountedSdCardOp = [&](bool &mntSwitch, sd::SdCard sdCard, std::string mntPoint) {
+    if (mntSwitch) {
+      bool sdCardMounted = sdcMan->isSdCardMounted(sdCard);
+      if (sdCardMounted and not performOneShotSdCardOpsSwitch) {
+        std::ostringstream path;
+        path << mntPoint << "/" << CONF_FOLDER;
+        if (not std::filesystem::exists(path.str())) {
+          std::filesystem::create_directory(path.str());
+        }
+        initVersionFile();
+        initClockFromTimeFile();
+        performRebootFileHandling(false);
+        performOneShotSdCardOpsSwitch = true;
       }
-      initVersionFile();
-      performRebootFileHandling(false);
-      doPerformMountedSdCardOps = false;
+      mntSwitch = false;
     }
+  };
+  if (sdInfo.pref == sd::SdCard::SLOT_1) {
+    mountedSdCardOp(sdInfo.mountSwitch.second, sd::SdCard::SLOT_1, SdCardManager::SD_1_MOUNT_POINT);
+    mountedSdCardOp(sdInfo.mountSwitch.first, sd::SdCard::SLOT_0, SdCardManager::SD_0_MOUNT_POINT);
+  } else {
+    mountedSdCardOp(sdInfo.mountSwitch.first, sd::SdCard::SLOT_0, SdCardManager::SD_0_MOUNT_POINT);
+    mountedSdCardOp(sdInfo.mountSwitch.second, sd::SdCard::SLOT_1, SdCardManager::SD_1_MOUNT_POINT);
   }
+  timeFileHandler();
+}
+
+ReturnValue_t CoreController::performSdCardCheck() {
+  bool mountedReadOnly = false;
+  SdCardManager::SdStatePair active;
+  sdcMan->getSdCardsStatus(active);
+  auto sdCardCheck = [&](sd::SdCard sdCard) {
+    ReturnValue_t result = sdcMan->isSdCardMountedReadOnly(sdCard, mountedReadOnly);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::error << "CoreController::performSdCardCheck: Could not check "
+                    "read-only mount state"
+                 << std::endl;
+      mountedReadOnly = true;
+    }
+    if (mountedReadOnly) {
+      int linuxErrno = 0;
+      result = sdcMan->performFsck(sdCard, true, linuxErrno);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "CoreController::performSdCardCheck: fsck command on SD Card "
+                   << static_cast<uint8_t>(sdCard) << " failed with code " << linuxErrno << " | "
+                   << strerror(linuxErrno);
+      }
+      result = sdcMan->remountReadWrite(sdCard);
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "CoreController::performSdCardCheck: Remounted SD Card "
+                     << static_cast<uint8_t>(sdCard) << " read-write";
+      } else {
+        sif::error << "CoreController::performSdCardCheck: Remounting SD Card "
+                   << static_cast<uint8_t>(sdCard) << " read-write failed";
+      }
+    }
+  };
+  if (active.first == sd::SdState::MOUNTED) {
+    sdCardCheck(sd::SdCard::SLOT_0);
+  }
+  if (active.second == sd::SdState::MOUNTED) {
+    sdCardCheck(sd::SdCard::SLOT_1);
+  }
+
+  return RETURN_OK;
 }
 
 void CoreController::performRebootFileHandling(bool recreateFile) {
   using namespace std;
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_FILE;
   if (not std::filesystem::exists(path) or recreateFile) {
 #if OBSW_VERBOSE_LEVEL >= 1
     sif::info << "CoreController::performRebootFileHandling: Recreating reboot file" << std::endl;
@@ -1594,7 +1689,7 @@ bool CoreController::parseRebootFile(std::string path, RebootFile &rf) {
 }
 
 void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_FILE;
   // Disable the reboot file mechanism
   parseRebootFile(path, rebootFile);
   if (tgtChip == xsc::ALL_CHIP and tgtCopy == xsc::ALL_COPY) {
@@ -1621,7 +1716,7 @@ void CoreController::resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy) {
 }
 
 void CoreController::rewriteRebootFile(RebootFile file) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_FILE;
   std::ofstream rebootFile(path);
   if (rebootFile.is_open()) {
     // Initiate reboot file first. Reboot handling will be on on initialization
@@ -1638,7 +1733,7 @@ void CoreController::rewriteRebootFile(RebootFile file) {
 }
 
 void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy) {
-  std::string path = sdcMan->getCurrentMountPrefix(sdInfo.pref) + REBOOT_FILE;
+  std::string path = currMntPrefix + REBOOT_FILE;
   // Disable the reboot file mechanism
   parseRebootFile(path, rebootFile);
   if (tgtChip == xsc::CHIP_0) {
@@ -1657,6 +1752,65 @@ void CoreController::setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::C
   rewriteRebootFile(rebootFile);
 }
 
+ReturnValue_t CoreController::timeFileHandler() {
+  // Always set time. We could only set it if it is updated by GPS, but then the backup time would
+  // become obsolete on GPS problems.
+  if (opDivider10.check()) {
+    // It is assumed that the system time is set from the GPS time
+    timeval currentTime = {};
+    ReturnValue_t result = Clock::getClock_timeval(&currentTime);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    std::string fileName = currMntPrefix + TIME_FILE;
+    std::ofstream timeFile(fileName);
+    if (not timeFile.good()) {
+      sif::error << "CoreController::timeFileHandler: Error opening time file: " << strerror(errno)
+                 << std::endl;
+      return RETURN_FAILED;
+    }
+    timeFile << "UNIX SECONDS: " << currentTime.tv_sec << std::endl;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t CoreController::initClockFromTimeFile() {
+  using namespace GpsHyperion;
+  using namespace std;
+  std::string fileName = currMntPrefix + TIME_FILE;
+  if (std::filesystem::exists(fileName) and
+      ((gpsFix == FixMode::UNKNOWN or gpsFix == FixMode::NOT_SEEN) or
+       not utility::timeSanityCheck())) {
+    ifstream timeFile(fileName);
+    string nextWord;
+    getline(timeFile, nextWord);
+    istringstream iss(nextWord);
+    iss >> nextWord;
+    if (iss.bad() or nextWord != "UNIX") {
+      return RETURN_FAILED;
+    }
+    iss >> nextWord;
+    if (iss.bad() or nextWord != "SECONDS:") {
+      return RETURN_FAILED;
+    }
+    iss >> nextWord;
+    timeval currentTime = {};
+    char *checkPtr;
+    currentTime.tv_sec = strtol(nextWord.c_str(), &checkPtr, 10);
+    if (iss.bad() or *checkPtr) {
+      return RETURN_FAILED;
+    }
+#if OBSW_VERBOSE_LEVEL >= 1
+    time_t timeRaw = currentTime.tv_sec;
+    std::tm *time = std::gmtime(&timeRaw);
+    sif::info << "Setting system time from time files: " << std::put_time(time, "%c %Z")
+              << std::endl;
+#endif
+    return Clock::setClock(&currentTime);
+  }
+  return RETURN_OK;
+}
+
 void CoreController::readHkData() {
   ReturnValue_t result = RETURN_OK;
   result = hkSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
@@ -1690,3 +1844,8 @@ void CoreController::readHkData() {
     return;
   }
 }
+
+bool CoreController::isNumber(const std::string &s) {
+  return !s.empty() && std::find_if(s.begin(), s.end(),
+                                    [](unsigned char c) { return !std::isdigit(c); }) == s.end();
+}

bsp_q7s/core/CoreController.h

@@ -10,6 +10,7 @@
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
+#include "mission/devices/devicedefinitions/GPSDefinitions.h"
 
 class Timer;
 class SdCardManager;
@@ -47,16 +48,18 @@ class CoreController : public ExtendedControllerBase {
   static xsc::Chip CURRENT_CHIP;
   static xsc::Copy CURRENT_COPY;
 
-  static constexpr char CHIP_PROT_SCRIPT[] = "/home/root/scripts/get-chip-prot-status.sh";
+  static constexpr char CHIP_PROT_SCRIPT[] = "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_NAME[] = "version.txt";
   static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
+  static constexpr char TIME_FILE_NAME[] = "time.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);
+  const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
 
   static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
   static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
@@ -64,13 +67,16 @@ class CoreController : public ExtendedControllerBase {
   static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
   static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
 
-  static constexpr ActionId_t REBOOT_OBC = 32;
+  //! Reboot using the xsc_boot_copy command
+  static constexpr ActionId_t XSC_REBOOT_OBC = 32;
   static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
+  //! Reboot using the reboot command
+  static constexpr ActionId_t REBOOT_OBC = 34;
 
   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.
+  //! [EXPORT] : [COMMENT]  Software reboot occurred. 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.
@@ -126,6 +132,7 @@ class CoreController : public ExtendedControllerBase {
   // Designated value for rechecking FIFO open
   static constexpr int RETRY_FIFO_OPEN = -2;
   int watchdogFifoFd = 0;
+  GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
 
   // States for SD state machine, which is used in non-blocking mode
   enum class SdStates {
@@ -151,14 +158,16 @@ class CoreController : public ExtendedControllerBase {
   static constexpr bool BLOCKING_SD_INIT = false;
 
   SdCardManager* sdcMan = nullptr;
+  MessageQueueIF* eventQueue = nullptr;
 
   struct SdInfo {
     sd::SdCard pref = sd::SdCard::NONE;
-    sd::SdState prefState = sd::SdState::OFF;
     sd::SdCard other = sd::SdCard::NONE;
+    sd::SdState prefState = sd::SdState::OFF;
     sd::SdState otherState = sd::SdState::OFF;
     std::string prefChar = "0";
     std::string otherChar = "1";
+    std::pair<bool, bool> mountSwitch = {true, true};
     SdStates state = SdStates::START;
     // Used to track whether a command was executed
     bool commandExecuted = true;
@@ -173,7 +182,8 @@ class CoreController : public ExtendedControllerBase {
     sd::SdState commandedState = sd::SdState::OFF;
   } sdInfo;
   RebootFile rebootFile = {};
-  bool doPerformMountedSdCardOps = true;
+  std::string currMntPrefix;
+  bool performOneShotSdCardOpsSwitch = true;
 
   /**
    * Index 0: Chip 0 Copy 0
@@ -182,16 +192,22 @@ class CoreController : public ExtendedControllerBase {
    * Index 3: Chip 1 Copy 1
    */
   std::array<bool, 4> protArray;
-  PeriodicOperationDivider opDivider;
+  PeriodicOperationDivider opDivider5;
+  PeriodicOperationDivider opDivider10;
 
   core::HkSet hkSet;
 
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
+  Countdown sdCardCheckCd = Countdown(120000);
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
   void performMountedSdCardOperations();
   ReturnValue_t initVersionFile();
+
+  ReturnValue_t initClockFromTimeFile();
+  ReturnValue_t performSdCardCheck();
+  ReturnValue_t timeFileHandler();
   ReturnValue_t initBootCopy();
   ReturnValue_t initWatchdogFifo();
   ReturnValue_t initSdCardBlocking();
@@ -204,14 +220,16 @@ class CoreController : public ExtendedControllerBase {
   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);
-  ReturnValue_t actionPerformReboot(const uint8_t* data, size_t size);
+  ReturnValue_t actionXscReboot(const uint8_t* data, size_t size);
+  ReturnValue_t actionReboot(const uint8_t* data, size_t size);
+
+  ReturnValue_t gracefulShutdownTasks(xsc::Chip chip, xsc::Copy copy, bool& protOpPerformed);
 
   void performWatchdogControlOperation();
 
@@ -226,6 +244,7 @@ class CoreController : public ExtendedControllerBase {
   bool parseRebootFile(std::string path, RebootFile& file);
   void rewriteRebootFile(RebootFile file);
   void readHkData();
+  bool isNumber(const std::string& s);
 };
 
 #endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

bsp_q7s/core/InitMission.cpp

@@ -1,10 +1,12 @@
-#include "InitMission.h"
+#include "bsp_q7s/core/InitMission.h"
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 
 #include <iostream>
 #include <vector>
 
 #include "OBSWConfig.h"
-#include "ObjectFactory.h"
+#include "bsp_q7s/core/ObjectFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/platform.h"
@@ -13,6 +15,7 @@
 #include "fsfw/tasks/FixedTimeslotTaskIF.h"
 #include "fsfw/tasks/PeriodicTaskIF.h"
 #include "fsfw/tasks/TaskFactory.h"
+#include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/utility/InitMission.h"
 #include "pollingsequence/pollingSequenceFactory.h"
 
@@ -33,8 +36,16 @@ 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);
+  try {
+    /* Instantiate global object manager and also create all objects */
+    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  } catch (const std::invalid_argument& e) {
+    sif::error << "initmission::initMission: Object Construction failed with an "
+                  "invalid argument: "
+               << e.what();
+    std::exit(1);
+  }
+
   sif::info << "Initializing all objects.." << std::endl;
   ObjectManager::instance()->initialize();
 
@@ -115,28 +126,72 @@ void initmission::initTasks() {
 
 #if OBSW_ADD_ACS_HANDLERS == 1
   PeriodicTaskIF* acsTask = factory->createPeriodicTask(
-      "ACS_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+      "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   result = acsTask->addComponent(objects::GPS_CONTROLLER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
   }
-
 #endif /* OBSW_ADD_ACS_HANDLERS */
 
   PeriodicTaskIF* sysTask = factory->createPeriodicTask(
       "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  static_cast<void>(sysTask);
+#if OBSW_ADD_ACS_HANDLERS == 1
   result = sysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("ACS_ASS", objects::ACS_BOARD_ASS);
+    initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
   }
+#endif /* OBSW_ADD_ACS_HANDLERS */
+#if OBSW_ADD_RW == 1
+  result = sysTask->addComponent(objects::RW_ASS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("RW_ASS", objects::RW_ASS);
+  }
+#endif
+#if OBSW_ADD_SUS_BOARD_ASS == 1
   result = sysTask->addComponent(objects::SUS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("SUS_ASS", objects::SUS_BOARD_ASS);
+    initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
-  result = sysTask->addComponent(objects::TCS_BOARD_ASS);
+#endif
+
+#if OBSW_ADD_RTD_DEVICES == 1
+  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
+      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
+  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
+    initmission::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
   }
+  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
+      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
+      objects::RTD_0_IC3_PLOC_HEATSPREADER,
+      objects::RTD_1_IC4_PLOC_MISSIONBOARD,
+      objects::RTD_2_IC5_4K_CAMERA,
+      objects::RTD_3_IC6_DAC_HEATSPREADER,
+      objects::RTD_4_IC7_STARTRACKER,
+      objects::RTD_5_IC8_RW1_MX_MY,
+      objects::RTD_6_IC9_DRO,
+      objects::RTD_7_IC10_SCEX,
+      objects::RTD_8_IC11_X8,
+      objects::RTD_9_IC12_HPA,
+      objects::RTD_10_IC13_PL_TX,
+      objects::RTD_11_IC14_MPA,
+      objects::RTD_12_IC15_ACU,
+      objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
+      objects::RTD_14_IC17_TCS_BOARD,
+      objects::RTD_15_IC18_IMTQ,
+  };
+  tcsTask->addComponent(objects::TCS_BOARD_ASS);
+  tcsTask->addComponent(objects::THERMAL_CONTROLLER);
+  for (const auto& rtd : rtdIds) {
+    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
+    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
+  }
+#endif /* OBSW_ADD_RTD_DEVICES */
 
   // FS task, task interval does not matter because it runs in permanent loop, priority low
   // because it is a non-essential background task
@@ -165,6 +220,15 @@ void initmission::initTasks() {
   }
 #endif /* OBSW_ADD_PLOC_MPSOC */
 
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
+      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR */
+
 #if OBSW_TEST_CCSDS_BRIDGE == 1
   PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
       "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
@@ -221,14 +285,20 @@ void initmission::initTasks() {
 
   fsTask->startTask();
 #if OBSW_ADD_STAR_TRACKER == 1
-  strHelperTask > startTask();
+  strHelperTask->startTask();
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
 #if OBSW_ADD_ACS_HANDLERS == 1
   acsTask->startTask();
-#endif
+#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
   sysTask->startTask();
-
+#if OBSW_ADD_RTD_DEVICES == 1
+  tcsPollingTask->startTask();
+  tcsTask->startTask();
+#endif /* OBSW_ADD_RTD_DEVICES == 1 */
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  supvHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   sif::info << "Tasks started.." << std::endl;
 }
 
@@ -239,7 +309,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   /* Polling Sequence Table Default */
 #if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+      "MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
   result = pst::pstSpi(spiPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -252,8 +322,23 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 #endif
 
+#if OBSW_ADD_RW == 1
+  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
+      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
+  result = pst::pstSpiRw(rwPstTask);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
+    } else {
+      sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
+    }
+  } else {
+    taskVec.push_back(rwPstTask);
+  }
+#endif
+
   FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstUart(uartPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -266,7 +351,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 
   FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
-      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.2, missedDeadlineFunc);
   result = pst::pstGpio(gpioPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -279,7 +364,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 #if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-      "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
+      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstI2c(i2cPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
@@ -292,6 +377,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   }
 #endif
 
+#if OBSW_ADD_GOMSPACE_PCDU == 1
   FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
       "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstGompaceCan(gomSpacePstTask);
@@ -301,6 +387,7 @@ void initmission::createPstTasks(TaskFactory& factory,
     }
   }
   taskVec.push_back(gomSpacePstTask);
+#endif
 }
 
 void initmission::createPusTasks(TaskFactory& factory,
@@ -342,21 +429,30 @@ void initmission::createPusTasks(TaskFactory& factory,
 
   PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
       "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+  }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
   }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "Object add component failed" << std::endl;
+    initmission::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
   }
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
   }
-  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
+    initmission::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
   }
   taskVec.push_back(pusMedPrio);
 
@@ -413,23 +509,23 @@ void initmission::createTestTasks(TaskFactory& factory,
 }
 
 /**
-                   â–„              â–„
-                  ▌▒█           ▄▀▒▌
-                  ▌▒▒█        ▄▀▒▒▒�
-                 �▄▀▒▒▀▀▀▀▄▄▄▀▒▒▒▒▒�
-               ▄▄▀▒░▒▒▒▒▒▒▒▒▒█▒▒▄█▒�
-             ▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
-            �▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
-            ▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒�
-           �░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
-           ▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
-          ▌▒▀�▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒�
-          �▒▒�▀�▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
-          �▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒�
-           ▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
-           â–?â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–’â–‘â–’â–‘â–’â–‘â–’â–’â–„â–’â–’â–?
-            ▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
-              ▀▄▒▒▒▒▒▒▒▒▒▒▄▄▄▀▒▒▒▒▄▀
-                ▀▄▄▄▄▄▄▀▀▀▒▒▒▒▒▄▄▀
-                   ▒▒▒▒▒▒▒▒▒▒▀▀
+                   ▄              ▄
+                  ▌▒█           ▄▀▒▌
+                  ▌▒▒█        ▄▀▒▒▒▐
+                 ▐▄▀▒▒▀▀▀▀▄▄▄▀▒▒▒▒▒▐
+               ▄▄▀▒░▒▒▒▒▒▒▒▒▒█▒▒▄█▒▐
+             ▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
+            ▐▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
+            ▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒▐
+           ▐░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
+           ▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
+          ▌▒▀▐▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒▐
+          ▐▒▒▐▀▐▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
+          ▐▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒▐
+           ▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
+           ▐▒▒▒▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▒▄▒▒▐
+            ▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
+              ▀▄▒▒▒▒▒▒▒▒▒▒▄▄▄▀▒▒▒▒▄▀
+                ▀▄▄▄▄▄▄▀▀▀▒▒▒▒▒▄▄▀
+                   ▒▒▒▒▒▒▒▒▒▒▀▀
  **/

bsp_q7s/core/InitMission.h

@@ -3,7 +3,7 @@
 
 #include <vector>
 
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class PeriodicTaskIF;
 class TaskFactory;

bsp_q7s/core/ObjectFactory.h

@@ -1,11 +1,18 @@
 #ifndef BSP_Q7S_OBJECTFACTORY_H_
 #define BSP_Q7S_OBJECTFACTORY_H_
 
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include <string>
+
 class LinuxLibgpioIF;
 class UartComIF;
 class SpiComIF;
 class I2cComIF;
 class PowerSwitchIF;
+class HealthTableIF;
+class AcsBoardAssembly;
+class GpioIF;
 
 namespace ObjectFactory {
 
@@ -13,24 +20,30 @@ void setStatics();
 void produce(void* args);
 
 void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
-                                   SpiComIF** spiComIF, I2cComIF** i2cComIF);
+                                   SpiComIF** spiMainComIF, I2cComIF** i2cComIF,
+                                   SpiComIF** spiRwComIF);
 void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher);
-void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
+void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
+                            PowerSwitchIF* pwrSwitcher);
 void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
-void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                               PowerSwitchIF* pwrSwitcher);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
-void createHeaterComponents();
+void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable);
+void createImtqComponents(PowerSwitchIF* pwrSwitcher);
+void createBpxBatteryComponent();
+void createStrComponents(PowerSwitchIF* pwrSwitcher);
 void createSolarArrayDeploymentComponents();
-void createSyrlinksComponents();
-void createRtdComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
+void createSyrlinksComponents(PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
-void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
+void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
 void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
+void createMiscComponents();
+
 void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
+void testAcsBrdAss(AcsBoardAssembly* assAss);
+
 };  // namespace ObjectFactory
 
 #endif /* BSP_Q7S_OBJECTFACTORY_H_ */

bsp_q7s/core/ParameterHandler.cpp

@@ -1,5 +0,0 @@
-#include "ParameterHandler.h"
-
-ParameterHandler::ParameterHandler(std::string mountPrefix) : mountPrefix(mountPrefix) {}
-
-void ParameterHandler::setMountPrefix(std::string prefix) { mountPrefix = prefix; }

bsp_q7s/core/ParameterHandler.h

@@ -1,20 +0,0 @@
-#ifndef BSP_Q7S_CORE_PARAMETERHANDLER_H_
-#define BSP_Q7S_CORE_PARAMETERHANDLER_H_
-
-#include <nlohmann/json.hpp>
-#include <string>
-
-class ParameterHandler {
- public:
-  ParameterHandler(std::string mountPrefix);
-
-  void setMountPrefix(std::string prefix);
-
-  void setUpDummyParameter();
-
- private:
-  std::string mountPrefix;
-  DummyParameter dummyParam;
-};
-
-#endif /* BSP_Q7S_CORE_PARAMETERHANDLER_H_ */

bsp_q7s/em/CMakeLists.txt

@@ -0,0 +1 @@
+target_sources(${OBSW_NAME} PRIVATE emObjectFactory.cpp)

bsp_q7s/em/emObjectFactory.cpp

@@ -0,0 +1,71 @@
+#include <fsfw/health/HealthTableIF.h>
+
+#include "OBSWConfig.h"
+#include "bsp_q7s/core/CoreController.h"
+#include "bsp_q7s/core/ObjectFactory.h"
+#include "busConf.h"
+#include "commonObjects.h"
+#include "devConf.h"
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "linux/ObjectFactory.h"
+#include "linux/callbacks/gpioCallbacks.h"
+#include "mission/core/GenericFactory.h"
+
+void ObjectFactory::produce(void* args) {
+  ObjectFactory::setStatics();
+  HealthTableIF* healthTable = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable);
+
+  LinuxLibgpioIF* gpioComIF = nullptr;
+  UartComIF* uartComIF = nullptr;
+  SpiComIF* spiMainComIF = nullptr;
+  I2cComIF* i2cComIF = nullptr;
+  PowerSwitchIF* pwrSwitcher = nullptr;
+  SpiComIF* spiRwComIF = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  createTmpComponents();
+  new CoreController(objects::CORE_CONTROLLER);
+
+  gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPcduComponents(gpioComIF, &pwrSwitcher);
+  createRadSensorComponent(gpioComIF);
+  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+
+#if OBSW_ADD_ACS_BOARD == 1
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+#endif
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
+  createSolarArrayDeploymentComponents();
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
+#if OBSW_ADD_SYRLINKS == 1
+#if OBSW_Q7S_EM == 1
+  createSyrlinksComponents(nullptr);
+#else
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_Q7S_EM == 1 */
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
+  createPayloadComponents(gpioComIF);
+
+#if OBSW_ADD_MGT == 1
+  createImtqComponents(pwrSwitcher);
+#endif
+  createReactionWheelComponents(gpioComIF, pwrSwitcher);
+
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  createBpxBatteryComponent();
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  createStrComponents(pwrSwitcher);
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+#if OBSW_USE_CCSDS_IP_CORE == 1
+  createCcsdsComponents(gpioComIF);
+#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+  /* Test Task */
+#if OBSW_ADD_TEST_CODE == 1
+  createTestComponents(gpioComIF);
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+  createMiscComponents();
+}

bsp_q7s/fmObjectFactory.cpp

@@ -0,0 +1,66 @@
+#include "OBSWConfig.h"
+#include "bsp_q7s/core/CoreController.h"
+#include "bsp_q7s/core/ObjectFactory.h"
+#include "busConf.h"
+#include "commonObjects.h"
+#include "devConf.h"
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "linux/ObjectFactory.h"
+#include "linux/callbacks/gpioCallbacks.h"
+#include "mission/core/GenericFactory.h"
+
+void ObjectFactory::produce(void* args) {
+  ObjectFactory::setStatics();
+  HealthTableIF* healthTable = nullptr;
+  ObjectFactory::produceGenericObjects(&healthTable);
+
+  LinuxLibgpioIF* gpioComIF = nullptr;
+  UartComIF* uartComIF = nullptr;
+  SpiComIF* spiMainComIF = nullptr;
+  I2cComIF* i2cComIF = nullptr;
+  PowerSwitchIF* pwrSwitcher = nullptr;
+  SpiComIF* spiRwComIF = nullptr;
+  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
+  createTmpComponents();
+  new CoreController(objects::CORE_CONTROLLER);
+
+  gpioCallbacks::disableAllDecoder(gpioComIF);
+  createPcduComponents(gpioComIF, &pwrSwitcher);
+  createRadSensorComponent(gpioComIF);
+  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+
+#if OBSW_ADD_ACS_BOARD == 1
+  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
+#endif
+  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
+  createSolarArrayDeploymentComponents();
+  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
+#if OBSW_ADD_SYRLINKS == 1
+  createSyrlinksComponents(pwrSwitcher);
+#endif /* OBSW_ADD_SYRLINKS == 1 */
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
+  createPayloadComponents(gpioComIF);
+
+#if OBSW_ADD_MGT == 1
+  createImtqComponents(pwrSwitcher);
+#endif
+  createReactionWheelComponents(gpioComIF, pwrSwitcher);
+
+#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
+  createBpxBatteryComponent();
+#endif
+
+#if OBSW_ADD_STAR_TRACKER == 1
+  createStrComponents(pwrSwitcher);
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+#if OBSW_USE_CCSDS_IP_CORE == 1
+  createCcsdsComponents(gpioComIF);
+#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+  /* Test Task */
+#if OBSW_ADD_TEST_CODE == 1
+  createTestComponents(gpioComIF);
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+  createMiscComponents();
+  createThermalController();
+}

bsp_q7s/main.cpp

@@ -1,7 +1,7 @@
 #include "q7sConfig.h"
 
 #if Q7S_SIMPLE_MODE == 0
-#include "core/obsw.h"
+#include "obsw.h"
 #else
 #include "simple/simple.h"
 #endif

bsp_q7s/memory/CMakeLists.txt

@@ -1,6 +1,2 @@
-target_sources(${OBSW_NAME} PRIVATE
-    FileSystemHandler.cpp
-    SdCardManager.cpp
-    scratchApi.cpp
-    FilesystemHelper.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE FileSystemHandler.cpp SdCardManager.cpp
+                                    scratchApi.cpp FilesystemHelper.cpp)

bsp_q7s/memory/FileSystemHandler.cpp

@@ -70,9 +70,8 @@ void FileSystemHandler::fileSystemHandlerLoop() {
 
 void FileSystemHandler::fileSystemCheckup() {
   SdCardManager::SdStatePair statusPair;
-  sdcMan->getSdCardActiveStatus(statusPair);
-  sd::SdCard preferredSdCard;
-  sdcMan->getPreferredSdCard(preferredSdCard);
+  sdcMan->getSdCardsStatus(statusPair);
+  sd::SdCard preferredSdCard = sdcMan->getPreferredSdCard();
   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
@@ -109,11 +108,7 @@ ReturnValue_t FileSystemHandler::initialize() {
                << std::endl;
   }
   sdcMan = SdCardManager::instance();
-  sd::SdCard preferredSdCard;
-  ReturnValue_t result = sdcMan->getPreferredSdCard(preferredSdCard);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
+  sd::SdCard preferredSdCard = sdcMan->getPreferredSdCard();
   if (preferredSdCard == sd::SdCard::SLOT_0) {
     currentMountPrefix = SdCardManager::SD_0_MOUNT_POINT;
   } else if (preferredSdCard == sd::SdCard::SLOT_1) {

bsp_q7s/memory/FilesystemHelper.cpp

@@ -8,8 +8,6 @@
 
 FilesystemHelper::FilesystemHelper() {}
 
-FilesystemHelper::~FilesystemHelper() {}
-
 ReturnValue_t FilesystemHelper::checkPath(std::string path) {
   SdCardManager* sdcMan = SdCardManager::instance();
   if (sdcMan == nullptr) {

bsp_q7s/memory/FilesystemHelper.h

@@ -7,7 +7,7 @@
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
- * @brief   This class implements often used functions concerning the file system management.
+ * @brief   This class implements often used functions related to the file system management.
  *
  * @author  J. Meier
  */
@@ -20,11 +20,8 @@ class FilesystemHelper : public HasReturnvaluesIF {
   //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
   static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
 
-  FilesystemHelper();
-  virtual ~FilesystemHelper();
-
   /**
-   * @brief   In case the path points to a directory on the sd card the function checks if the
+   * @brief   In case the path points to a directory on the sd card, the function checks if the
    *          appropriate SD card is mounted.
    *
    * @param path  Path to check
@@ -39,11 +36,14 @@ class FilesystemHelper : public HasReturnvaluesIF {
   /**
    * @brief   Checks if the file exists on the filesystem.
    *
-   * param file   File to check
+   * @param file   File to check
    *
-   * @return  RETURN_OK if fiel exists, otherwise return error code.
+   * @return  RETURN_OK if file exists, otherwise return error code.
    */
   static ReturnValue_t fileExists(std::string file);
+
+ private:
+  FilesystemHelper();
 };
 
 #endif /* BSP_Q7S_MEMORY_FILESYSTEMHELPER_H_ */

bsp_q7s/memory/SdCardManager.cpp

@@ -16,23 +16,51 @@
 #include "linux/utility/utility.h"
 #include "scratchApi.h"
 
-SdCardManager* SdCardManager::factoryInstance = nullptr;
+SdCardManager* SdCardManager::INSTANCE = nullptr;
 
 SdCardManager::SdCardManager() : SystemObject(objects::SDC_MANAGER), cmdExecutor(256) {
   mutex = MutexFactory::instance()->createMutex();
+  ReturnValue_t result = mutex->lockMutex();
+  if (result != RETURN_OK) {
+    sif::error << "SdCardManager::SdCardManager: Mutex lock failed" << std::endl;
+  }
+  uint8_t prefSdRaw = 0;
+  result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdRaw);
+  result = mutex->unlockMutex();
+  if (result != RETURN_OK) {
+    sif::error << "SdCardManager::SdCardManager: Mutex unlock failed" << std::endl;
+  }
+
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result == scratch::KEY_NOT_FOUND) {
+      sif::warning << "CoreController::sdCardInit: "
+                      "Preferred SD card not set. Setting to 0"
+                   << std::endl;
+      setPreferredSdCard(sd::SdCard::SLOT_0);
+      sdInfo.pref = sd::SdCard::SLOT_0;
+    } else {
+      // Should not happen.
+      // TODO: Maybe trigger event?
+      sif::error << "SdCardManager::SdCardManager: Reading preferred SD card from scratch"
+                    "buffer failed"
+                 << std::endl;
+      sdInfo.pref = sd::SdCard::SLOT_0;
+    }
+  }
+  sdInfo.pref = static_cast<sd::SdCard>(prefSdRaw);
 }
 
 SdCardManager::~SdCardManager() {}
 
 void SdCardManager::create() {
-  if (factoryInstance == nullptr) {
-    factoryInstance = new SdCardManager();
+  if (INSTANCE == nullptr) {
+    INSTANCE = new SdCardManager();
   }
 }
 
 SdCardManager* SdCardManager::instance() {
   SdCardManager::create();
-  return SdCardManager::factoryInstance;
+  return SdCardManager::INSTANCE;
 }
 
 ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCard,
@@ -51,7 +79,7 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
   if (statusPair == nullptr) {
     sdStatusPtr = std::make_unique<SdStatePair>();
     statusPair = sdStatusPtr.get();
-    result = getSdCardActiveStatus(*statusPair);
+    result = getSdCardsStatus(*statusPair);
     if (result != HasReturnvaluesIF::RETURN_OK) {
       return result;
     }
@@ -98,7 +126,7 @@ ReturnValue_t SdCardManager::switchOnSdCard(sd::SdCard sdCard, bool doMountSdCar
 ReturnValue_t SdCardManager::switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard,
                                              SdStatePair* statusPair) {
   std::pair<sd::SdState, sd::SdState> active;
-  ReturnValue_t result = getSdCardActiveStatus(active);
+  ReturnValue_t result = getSdCardsStatus(active);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
@@ -165,7 +193,7 @@ ReturnValue_t SdCardManager::setSdCardState(sd::SdCard sdCard, bool on) {
   return result;
 }
 
-ReturnValue_t SdCardManager::getSdCardActiveStatus(SdStatePair& active) {
+ReturnValue_t SdCardManager::getSdCardsStatus(SdStatePair& active) {
   using namespace std;
   MutexGuard mg(mutex);
   if (not filesystem::exists(SD_STATE_FILE)) {
@@ -273,14 +301,14 @@ ReturnValue_t SdCardManager::sanitizeState(SdStatePair* statusPair, sd::SdCard p
     resetNonBlockingState = true;
   }
   if (prefSdCard == sd::SdCard::NONE) {
-    result = getPreferredSdCard(prefSdCard);
+    result = getPreferredSdCard();
     if (result != HasReturnvaluesIF::RETURN_OK) {
     }
   }
   if (statusPair == nullptr) {
     sdStatusPtr = std::make_unique<SdStatePair>();
     statusPair = sdStatusPtr.get();
-    getSdCardActiveStatus(*statusPair);
+    getSdCardsStatus(*statusPair);
   }
 
   if (statusPair->first == sd::SdState::ON) {
@@ -351,20 +379,21 @@ void SdCardManager::processSdStatusLine(std::pair<sd::SdState, sd::SdState>& act
   idx++;
 }
 
-ReturnValue_t SdCardManager::getPreferredSdCard(sd::SdCard& sdCard) const {
-  uint8_t prefSdCard = 0;
-  ReturnValue_t result = scratch::readNumber(scratch::PREFERED_SDC_KEY, prefSdCard);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
+sd::SdCard SdCardManager::getPreferredSdCard() const {
+  MutexGuard mg(mutex);
+  auto res = mg.getLockResult();
+  if (res != RETURN_OK) {
+    sif::error << "SdCardManager::getPreferredSdCard: Lock error" << std::endl;
   }
-  sdCard = static_cast<sd::SdCard>(prefSdCard);
-  return HasReturnvaluesIF::RETURN_OK;
+  return sdInfo.pref;
 }
 
 ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
+  MutexGuard mg(mutex);
   if (sdCard == sd::SdCard::BOTH) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
+  sdInfo.pref = sdCard;
   return scratch::writeNumber(scratch::PREFERED_SDC_KEY, static_cast<uint8_t>(sdCard));
 }
 
@@ -383,14 +412,9 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
   return result;
 }
 
-std::string SdCardManager::getCurrentMountPrefix(sd::SdCard prefSdCard) {
-  if (prefSdCard == sd::SdCard::NONE) {
-    ReturnValue_t result = getPreferredSdCard(prefSdCard);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      return SD_0_MOUNT_POINT;
-    }
-  }
-  if (prefSdCard == sd::SdCard::SLOT_0) {
+std::string SdCardManager::getCurrentMountPrefix() const {
+  MutexGuard mg(mutex);
+  if (sdInfo.active == sd::SdCard::SLOT_0) {
     return SD_0_MOUNT_POINT;
   } else {
     return SD_1_MOUNT_POINT;
@@ -443,7 +467,7 @@ void SdCardManager::setPrintCommandOutput(bool print) { this->printCmdOutput = p
 
 bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
   SdCardManager::SdStatePair active;
-  ReturnValue_t result = this->getSdCardActiveStatus(active);
+  ReturnValue_t result = this->getSdCardsStatus(active);
 
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::debug << "SdCardManager::isSdCardMounted: Failed to get SD card active state";
@@ -466,3 +490,68 @@ bool SdCardManager::isSdCardMounted(sd::SdCard sdCard) {
   }
   return false;
 }
+
+ReturnValue_t SdCardManager::isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly) {
+  std::ostringstream command;
+  if (sdcard == sd::SdCard::SLOT_0) {
+    command << "grep -q '" << SD_0_MOUNT_POINT << " vfat ro,' /proc/mounts";
+  } else {
+    command << "grep -q '" << SD_1_MOUNT_POINT << " vfat ro,' /proc/mounts";
+  }
+  ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = cmdExecutor.execute();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    int exitStatus = cmdExecutor.getLastError();
+    if (exitStatus == 1) {
+      readOnly = false;
+      return RETURN_OK;
+    }
+    return result;
+  }
+  auto& readVec = cmdExecutor.getReadVector();
+  size_t readLen = strnlen(readVec.data(), readVec.size());
+  if (readLen == 0) {
+    readOnly = false;
+  }
+  readOnly = true;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SdCardManager::remountReadWrite(sd::SdCard sdcard) {
+  std::ostringstream command;
+  if (sdcard == sd::SdCard::SLOT_0) {
+    command << "mount -o remount,rw " << SD_0_DEV_NAME << " " << SD_0_MOUNT_POINT;
+  } else {
+    command << "mount -o remount,rw " << SD_1_DEV_NAME << " " << SD_1_MOUNT_POINT;
+  }
+  ReturnValue_t result = cmdExecutor.load(command.str(), true, false);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return cmdExecutor.execute();
+}
+
+ReturnValue_t SdCardManager::performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError) {
+  std::ostringstream command;
+  if (sdcard == sd::SdCard::SLOT_0) {
+    command << "fsck -y " << SD_0_DEV_NAME;
+  } else {
+    command << "fsck -y " << SD_1_DEV_NAME;
+  }
+  ReturnValue_t result = cmdExecutor.load(command.str(), true, printOutput);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = cmdExecutor.execute();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    linuxError = cmdExecutor.getLastError();
+  }
+  return result;
+}
+
+void SdCardManager::setActiveSdCard(sd::SdCard sdCard) { sdInfo.active = sdCard; }
+
+sd::SdCard SdCardManager::getActiveSdCard() const { return sdInfo.active; }

bsp_q7s/memory/SdCardManager.h

@@ -24,7 +24,7 @@ class MutexIF;
  * @brief   Manages handling of SD cards like switching them on or off or getting the current
  *          state
  */
-class SdCardManager : public SystemObject, public SdCardMountedIF {
+class SdCardManager : public SystemObject, public HasReturnvaluesIF, public SdCardMountedIF {
   friend class SdCardAccess;
 
  public:
@@ -36,6 +36,12 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
 
   using SdStatePair = std::pair<sd::SdState, sd::SdState>;
 
+  struct SdInfo {
+    sd::SdCard pref = sd::SdCard::NONE;
+    sd::SdCard other = sd::SdCard::NONE;
+    sd::SdCard active = sd::SdCard::NONE;
+  } sdInfo;
+
   static constexpr uint8_t INTERFACE_ID = CLASS_ID::SD_CARD_MANAGER;
 
   static constexpr ReturnValue_t OP_ONGOING = HasReturnvaluesIF::makeReturnCode(INTERFACE_ID, 0);
@@ -91,7 +97,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param sdCard
    * @return
    */
-  ReturnValue_t getPreferredSdCard(sd::SdCard& sdCard) const override;
+  sd::SdCard getPreferredSdCard() const override;
 
   /**
    * Switch on the specified SD card.
@@ -138,7 +144,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    *           should call #updateSdCardStateFile again in that case
    *         - STATUS_FILE_NEXISTS if the status file does not exist
    */
-  ReturnValue_t getSdCardActiveStatus(SdStatePair& active);
+  ReturnValue_t getSdCardsStatus(SdStatePair& active);
 
   /**
    * Mount the specified SD card. This is necessary to use it.
@@ -146,6 +152,20 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @return
    */
   ReturnValue_t mountSdCard(sd::SdCard sdCard);
+
+  /**
+   * Set the currently active SD card. This does not necessarily mean that the SD card is on or
+   * mounted
+   * @param sdCard
+   */
+  void setActiveSdCard(sd::SdCard sdCard) override;
+  /**
+   * Get the currently active SD card. This does not necessarily mean that the SD card is on or
+   * mounted
+   * @return
+   */
+  sd::SdCard getActiveSdCard() const override;
+
   /**
    * Unmount the specified SD card. This is recommended before switching it off. The SD card
    * can't be used after it has been unmounted.
@@ -173,7 +193,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    * @param prefSdCardPtr
    * @return
    */
-  std::string getCurrentMountPrefix(sd::SdCard prefSdCardPtr = sd::SdCard::NONE) override;
+  std::string getCurrentMountPrefix() const override;
 
   OpStatus checkCurrentOp(Operations& currentOp);
 
@@ -194,6 +214,12 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
    */
   bool isSdCardMounted(sd::SdCard sdCard) override;
 
+  ReturnValue_t isSdCardMountedReadOnly(sd::SdCard sdcard, bool& readOnly);
+
+  ReturnValue_t remountReadWrite(sd::SdCard sdcard);
+
+  ReturnValue_t performFsck(sd::SdCard sdcard, bool printOutput, int& linuxError);
+
  private:
   CommandExecutor cmdExecutor;
   Operations currentOp = Operations::IDLE;
@@ -210,7 +236,7 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
 
   std::string currentPrefix;
 
-  static SdCardManager* factoryInstance;
+  static SdCardManager* INSTANCE;
 };
 
 #endif /* BSP_Q7S_MEMORY_SDCARDACCESSMANAGER_H_ */

bsp_q7s/memory/scratchApi.h

@@ -76,12 +76,12 @@ ReturnValue_t readToFile(std::string name, std::ifstream& file, std::string& fil
   int result = std::system(oss.str().c_str());
   if (result != 0) {
     if (WEXITSTATUS(result) == 1) {
-      sif::warning << "scratch::readNumber: Key " << name << " does not exist" << std::endl;
+      sif::warning << "scratch::readToFile: Key " << name << " does not exist" << std::endl;
       // Could not find value
       std::remove(filename.c_str());
       return KEY_NOT_FOUND;
     } else {
-      utility::handleSystemError(result, "scratch::readNumber");
+      utility::handleSystemError(result, "scratch::readToFile");
       std::remove(filename.c_str());
       return HasReturnvaluesIF::RETURN_FAILED;
     }

bsp_q7s/obsw.cpp

@@ -3,25 +3,26 @@
 #include <filesystem>
 #include <iostream>
 
-#include "InitMission.h"
 #include "OBSWConfig.h"
-#include "OBSWVersion.h"
+#include "commonConfig.h"
+#include "core/InitMission.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/version.h"
-#include "watchdogConf.h"
+#include "q7sConfig.h"
+#include "watchdog/definitions.h"
 
 static int OBSW_ALREADY_RUNNING = -2;
-
+#if OBSW_Q7S_EM == 0
+static const char* DEV_STRING = "Xiphos Q7S FM";
+#else
+static const char* DEV_STRING = "Xiphos Q7S EM";
+#endif
 int obsw::obsw() {
   using namespace fsfw;
   std::cout << "-- EIVE OBSW --" << std::endl;
-#ifdef TE0720_1CFA
-  std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
-#else
-  std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
-#endif
-  std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION << "." << SW_REVISION << ", FSFW v"
-            << FSFW_VERSION << "--" << std::endl;
+  std::cout << "-- Compiled for Linux (" << DEV_STRING << ") --" << std::endl;
+  std::cout << "-- OBSW v" << common::OBSW_VERSION << " | FSFW v" << fsfw::FSFW_VERSION << " --"
+            << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
 #if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1

bsp_q7s/simple/CMakeLists.txt

@@ -1,3 +1 @@
-target_sources(${SIMPLE_OBSW_NAME} PRIVATE
-    simple.cpp
-)
+target_sources(${SIMPLE_OBSW_NAME} PRIVATE simple.cpp)

bsp_q7s/xadc/CMakeLists.txt

@@ -1,3 +1 @@
-target_sources(${OBSW_NAME} PRIVATE
-    Xadc.cpp
-)
+target_sources(${OBSW_NAME} PRIVATE Xadc.cpp)

bsp_te0720_1cfa/InitMission.cpp

@@ -82,20 +82,49 @@ void initmission::initTasks() {
 
   std::vector<PeriodicTaskIF*> pstTasks;
   FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
-      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstUart(pst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
   }
   pstTasks.push_back(pst);
 
+#if OBSW_ADD_PLOC_MPSOC == 1
   PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
       "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
   }
-  pstTasks.push_back(mpsocHelperTask);
+#endif /* OBSW_ADD_PLOC_MPSOC == 1*/
+
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
+      "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
+  }
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+
+#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 */
 
   auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
     for (const auto& task : taskVector) {
@@ -111,6 +140,16 @@ void initmission::initTasks() {
   tmtcDistributor->startTask();
   tmtcBridgeTask->startTask();
   tmtcPollingTask->startTask();
+#if OBSW_USE_CCSDS_IP_CORE == 1
+  pdecHandlerTask->startTask();
+  ccsdsHandlerTask->startTask();
+#endif /* #if OBSW_USE_CCSDS_IP_CORE == 1 */
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  supvHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
+#if OBSW_ADD_PLOC_MPSOC == 1
+  mpsocHelperTask->startTask();
+#endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 
   taskStarter(pstTasks, "PST Tasks");
   taskStarter(pusTasks, "PUS Tasks");

bsp_te0720_1cfa/InitMission.h

@@ -3,7 +3,7 @@
 
 #include <vector>
 
-#include "fsfw/tasks/Typedef.h"
+#include "fsfw/tasks/definitions.h"
 
 class PeriodicTaskIF;
 class TaskFactory;

bsp_te0720_1cfa/OBSWConfig.h.in

@@ -6,72 +6,19 @@
 #ifndef FSFWCONFIG_OBSWCONFIG_H_
 #define FSFWCONFIG_OBSWCONFIG_H_
 
-#cmakedefine RASPBERRY_PI
-#cmakedefine XIPHOS_Q7S
-#cmakedefine BEAGLEBONEBLACK
-#cmakedefine EGSE
-#cmakedefine TE0720_1CFA
-
 #include "commonConfig.h"
 #include "OBSWVersion.h"
-
-/* These defines should be disabled for mission code but are useful for
-debugging. */
-#define OBSW_VERBOSE_LEVEL                          1
-                             
-#define Q7S_EM                                      0
-
+    
 /*******************************************************************/
 /** All of the following flags should be enabled for mission code  */
 /*******************************************************************/
 
-//! Timers can mess up the code when debugging
-//! All of this should be enabled for mission code!
-#if defined XIPHOS_Q7S
-
-#define Q7S_EM                                      0
-
-#define OBSW_USE_CCSDS_IP_CORE                      1
-// 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
-
-#define OBSW_ENABLE_TIMERS                          1
-#define OBSW_ADD_MGT                                1
-#define OBSW_ADD_BPX_BATTERY_HANDLER                1
-#define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
-#define OBSW_ADD_PLOC_SUPERVISOR                    0
-#define OBSW_ADD_PLOC_MPSOC                         0
-#define OBSW_ADD_SUN_SENSORS                        1
-#define OBSW_ADD_ACS_BOARD                          1
-#define OBSW_ADD_ACS_HANDLERS                       1
-#define OBSW_ADD_RW                                 0
-#define OBSW_ADD_RTD_DEVICES                        1
-#define OBSW_ADD_TMP_DEVICES                        0
-#define OBSW_ADD_RAD_SENSORS                        1
-#define OBSW_ADD_PL_PCDU                            0
-#define OBSW_ADD_SYRLINKS                           0
-#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
-#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
-
-#endif // XIPHOS_Q7S
-
-// This is a really tricky switch.. It initializes the PCDU switches to their default states
-// at powerup. I think it would be better
-// to leave it off for now. It makes testing a lot more difficult and it might mess with
-// something the operators might want to do by giving the software too much intelligence
-// at the wrong place. The system component might command all the Switches accordingly anyway
-#define OBSW_INITIALIZE_SWITCHES                    0
-#define OBSW_ENABLE_PERIODIC_HK                     0
-
-#ifdef TE0720_1CFA
-
 #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
+
 #define OBSW_ENABLE_TIMERS                          1
 #define OBSW_ADD_MGT                                0
 #define OBSW_ADD_BPX_BATTERY_HANDLER                0
@@ -88,13 +35,18 @@ debugging. */
 #define OBSW_ADD_PL_PCDU                            0
 #define OBSW_ADD_SYRLINKS                           0
 #define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT       0
-#define OBSW_SYRLINKS_SIMULATED										  1
+#define OBSW_SYRLINKS_SIMULATED                     1
 #define OBSW_STAR_TRACKER_GROUND_CONFIG             1
-#define OBSW_ENABLE_PERIODIC_HK                     0
-#define OBSW_PRINT_CORE_HK													0
+#define OBSW_PRINT_CORE_HK                          0
 #define OBSW_INITIALIZE_SWITCHES                    0
 
-#endif
+// This is a really tricky switch.. It initializes the PCDU switches to their default states
+// at powerup. I think it would be better
+// to leave it off for now. It makes testing a lot more difficult and it might mess with
+// something the operators might want to do by giving the software too much intelligence
+// at the wrong place. The system component might command all the Switches accordingly anyway
+#define OBSW_INITIALIZE_SWITCHES                    0
+#define OBSW_ENABLE_PERIODIC_HK                     0
 
 /*******************************************************************/
 /** All of the following flags should be disabled for mission code */
@@ -115,7 +67,6 @@ debugging. */
 #define OBSW_ADD_UART_TEST_CODE                     0
 
 #define OBSW_TEST_ACS                               0
-#define OBSW_TEST_ACS_BOARD_ASS                     0
 #define OBSW_DEBUG_ACS                              0
 #define OBSW_TEST_SUS                               0
 #define OBSW_DEBUG_SUS                              0
@@ -127,6 +78,10 @@ debugging. */
 #define OBSW_DEBUG_PL_PCDU                          0
 #define OBSW_TEST_BPX_BATT                          0
 #define OBSW_DEBUG_BPX_BATT                         0
+#define OBSW_TEST_IMTQ                              0
+#define OBSW_DEBUG_IMTQ                             0
+#define OBSW_TEST_RW                                0
+#define OBSW_DEBUG_RW                               0
 
 #define OBSW_TEST_LIBGPIOD                          0
 #define OBSW_TEST_PLOC_HANDLER                      0
@@ -143,58 +98,22 @@ debugging. */
 #define OBSW_DEBUG_GPS                              0
 #define OBSW_DEBUG_ACU                              0
 #define OBSW_DEBUG_SYRLINKS                         0
-#define OBSW_DEBUG_IMTQ                             0
-#define OBSW_DEBUG_RW                               0
-#define OBSW_DEBUG_PDEC_HANDLER	                    0
 
-#ifdef TE0720_1CFA
+#define OBSW_DEBUG_PDEC_HANDLER                     0
+
 #define OBSW_DEBUG_PLOC_SUPERVISOR                  1
 #define OBSW_DEBUG_PLOC_MPSOC                       1
-#else 
-#define OBSW_DEBUG_PLOC_SUPERVISOR                  0
-#define OBSW_DEBUG_PLOC_MPSOC                       0
-#endif 
 
-#ifdef EGSE
-#define OBSW_DEBUG_STARTRACKER                      1
-#else
 #define OBSW_DEBUG_STARTRACKER                      0
-#endif
-
-#ifdef RASPBERRY_PI
-
-#define OBSW_ENABLE_TIMERS                          1
-#define OBSW_ADD_STAR_TRACKER                       0
-#define OBSW_ADD_PLOC_SUPERVISOR                    0
-#define OBSW_ADD_PLOC_MPSOC                         0
-#define OBSW_ADD_SUN_SENSORS                        0
-#define OBSW_ADD_MGT                                0
-#define OBSW_ADD_ACS_BOARD                          0
-#define OBSW_ADD_GPS_0                              0
-#define OBSW_ADD_GPS_1                              0
-#define OBSW_ADD_RW                                 0
-#define OBSW_ADD_BPX_BATTERY_HANDLER                0
-#define OBSW_ADD_RTD_DEVICES                        0
-#define OBSW_ADD_PL_PCDU                            0
-#define OBSW_ADD_TMP_DEVICES                        0
-#define OBSW_ADD_RAD_SENSORS                        0
-#define OBSW_ADD_SYRLINKS                           0
-#define OBSW_STAR_TRACKER_GROUND_CONFIG             1
-
-#endif // RASPBERRY_PI
-
-#define TCP_SERVER_WIRETAPPING                      0
+#define OBSW_TCP_SERVER_WIRETAPPING                 0
 
 /*******************************************************************/
 /** CMake Defines                                                  */
 /*******************************************************************/
 #cmakedefine EIVE_BUILD_GPSD_GPS_HANDLER
 
-#ifdef RASPBERRY_PI
-#include "rpiConfig.h"
-#elif defined(XIPHOS_Q7S)
-#include "q7sConfig.h"
-#endif
+#cmakedefine LIBGPS_VERSION_MAJOR @LIBGPS_VERSION_MAJOR@
+#cmakedefine LIBGPS_VERSION_MINOR @LIBGPS_VERSION_MINOR@
 
 #ifdef __cplusplus
 

bsp_te0720_1cfa/ObjectFactory.cpp

@@ -1,27 +1,38 @@
 #include "ObjectFactory.h"
 
-#include <devConf.h>
-#include "fsfw_hal/linux/uart/UartComIF.h"
-#include "fsfw_hal/linux/i2c/I2cComIF.h"
-#include "fsfw_hal/linux/uart/UartCookie.h"
-
 #include "OBSWConfig.h"
 #include "busConf.h"
 #include "devConf.h"
+#include "ccsdsConfig.h"
+#include "devices/addresses.h"
+#include "devices/gpioIds.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 #include "fsfw/tmtcservices/PusServiceBase.h"
+#include "fsfw_hal/linux/i2c/I2cComIF.h"
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
+#include "fsfw_hal/linux/uart/UartComIF.h"
+#include "fsfw_hal/linux/uart/UartCookie.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "linux/ObjectFactory.h"
 #include "linux/devices/ploc/PlocMPSoCHandler.h"
 #include "linux/devices/ploc/PlocMPSoCHelper.h"
-#include "mission/devices/Tmp1075Handler.h"
+#include "linux/devices/ploc/PlocMemoryDumper.h"
+#include "linux/devices/ploc/PlocSupervisorHandler.h"
+#include "linux/devices/ploc/PlocSupvHelper.h"
+#include "linux/obc/AxiPtmeConfig.h"
+#include "linux/obc/PapbVcInterface.h"
+#include "linux/obc/PdecHandler.h"
+#include "linux/obc/Ptme.h"
+#include "linux/obc/PtmeConfig.h"
 #include "mission/core/GenericFactory.h"
-#include "mission/utility/TmFunnel.h"
-#include "test/gpio/DummyGpioIF.h"
+#include "mission/devices/Tmp1075Handler.h"
+#include "mission/tmtc/TmFunnel.h"
+#include "mission/tmtc/CCSDSHandler.h"
+#include "mission/tmtc/VirtualChannel.h"
 #include "objects/systemObjectList.h"
-#include "devices/addresses.h"
-#include "devices/gpioIds.h"
+#include "test/gpio/DummyGpioIF.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 
@@ -32,7 +43,11 @@ void Factory::setStaticFrameworkObjectIds() {
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
   CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
+#if OBSW_TM_TO_PTME == 1
+  TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
+#else
   TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
+#endif
   TmFunnel::storageDestination = objects::NO_OBJECT;
 
   VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
@@ -43,20 +58,36 @@ void ObjectFactory::produce(void* args) {
   Factory::setStaticFrameworkObjectIds();
   ObjectFactory::produceGenericObjects();
 
+  LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);;
+  new UartComIF(objects::UART_COM_IF);
+
 #if OBSW_ADD_PLOC_MPSOC == 1
-  UartCookie* mpsocUartCookie =
-      new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART, UartModes::NON_CANONICAL,
-                     uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
+  UartCookie* mpsocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART,
+                                               uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
   mpsocUartCookie->setNoFixedSizeReply();
   PlocMPSoCHelper* plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
-  new UartComIF(objects::UART_COM_IF);
   auto dummyGpioIF = new DummyGpioIF();
-  PlocMPSoCHandler* plocMPSoCHandler =
-      new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie,
-                           plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF));
+  PlocMPSoCHandler* plocMPSoCHandler = new PlocMPSoCHandler(
+      objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie, plocMpsocHelper,
+      Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF), objects::PLOC_SUPERVISOR_HANDLER);
   plocMPSoCHandler->setStartUpImmediately();
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 
+#if OBSW_ADD_PLOC_SUPERVISOR == 1
+  UartCookie* supervisorCookie =
+      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
+                     uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20);
+  supervisorCookie->setNoFixedSizeReply();
+  auto supvGpioIF = new DummyGpioIF();
+  auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
+  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
+                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, supvGpioIF),
+                            pcdu::PDU1_CH6_PLOC_12V, supvHelper);
+
+#endif
+
+  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
+
 #if OBSW_TEST_LIBGPIOD == 1
 #if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
   /* Configure MIO0 as input */
@@ -87,21 +118,6 @@ void ObjectFactory::produce(void* args) {
   new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_0);
 #endif
 
-#if OBSW_TEST_CCSDS_BRIDGE == 1
-  GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
-  GpiodRegular* papbBusyN =
-      new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_VC0"));
-  gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
-  GpiodRegular* papbEmpty =
-      new GpiodRegular(std::string("gpiochip0"), 1, std::string("PAPBEmpty_VC0"));
-  gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_EMPTY, papbEmpty);
-  gpioComIF->addGpios(gpioCookieCcsdsIp);
-
-  new CCSDSIPCoreBridge(objects::CCSDS_IP_CORE_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR,
-                        objects::TM_STORE, objects::TC_STORE, gpioComIF, std::string("/dev/uio0"),
-                        gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY);
-#endif
-
 #if OBSW_TEST_RAD_SENSOR == 1
   GpioCookie* gpioCookieRadSensor = new GpioCookie;
   GpiodRegular* chipSelectRadSensor = new GpiodRegular(
@@ -125,28 +141,19 @@ void ObjectFactory::produce(void* args) {
   GpioCookie* gpioCookie = new GpioCookie;
   gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
   new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
-                    pcduSwitches::TCS_BOARD_8V_HEATER_IN);
+                    pcdu::TCS_BOARD_8V_HEATER_IN);
 #endif
 
-#if OBSW_ADD_PLOC_SUPERVISOR == 1
-  /* Configuration for MIO0 on TE0720-03-1CFA */
-  UartCookie* plocSupervisorCookie =
-      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
-                     UartModes::NON_CANONICAL, 115200, PLOC_SPV::MAX_PACKET_SIZE * 20);
-  plocSupervisorCookie->setNoFixedSizeReply();
-  PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
-      objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
-  plocSupervisor->setStartUpImmediately();
-#endif
+  new I2cComIF(objects::I2C_COM_IF);
 
-new I2cComIF(objects::I2C_COM_IF);
+  I2cCookie* i2cCookieTmp1075tcs1 =
+      new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
+  I2cCookie* i2cCookieTmp1075tcs2 =
+      new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
 
-I2cCookie* i2cCookieTmp1075tcs1 =
-  new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
-I2cCookie* i2cCookieTmp1075tcs2 =
-  new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
+  /* Temperature sensors */
+  new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
+  new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
 
-/* Temperature sensors */
-new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
-new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
+  static_cast<void>(gpioComIF);
 }

bsp_te0720_1cfa/ObjectFactory.h

@@ -1,7 +1,11 @@
 #ifndef BSP_LINUX_OBJECTFACTORY_H_
 #define BSP_LINUX_OBJECTFACTORY_H_
 
+#include <stdint.h>
+#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+
 namespace ObjectFactory {
+static const uint32_t TRANSMITTER_TIMEOUT = 86400000;  // 1 day
 void produce(void* args);
 };  // namespace ObjectFactory
 

bsp_te0720_1cfa/boardconfig/busConf.h

@@ -3,9 +3,37 @@
 
 namespace te0720_1cfa {
 static constexpr char MPSOC_UART[] = "/dev/ttyPS1";
-namespace baudrate {
 
+static constexpr char UIO_PDEC_REGISTERS[] = "/dev/uio0";
+static constexpr char UIO_PTME[] = "/dev/uio1";
+static constexpr char UIO_PDEC_CONFIG_MEMORY[] = "/dev/uio2";
+static constexpr char UIO_PDEC_RAM[] = "/dev/uio3";
+static constexpr int MAP_ID_PTME_CONFIG = 3;
+
+namespace uiomapids {
+static const int PTME_VC0 = 0;
+static const int PTME_VC1 = 1;
+static const int PTME_VC2 = 2;
+static const int PTME_VC3 = 3;
+static const int PTME_CONFIG = 4;
+}  // namespace uiomapids
+
+namespace gpioNames {
+  static constexpr char PAPB_BUSY_SIGNAL_VC0[] = "papb_busy_signal_vc0";
+  static constexpr char PAPB_EMPTY_SIGNAL_VC0[] = "papb_empty_signal_vc0";
+  static constexpr char PAPB_BUSY_SIGNAL_VC1[] = "papb_busy_signal_vc1";
+  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";
 }
+
 }
 
 #endif /* BSP_EGSE_BOARDCONFIG_BUSCONF_H_ */

cmake/EiveHelpers.cmake

@@ -0,0 +1,28 @@
+# Determines the git version with git describe and returns it by setting
+# the GIT_INFO list in the parent scope. The list has the following entries
+# 1. Full version string
+# 2. Major version
+# 3. Minor version
+# 4. Revision
+# 5. git SHA hash and commits since tag
+function(determine_version_with_git)
+    include(GetGitRevisionDescription)
+    git_describe(VERSION ${ARGN})
+    string(FIND ${VERSION} "." VALID_VERSION)
+    if(VALID_VERSION EQUAL -1)
+        message(WARNING "Version string ${VERSION} retrieved with git describe is invalid")
+        return()
+    endif()
+    # Parse the version information into pieces.
+    string(REGEX REPLACE "^v([0-9]+)\\..*" "\\1" _VERSION_MAJOR "${VERSION}")
+    string(REGEX REPLACE "^v[0-9]+\\.([0-9]+).*" "\\1" _VERSION_MINOR "${VERSION}")
+    string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1" _VERSION_PATCH "${VERSION}")
+    string(REGEX REPLACE "^v[0-9]+\\.[0-9]+\\.[0-9]+-(.*)" "\\1" VERSION_SHA1 "${VERSION}")
+    set(GIT_INFO ${VERSION})
+    list(APPEND GIT_INFO ${_VERSION_MAJOR})
+    list(APPEND GIT_INFO ${_VERSION_MINOR})
+    list(APPEND GIT_INFO ${_VERSION_PATCH})
+    list(APPEND GIT_INFO ${VERSION_SHA1})
+    set(GIT_INFO ${GIT_INFO} PARENT_SCOPE)
+    message(STATUS "eive | Set git version info into GIT_INFO from the git tag ${VERSION}")
+endfunction()

cmake/GetGitRevisionDescription.cmake

@@ -0,0 +1,284 @@
+# - Returns a version string from Git
+#
+# These functions force a re-configure on each git commit so that you can
+# trust the values of the variables in your build system.
+#
+#  get_git_head_revision(<refspecvar> <hashvar> [ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR])
+#
+# Returns the refspec and sha hash of the current head revision
+#
+#  git_describe(<var> [<additional arguments to git describe> ...])
+#
+# Returns the results of git describe on the source tree, and adjusting
+# the output so that it tests false if an error occurs.
+#
+#  git_describe_working_tree(<var> [<additional arguments to git describe> ...])
+#
+# Returns the results of git describe on the working tree (--dirty option),
+# and adjusting the output so that it tests false if an error occurs.
+#
+#  git_get_exact_tag(<var> [<additional arguments to git describe> ...])
+#
+# Returns the results of git describe --exact-match on the source tree,
+# and adjusting the output so that it tests false if there was no exact
+# matching tag.
+#
+#  git_local_changes(<var>)
+#
+# Returns either "CLEAN" or "DIRTY" with respect to uncommitted changes.
+# Uses the return code of "git diff-index --quiet HEAD --".
+# Does not regard untracked files.
+#
+# Requires CMake 2.6 or newer (uses the 'function' command)
+#
+# Original Author:
+# 2009-2020 Ryan Pavlik <ryan.pavlik@gmail.com> <abiryan@ryand.net>
+# http://academic.cleardefinition.com
+#
+# Copyright 2009-2013, Iowa State University.
+# Copyright 2013-2020, Ryan Pavlik
+# Copyright 2013-2020, Contributors
+# SPDX-License-Identifier: BSL-1.0
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+
+if(__get_git_revision_description)
+    return()
+endif()
+set(__get_git_revision_description YES)
+
+# We must run the following at "include" time, not at function call time,
+# to find the path to this module rather than the path to a calling list file
+get_filename_component(_gitdescmoddir ${CMAKE_CURRENT_LIST_FILE} PATH)
+
+# Function _git_find_closest_git_dir finds the next closest .git directory
+# that is part of any directory in the path defined by _start_dir.
+# The result is returned in the parent scope variable whose name is passed
+# as variable _git_dir_var. If no .git directory can be found, the
+# function returns an empty string via _git_dir_var.
+#
+# Example: Given a path C:/bla/foo/bar and assuming C:/bla/.git exists and
+# neither foo nor bar contain a file/directory .git. This wil return
+# C:/bla/.git
+#
+function(_git_find_closest_git_dir _start_dir _git_dir_var)
+    set(cur_dir "${_start_dir}")
+    set(git_dir "${_start_dir}/.git")
+    while(NOT EXISTS "${git_dir}")
+        # .git dir not found, search parent directories
+        set(git_previous_parent "${cur_dir}")
+        get_filename_component(cur_dir "${cur_dir}" DIRECTORY)
+        if(cur_dir STREQUAL git_previous_parent)
+            # We have reached the root directory, we are not in git
+            set(${_git_dir_var}
+                ""
+                PARENT_SCOPE)
+            return()
+        endif()
+        set(git_dir "${cur_dir}/.git")
+    endwhile()
+    set(${_git_dir_var}
+        "${git_dir}"
+        PARENT_SCOPE)
+endfunction()
+
+function(get_git_head_revision _refspecvar _hashvar)
+    _git_find_closest_git_dir("${CMAKE_CURRENT_SOURCE_DIR}" GIT_DIR)
+
+    if("${ARGN}" STREQUAL "ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR")
+        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR TRUE)
+    else()
+        set(ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR FALSE)
+    endif()
+    if(NOT "${GIT_DIR}" STREQUAL "")
+        file(RELATIVE_PATH _relative_to_source_dir "${CMAKE_SOURCE_DIR}"
+             "${GIT_DIR}")
+        if("${_relative_to_source_dir}" MATCHES "[.][.]" AND NOT ALLOW_LOOKING_ABOVE_CMAKE_SOURCE_DIR)
+            # We've gone above the CMake root dir.
+            set(GIT_DIR "")
+        endif()
+    endif()
+    if("${GIT_DIR}" STREQUAL "")
+        set(${_refspecvar}
+            "GITDIR-NOTFOUND"
+            PARENT_SCOPE)
+        set(${_hashvar}
+            "GITDIR-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+
+    # Check if the current source dir is a git submodule or a worktree.
+    # In both cases .git is a file instead of a directory.
+    #
+    if(NOT IS_DIRECTORY ${GIT_DIR})
+        # The following git command will return a non empty string that
+        # points to the super project working tree if the current
+        # source dir is inside a git submodule.
+        # Otherwise the command will return an empty string.
+        #
+        execute_process(
+            COMMAND "${GIT_EXECUTABLE}" rev-parse
+                    --show-superproject-working-tree
+            WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+            OUTPUT_VARIABLE out
+            ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+        if(NOT "${out}" STREQUAL "")
+            # If out is empty, GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a submodule
+            file(READ ${GIT_DIR} submodule)
+            string(REGEX REPLACE "gitdir: (.*)$" "\\1" GIT_DIR_RELATIVE
+                                 ${submodule})
+            string(STRIP ${GIT_DIR_RELATIVE} GIT_DIR_RELATIVE)
+            get_filename_component(SUBMODULE_DIR ${GIT_DIR} PATH)
+            get_filename_component(GIT_DIR ${SUBMODULE_DIR}/${GIT_DIR_RELATIVE}
+                                   ABSOLUTE)
+            set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
+        else()
+            # GIT_DIR/CMAKE_CURRENT_SOURCE_DIR is in a worktree
+            file(READ ${GIT_DIR} worktree_ref)
+            # The .git directory contains a path to the worktree information directory
+            # inside the parent git repo of the worktree.
+            #
+            string(REGEX REPLACE "gitdir: (.*)$" "\\1" git_worktree_dir
+                                 ${worktree_ref})
+            string(STRIP ${git_worktree_dir} git_worktree_dir)
+            _git_find_closest_git_dir("${git_worktree_dir}" GIT_DIR)
+            set(HEAD_SOURCE_FILE "${git_worktree_dir}/HEAD")
+        endif()
+    else()
+        set(HEAD_SOURCE_FILE "${GIT_DIR}/HEAD")
+    endif()
+    set(GIT_DATA "${CMAKE_CURRENT_BINARY_DIR}/CMakeFiles/git-data")
+    if(NOT EXISTS "${GIT_DATA}")
+        file(MAKE_DIRECTORY "${GIT_DATA}")
+    endif()
+
+    if(NOT EXISTS "${HEAD_SOURCE_FILE}")
+        return()
+    endif()
+    set(HEAD_FILE "${GIT_DATA}/HEAD")
+    configure_file("${HEAD_SOURCE_FILE}" "${HEAD_FILE}" COPYONLY)
+
+    configure_file("${_gitdescmoddir}/GetGitRevisionDescription.cmake.in"
+                   "${GIT_DATA}/grabRef.cmake" @ONLY)
+    include("${GIT_DATA}/grabRef.cmake")
+
+    set(${_refspecvar}
+        "${HEAD_REF}"
+        PARENT_SCOPE)
+    set(${_hashvar}
+        "${HEAD_HASH}"
+        PARENT_SCOPE)
+endfunction()
+
+function(git_describe _var)
+    if(NOT GIT_FOUND)
+        find_package(Git QUIET)
+    endif()
+    get_git_head_revision(refspec hash)
+    if(NOT GIT_FOUND)
+        set(${_var}
+            "GIT-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+    if(NOT hash)
+        set(${_var}
+            "HEAD-HASH-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+
+    # TODO sanitize
+    #if((${ARGN}" MATCHES "&&") OR
+    #   (ARGN MATCHES "||") OR
+    #   (ARGN MATCHES "\\;"))
+    #   message("Please report the following error to the project!")
+    #   message(FATAL_ERROR "Looks like someone's doing something nefarious with git_describe! Passed arguments ${ARGN}")
+    #endif()
+
+    #message(STATUS "Arguments to execute_process: ${ARGN}")
+
+    execute_process(
+        COMMAND "${GIT_EXECUTABLE}" describe --tags --always ${hash} ${ARGN}
+        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+        RESULT_VARIABLE res
+        OUTPUT_VARIABLE out
+        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if(NOT res EQUAL 0)
+        set(out "${out}-${res}-NOTFOUND")
+    endif()
+
+    set(${_var}
+        "${out}"
+        PARENT_SCOPE)
+endfunction()
+
+function(git_describe_working_tree _var)
+    if(NOT GIT_FOUND)
+        find_package(Git QUIET)
+    endif()
+    if(NOT GIT_FOUND)
+        set(${_var}
+            "GIT-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+
+    execute_process(
+        COMMAND "${GIT_EXECUTABLE}" describe --dirty ${ARGN}
+        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+        RESULT_VARIABLE res
+        OUTPUT_VARIABLE out
+        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if(NOT res EQUAL 0)
+        set(out "${out}-${res}-NOTFOUND")
+    endif()
+
+    set(${_var}
+        "${out}"
+        PARENT_SCOPE)
+endfunction()
+
+function(git_get_exact_tag _var)
+    git_describe(out --exact-match ${ARGN})
+    set(${_var}
+        "${out}"
+        PARENT_SCOPE)
+endfunction()
+
+function(git_local_changes _var)
+    if(NOT GIT_FOUND)
+        find_package(Git QUIET)
+    endif()
+    get_git_head_revision(refspec hash)
+    if(NOT GIT_FOUND)
+        set(${_var}
+            "GIT-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+    if(NOT hash)
+        set(${_var}
+            "HEAD-HASH-NOTFOUND"
+            PARENT_SCOPE)
+        return()
+    endif()
+
+    execute_process(
+        COMMAND "${GIT_EXECUTABLE}" diff-index --quiet HEAD --
+        WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}"
+        RESULT_VARIABLE res
+        OUTPUT_VARIABLE out
+        ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+    if(res EQUAL 0)
+        set(${_var}
+            "CLEAN"
+            PARENT_SCOPE)
+    else()
+        set(${_var}
+            "DIRTY"
+            PARENT_SCOPE)
+    endif()
+endfunction()

cmake/GetGitRevisionDescription.cmake.in

@@ -0,0 +1,43 @@
+#
+# Internal file for GetGitRevisionDescription.cmake
+#
+# Requires CMake 2.6 or newer (uses the 'function' command)
+#
+# Original Author:
+# 2009-2010 Ryan Pavlik <rpavlik@iastate.edu> <abiryan@ryand.net>
+# http://academic.cleardefinition.com
+# Iowa State University HCI Graduate Program/VRAC
+#
+# Copyright 2009-2012, Iowa State University
+# Copyright 2011-2015, Contributors
+# Distributed under the Boost Software License, Version 1.0.
+# (See accompanying file LICENSE_1_0.txt or copy at
+# http://www.boost.org/LICENSE_1_0.txt)
+# SPDX-License-Identifier: BSL-1.0
+
+set(HEAD_HASH)
+
+file(READ "@HEAD_FILE@" HEAD_CONTENTS LIMIT 1024)
+
+string(STRIP "${HEAD_CONTENTS}" HEAD_CONTENTS)
+if(HEAD_CONTENTS MATCHES "ref")
+    # named branch
+    string(REPLACE "ref: " "" HEAD_REF "${HEAD_CONTENTS}")
+    if(EXISTS "@GIT_DIR@/${HEAD_REF}")
+        configure_file("@GIT_DIR@/${HEAD_REF}" "@GIT_DATA@/head-ref" COPYONLY)
+    else()
+        configure_file("@GIT_DIR@/packed-refs" "@GIT_DATA@/packed-refs" COPYONLY)
+        file(READ "@GIT_DATA@/packed-refs" PACKED_REFS)
+        if(${PACKED_REFS} MATCHES "([0-9a-z]*) ${HEAD_REF}")
+            set(HEAD_HASH "${CMAKE_MATCH_1}")
+        endif()
+    endif()
+else()
+    # detached HEAD
+    configure_file("@GIT_DIR@/HEAD" "@GIT_DATA@/head-ref" COPYONLY)
+endif()
+
+if(NOT HEAD_HASH)
+    file(READ "@GIT_DATA@/head-ref" HEAD_HASH LIMIT 1024)
+    string(STRIP "${HEAD_HASH}" HEAD_HASH)
+endif()

cmake/HardwareOsPostConfig.cmake

@@ -1,16 +1,5 @@
 function(post_source_hw_os_config)
 
-if(LINK_LWIP)
-	message(STATUS "Linking against ${LIB_LWIP_NAME} lwIP library")
-	if(LIB_LWIP_NAME)
-		target_link_libraries(${OBSW_NAME} PUBLIC 
-			${LIB_LWIP_NAME}
-		)
-	else()
-		message(WARNING "lwIP library name not set!")
-	endif()
-endif()
-
 if(LINKER_SCRIPT)
 	add_link_options(
 		-T${LINKER_SCRIPT}
@@ -42,6 +31,11 @@ add_compile_options(
 )
 
 set(STRIPPED_OBSW_NAME ${OBSW_BIN_NAME}-stripped)
+set(STRIPPED_WATCHDOG_NAME eive-watchdog-stripped)
+
+if(EIVE_CREATE_UNIQUE_OBSW_BIN)
+    set(UNIQUE_OBSW_BIN_NAME ${OBSW_BIN_NAME}-$ENV{USERNAME})
+endif()
 
 add_custom_command(
 	TARGET ${OBSW_NAME}
@@ -51,4 +45,22 @@ add_custom_command(
 	COMMENT "Generating stripped executable ${STRIPPED_OBSW_NAME}.."
 )
 
+if(UNIQUE_OBSW_BIN_NAME)
+	add_custom_command(
+		TARGET ${OBSW_NAME}
+		POST_BUILD
+		COMMAND ${CMAKE_COMMAND} -E copy
+			${CMAKE_CURRENT_BINARY_DIR}/${OBSW_BIN_NAME}
+			${CMAKE_CURRENT_BINARY_DIR}/${UNIQUE_OBSW_BIN_NAME}
+		COMMENT "Generating unique EIVE OBSW binary ${UNIQUE_OBSW_BIN_NAME}")
+endif()
+
+add_custom_command(
+    TARGET ${WATCHDOG_NAME}
+    POST_BUILD
+    COMMAND ${CMAKE_STRIP} --strip-all eive-watchdog -o ${STRIPPED_WATCHDOG_NAME}
+    BYPRODUCTS ${STRIPPED_WATCHDOG_NAME}
+    COMMENT "Generating stripped executable ${STRIPPED_WATCHDOG_NAME}.."
+)
+
 endfunction()

cmake/HardwareOsPreConfig.cmake

@@ -1,74 +0,0 @@
-function(pre_source_hw_os_config)
-
-# FreeRTOS
-if(FSFW_OSAL MATCHES freertos)
-	message(FATAL_ERROR "No FreeRTOS support implemented yet.")
-# RTEMS
-elseif(FSFW_OSAL STREQUAL rtems)
-	add_definitions(-DRTEMS)
-	message(FATAL_ERROR "No RTEMS support implemented yet.")
-elseif(FSFW_OSAL STREQUAL linux)
-	add_definitions(-DUNIX -DLINUX)	
-	find_package(Threads REQUIRED)
-# Hosted
-else()
-	set(BSP_PATH "bsp_hosted")
-	if(WIN32)
-    	add_definitions(-DWIN32)
-	elseif(UNIX)
-		find_package(Threads REQUIRED)
-		add_definitions(-DUNIX -DLINUX)	
-	endif()
-endif()
-
-# Cross-compile information
-if(CMAKE_CROSSCOMPILING)
-	# set(CMAKE_VERBOSE TRUE)
-
-	message(STATUS "Cross-compiling for ${TGT_BSP} target")
-	message(STATUS "Cross-compile gcc: ${CMAKE_C_COMPILER}")
-	message(STATUS "Cross-compile g++: ${CMAKE_CXX_COMPILER}")
-	
-	if(CMAKE_VERBOSE)
-		message(STATUS "Cross-compile linker: ${CMAKE_LINKER}")
-		message(STATUS "Cross-compile size utility: ${CMAKE_SIZE}")
-		message(STATUS "Cross-compile objcopy utility: ${CMAKE_OBJCOPY}")
-		message(STATUS "Cross-compile ranlib utility: ${CMAKE_RANLIB}")
-		message(STATUS "Cross-compile ar utility: ${CMAKE_AR}")
-		message(STATUS "Cross-compile nm utility: ${CMAKE_NM}")
-		message(STATUS "Cross-compile strip utility: ${CMAKE_STRIP}")
-		message(STATUS 
-			"Cross-compile assembler: ${CMAKE_ASM_COMPILER} "
-			"-x assembler-with-cpp"
-		)
-		message(STATUS "ABI flags: ${ABI_FLAGS}")
-		message(STATUS "Custom linker script: ${LINKER_SCRIPT}")
-	endif()
-	
-	set_property(CACHE TGT_BSP 
-		PROPERTY STRINGS  
-		"arm/q7s" "arm/raspberrypi" "arm/egse"
-	)
-endif()
-	
-
-if(TGT_BSP)
-	if (TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
-		set(BSP_PATH "bsp_linux_board")
-	elseif(TGT_BSP MATCHES "arm/q7s")
-		set(BSP_PATH "bsp_q7s")
-  elseif(TGT_BSP MATCHES "arm/egse")
-    set(BSP_PATH "bsp_egse")
-  elseif(TGT_BSP MATCHES "arm/te0720-1cfa")
-    set(BSP_PATH "bsp_te0720_1cfa")
-	else() 
-		message(WARNING "CMake not configured for this target!")
-		message(FATAL_ERROR "Target: ${TGT_BSP}!")
-	endif()
-else()
-	set(BSP_PATH "bsp_hosted")
-endif()
-		
-set(BSP_PATH ${BSP_PATH} PARENT_SCOPE)
-
-endfunction()

cmake/PreProjectConfig.cmake

@@ -1,3 +1,81 @@
+function(obsw_module_config)
+endfunction()
+
+function(pre_source_hw_os_config)
+
+# FreeRTOS
+if(FSFW_OSAL MATCHES freertos)
+    message(FATAL_ERROR "No FreeRTOS support implemented yet.")
+# RTEMS
+elseif(FSFW_OSAL STREQUAL rtems)
+    add_definitions(-DRTEMS)
+    message(FATAL_ERROR "No RTEMS support implemented yet.")
+elseif(FSFW_OSAL STREQUAL linux)
+    add_definitions(-DUNIX -DLINUX) 
+    find_package(Threads REQUIRED)
+# Hosted
+else()
+    set(BSP_PATH "bsp_hosted")
+    if(WIN32)
+        add_definitions(-DWIN32)
+    elseif(UNIX)
+        find_package(Threads REQUIRED)
+        add_definitions(-DUNIX -DLINUX) 
+    endif()
+endif()
+
+# Cross-compile information
+if(CMAKE_CROSSCOMPILING)
+    # set(CMAKE_VERBOSE TRUE)
+
+    message(STATUS "Cross-compiling for ${TGT_BSP} target")
+    message(STATUS "Cross-compile gcc: ${CMAKE_C_COMPILER}")
+    message(STATUS "Cross-compile g++: ${CMAKE_CXX_COMPILER}")
+    
+    if(CMAKE_VERBOSE)
+        message(STATUS "Cross-compile linker: ${CMAKE_LINKER}")
+        message(STATUS "Cross-compile size utility: ${CMAKE_SIZE}")
+        message(STATUS "Cross-compile objcopy utility: ${CMAKE_OBJCOPY}")
+        message(STATUS "Cross-compile ranlib utility: ${CMAKE_RANLIB}")
+        message(STATUS "Cross-compile ar utility: ${CMAKE_AR}")
+        message(STATUS "Cross-compile nm utility: ${CMAKE_NM}")
+        message(STATUS "Cross-compile strip utility: ${CMAKE_STRIP}")
+        message(STATUS 
+            "Cross-compile assembler: ${CMAKE_ASM_COMPILER} "
+            "-x assembler-with-cpp"
+        )
+        message(STATUS "ABI flags: ${ABI_FLAGS}")
+        message(STATUS "Custom linker script: ${LINKER_SCRIPT}")
+    endif()
+    
+    set_property(CACHE TGT_BSP 
+        PROPERTY STRINGS  
+        "arm/q7s" "arm/raspberrypi" "arm/egse"
+    )
+endif()
+    
+
+if(TGT_BSP)
+    if (TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
+        set(BSP_PATH "bsp_linux_board")
+    elseif(TGT_BSP MATCHES "arm/q7s")
+        set(BSP_PATH "bsp_q7s")
+  elseif(TGT_BSP MATCHES "arm/egse")
+    set(BSP_PATH "bsp_egse")
+  elseif(TGT_BSP MATCHES "arm/te0720-1cfa")
+    set(BSP_PATH "bsp_te0720_1cfa")
+    else() 
+        message(WARNING "CMake not configured for this target!")
+        message(FATAL_ERROR "Target: ${TGT_BSP}!")
+    endif()
+else()
+    set(BSP_PATH "bsp_hosted")
+endif()
+        
+set(BSP_PATH ${BSP_PATH} PARENT_SCOPE)
+
+endfunction()
+
 function(pre_project_config)
 
 # Basic input sanitization
@@ -11,10 +89,10 @@ endif()
 
 
 # Disable compiler checks for cross-compiling.
-if(FSFW_OSAL MATCHES linux AND TGT_BSP)
+if(FSFW_OSAL MATCHES linux AND TGT_BSP AND EIVE_HARDCODED_TOOLCHAIN_FILE)
 	if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/te0720-1cfa")
 		set(CMAKE_TOOLCHAIN_FILE 
-			"${CMAKE_SCRIPT_PATH}/Zynq7020CrossCompileConfig.cmake"
+			"${CMAKE_CURRENT_SOURCE_DIR}/cmake/Zynq7020CrossCompileConfig.cmake"
 			PARENT_SCOPE
 		)
 	elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
@@ -48,13 +126,13 @@ if(FSFW_OSAL MATCHES linux AND TGT_BSP)
 		endif()
 
 		set(CMAKE_TOOLCHAIN_FILE 
-			"${CMAKE_SCRIPT_PATH}/RPiCrossCompileConfig.cmake"
+			"${CMAKE_CURRENT_SOURCE_DIR}/cmake/RPiCrossCompileConfig.cmake"
 			PARENT_SCOPE
 		)
     elseif(${TGT_BSP} MATCHES "arm/beagleboneblack")
         if(LINUX_CROSS_COMPILE)
             set(CMAKE_TOOLCHAIN_FILE
-                "${CMAKE_SCRIPT_PATH}/BBBCrossCompileConfig.cmake"
+                "${CMAKE_CURRENT_SOURCE_DIR}/cmake/BBBCrossCompileConfig.cmake"
                 PARENT_SCOPE
             )
         endif()

cmake/scripts/Host/make-debug-cfg.sh

@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="make"
-os_fsfw="host"
-builddir="build-Debug-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x

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

@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="make"
-os_fsfw="host"
-builddir="build-Release-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x

cmake/scripts/Host/ninja-debug-cfg.sh

@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="ninja"
-os_fsfw="host"
-builddir="build-Debug-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x

cmake/scripts/Linux/make-debug-cfg.sh

@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="make"
-os_fsfw="linux"
-builddir="build-Debug-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x

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

@@ -1,32 +0,0 @@
-#!/bin/sh
-counter=0
-cfg_script_name="cmake-build-cfg.py"
-while [ ${counter} -lt 5 ]
-do
-    cd ..
-    if [ -f ${cfg_script_name} ];then
-        break
-    fi
-    counter=$((counter=counter + 1))
-done
-
-if [ "${counter}" -ge 5 ];then
-    echo "${cfg_script_name} not found in upper directories!"
-    exit 1
-fi
-
-build_generator="Unix Makefiles"
-os_fsfw="linux"
-builddir="build-Release-Host"
-if [ "${OS}" = "Windows_NT" ]; then
-    python="py"
-# Could be other OS but this works for now.
-else
-    python="python3"
-fi
-
-echo "Running command (without the leading +):"
-set -x # Print command 
-${python} ${cfg_script_name} -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
-# Use this if commands are added which should not be printed
-# set +x