using new docker container name

Reviewed-on: #160
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

.clang-format

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

.gitignore

@@ -1,19 +1,18 @@
 /build*
 
-Debug
+# Eclipse
-Debug*
-Release
-Release*
-
 .settings
 .metadata
 .project
 .cproject 
-__pycache__
-
-.idea
-
 !misc/eclipse/**/.cproject
 !misc/eclipse/**/.project
 
+#vscode
+/.vscode
+
+# Python
+__pycache__
+.idea
+
 generators/*.db

.gitmodules

@@ -15,7 +15,7 @@
 	url = https://github.com/rmspacefish/lwgps.git
 [submodule "generators/fsfwgen"]
 	path = generators/fsfwgen
-	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-generators.git
+	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-gen.git
 [submodule "thirdparty/arcsec_star_tracker"]
 	path = thirdparty/arcsec_star_tracker
 	url = https://egit.irs.uni-stuttgart.de/eive/arcsec_star_tracker.git

CMakeLists.txt

@@ -13,19 +13,24 @@ cmake_minimum_required(VERSION 3.13)
 
 set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-if(TGT_BSP MATCHES "arm/q7s")
-    option(Q7S_SIMPLE_MODE OFF "Simple mode with a minimal main function")
-endif()
 
-option(ADD_ETL_LIB "Add ETL library" ON)
+option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
-option(ADD_JSON_LIB "Add JSON librara" 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)
 
 if(NOT FSFW_OSAL)
-	set(FSFW_OSAL host 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()
 endif()
 
 # Perform steps like loading toolchain files where applicable.
@@ -33,7 +38,7 @@ include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
 
 # Project Name
-project(eive_obsw ASM C CXX)
+project(eive-obsw ASM C CXX)
 
 ################################################################################
 # Pre-Sources preparation
@@ -44,33 +49,42 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
 
 # Set names and variables
-set(TARGET_NAME ${CMAKE_PROJECT_NAME}) 
+set(OBSW_NAME ${CMAKE_PROJECT_NAME})
+set(WATCHDOG_NAME eive-watchdog)
+set(SIMPLE_OBSW_NAME eive-simple)
+set(UNITTEST_NAME eive-unittest)
 set(LIB_FSFW_NAME fsfw)
+set(LIB_EIVE_MISSION eive-mission)
 set(LIB_ETL_NAME etl)
 set(LIB_CSP_NAME libcsp)
 set(LIB_LWGPS_NAME lwgps)
 set(LIB_ARCSEC wire)
 set(THIRD_PARTY_FOLDER thirdparty)
 set(LIB_CXX_FS -lstdc++fs)
+set(LIB_CATCH2 Catch2)
+set(LIB_GPS gps)
 set(LIB_JSON_NAME nlohmann_json::nlohmann_json)
 
 # Set path names
 set(FSFW_PATH fsfw)
-set(MISSION_PATH mission)
 set(TEST_PATH test/testtasks)
+set(UNITTEST_PATH unittest)
 set(LINUX_PATH linux)
 set(COMMON_PATH common)
+set(WATCHDOG_PATH watchdog)
 set(COMMON_CONFIG_PATH ${COMMON_PATH}/config)
+set(UNITTEST_CFG_PATH ${UNITTEST_PATH}/testcfg)
 
-set(FSFW_HAL_LIB_PATH fsfw_hal)
+set(LIB_EIVE_MISSION_PATH mission)
-set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
+set(LIB_CSP_PATH ${THIRD_PARTY_FOLDER}/libcsp)
-set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
+set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
-set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)
+set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
-set(ARCSEC_LIB_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
+set(LIB_LWGPS_PATH ${THIRD_PARTY_FOLDER}/lwgps)
+set(LIB_ARCSEC_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
 set(LIB_JSON_PATH ${THIRD_PARTY_FOLDER}/json)
 
 set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
-set(ADD_LINUX_FILES False)
+set(EIVE_ADD_LINUX_FILES False)
 
 # Analyse different OS and architecture/target options, determine BSP_PATH,
 # display information about compiler etc.
@@ -79,147 +93,87 @@ 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/beagleboneblack" OR TGT_BSP MATCHES "arm/egse"
     )
         set(FSFW_CONFIG_PATH "linux/fsfwconfig")
-        if(NOT Q7S_SIMPLE_MODE)
+        if(NOT BUILD_Q7S_SIMPLE_MODE)
-            set(ADD_LINUX_FILES TRUE)
+            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") 
+    if(TGT_BSP MATCHES "arm/raspberrypi" )
-        add_definitions(-DRASPBERRY_PI)
+        # Used by configure file
+        set(RASPBERRY_PI ON)
         set(FSFW_HAL_ADD_RASPBERRY_PI ON)
     endif()
 
-    if(${TGT_BSP} MATCHES "arm/beagleboneblack") 
+    if(TGT_BSP MATCHES "arm/egse")
-        add_definitions(-DBEAGLEBONEBLACK)
+        # Used by configure file
+        set(EGSE ON)
+        set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
     endif()
     
-    if(${TGT_BSP} MATCHES "arm/q7s")
+    if(TGT_BSP MATCHES "arm/beagleboneblack")
-        add_definitions(-DXIPHOS_Q7S)
+        # Used by configure file
+        set(BEAGLEBONEBLACK ON)
+    endif()
+    
+    if(TGT_BSP MATCHES "arm/q7s")
+        # Used by configure file
+        set(XIPHOS_Q7S ON)
     endif()
 else()
     # Required by FSFW library
     set(FSFW_CONFIG_PATH "${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(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
-if(${TGT_BSP} MATCHES "arm/q7s")
+if(TGT_BSP MATCHES "arm/q7s")
     configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
-elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
+elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
     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"
     ${CMAKE_CURRENT_BINARY_DIR}
 )
-# Set for lwgps library
+
-set(LWGPS_CONFIG_PATH "${COMMON_PATH}/config")
+# Check whether the user has already installed Catch2 first
+find_package(Catch2 3)
 
 ################################################################################
 # Executable and Sources
 ################################################################################
 
-# Add executable
+#global compiler options need to be set before adding executables
-add_executable(${TARGET_NAME})
-
-if(ADD_CSP_LIB)
-    add_subdirectory(${CSP_LIB_PATH})
-endif()
-
-if(ADD_ETL_LIB)
-    add_subdirectory(${ETL_LIB_PATH})
-endif()
-
-if(ADD_LINUX_FILES)
-    add_subdirectory(${LINUX_PATH})
-endif()
-
-if(ADD_JSON_LIB)
-    add_subdirectory(${LIB_JSON_PATH})
-endif()
-
-add_subdirectory(${BSP_PATH})
-add_subdirectory(${COMMON_PATH})
-
-if(NOT Q7S_SIMPLE_MODE)
-    add_subdirectory(${LWGPS_LIB_PATH})
-    add_subdirectory(${FSFW_PATH})
-    add_subdirectory(${MISSION_PATH})
-    add_subdirectory(${TEST_PATH})
-    add_subdirectory(${ARCSEC_LIB_PATH})
-endif()
-
-
-################################################################################
-# Post-Sources preparation
-################################################################################
-
-set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux)
-
-if(NOT Q7S_SIMPLE_MODE)
-    # Add libraries for all sources.
-    target_link_libraries(${TARGET_NAME} PRIVATE
-        ${LIB_FSFW_NAME}
-        ${LIB_OS_NAME}
-        ${LIB_LWGPS_NAME}
-        ${LIB_ARCSEC}
-        ${LIB_CXX_FS}
-    )
-endif()
-
-if(ADD_ETL_LIB)
-    target_link_libraries(${TARGET_NAME} PRIVATE
-        ${LIB_ETL_NAME}
-    )
-endif()
-
-if(ADD_CSP_LIB)
-	target_link_libraries(${TARGET_NAME} PRIVATE
-		${LIB_CSP_NAME}
-	)
-endif()
-
-if(ADD_JSON_LIB)
-    target_link_libraries(${TARGET_NAME} PRIVATE
-        ${LIB_JSON_NAME}
-    )
-endif()
-
-# Add include paths for all sources.
-target_include_directories(${TARGET_NAME} PRIVATE
-	${CMAKE_CURRENT_SOURCE_DIR}
-	${FSFW_CONFIG_PATH}
-	${CMAKE_CURRENT_BINARY_DIR}
-	${ARCSEC_LIB_PATH}
-)	
-
-
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-	set(WARNING_FLAGS
+	add_compile_options(
-		-Wall
+		"-Wall"
-		-Wextra
+		"-Wextra"
-		-Wimplicit-fallthrough=1
+		"-Wimplicit-fallthrough=1"
-		-Wno-unused-parameter
+		"-Wno-unused-parameter"
-		-Wno-psabi
+		"-Wno-psabi"
 	)
-	
 	# Remove unused sections.
-	target_compile_options(${TARGET_NAME} PRIVATE
+	add_compile_options(
 		"-ffunction-sections"
 		"-fdata-sections"
 	)
 
 	# Removed unused sections.
-	target_link_options(${TARGET_NAME} PRIVATE
+	add_link_options(
 		"-Wl,--gc-sections"
 	)
 	
@@ -227,15 +181,162 @@ elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 	set(COMPILER_FLAGS "/permissive-")
 endif()
 
+# Not installed, so use FetchContent to download and provide Catch2
+if(NOT Catch2_FOUND)
+    include(FetchContent)
+
+    FetchContent_Declare(
+        Catch2
+        GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+        GIT_TAG        v3.0.0-preview4
+    )
+
+    FetchContent_MakeAvailable(Catch2)
+    #fixes regression -preview4, to be confirmed in later releases
+    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+    set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
+    set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
+endif()
+
+
+
+add_library(${LIB_EIVE_MISSION})
+
+
+# Add main executable
+add_executable(${OBSW_NAME})
+if(EIVE_CREATE_UNIQUE_OBSW_BIN)
+    set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME}-$ENV{USERNAME})
+else()
+    set(OBSW_BIN_NAME ${CMAKE_PROJECT_NAME})
+endif()
+set_target_properties(${OBSW_NAME} PROPERTIES OUTPUT_NAME ${OBSW_BIN_NAME})
+
+#watchdog
+add_executable(${WATCHDOG_NAME} EXCLUDE_FROM_ALL)
+add_subdirectory(${WATCHDOG_PATH}) 
+target_link_libraries(${WATCHDOG_NAME} PUBLIC
+    ${LIB_CXX_FS}
+)
+target_include_directories(${WATCHDOG_NAME} PUBLIC
+    ${CMAKE_BINARY_DIR}
+)
+
+#unittests
+add_executable(${UNITTEST_NAME} EXCLUDE_FROM_ALL)
+
+
+
+if(EIVE_ADD_ETL_LIB)
+    add_subdirectory(${LIB_ETL_PATH})
+endif()
+
+if(EIVE_ADD_JSON_LIB)
+    add_subdirectory(${LIB_JSON_PATH})
+endif()
+
+
+ 
+if(EIVE_ADD_LINUX_FILES)
+    add_subdirectory(${LIB_ARCSEC_PATH})
+    add_subdirectory(${LINUX_PATH})
+endif()
+add_subdirectory(${BSP_PATH})
+if(ADD_CSP_LIB)
+    add_subdirectory(${LIB_CSP_PATH})
+endif()
+
+
+add_subdirectory(${COMMON_PATH})
+
+
+
+add_subdirectory(${LIB_LWGPS_PATH})
+add_subdirectory(${FSFW_PATH})
+add_subdirectory(${LIB_EIVE_MISSION_PATH})
+add_subdirectory(${TEST_PATH})
+
+
+add_subdirectory(${UNITTEST_PATH})
+
+
+################################################################################
+# Post-Sources preparation
+################################################################################
+
+
+
+# Add libraries
+target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
+    ${LIB_FSFW_NAME}
+    ${LIB_LWGPS_NAME}
+    ${LIB_OS_NAME}
+)
+
+target_link_libraries(${OBSW_NAME} PRIVATE
+    ${LIB_EIVE_MISSION}
+)
+
+if(TGT_BSP MATCHES "arm/q7s")
+    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
+        ${LIB_ARCSEC}
+        ${LIB_GPS}
+    )
+endif()
+
+target_link_libraries(${UNITTEST_NAME} PRIVATE
+    Catch2
+    ${LIB_EIVE_MISSION}
+)
+
+if(TGT_BSP MATCHES "arm/egse")
+    target_link_libraries(${OBSW_NAME} PRIVATE
+	    ${LIB_ARCSEC}
+	)
+endif()
+
+if(ADD_CSP_LIB)
+    target_link_libraries(${OBSW_NAME} PRIVATE
+        ${LIB_CSP_NAME}
+    )
+endif()
+
+
+if(EIVE_ADD_ETL_LIB)
+    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
+        ${LIB_ETL_NAME}
+    )
+endif()
+
+if(EIVE_ADD_JSON_LIB)
+    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
+        ${LIB_JSON_NAME}
+    )
+endif()
+
+target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
+    ${LIB_CXX_FS}
+)
+
+# Add include paths for all sources.
+target_include_directories(${LIB_EIVE_MISSION} PUBLIC
+	${CMAKE_CURRENT_SOURCE_DIR}
+	${FSFW_CONFIG_PATH}
+	${CMAKE_CURRENT_BINARY_DIR}
+	${LIB_ARCSEC_PATH}
+)
+
+if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/egse")
+    target_include_directories(${LIB_EIVE_MISSION} PUBLIC
+        ${ARCSEC_LIB_PATH}
+    )
+endif()
+
 if(CMAKE_VERBOSE)
 	message(STATUS "Warning flags: ${WARNING_FLAGS}")
 endif()
 
 
-# Compile options for all sources.
-target_compile_options(${TARGET_NAME} PRIVATE
-	${WARNING_FLAGS}
-)
 
 if(${CMAKE_CROSSCOMPILING})
 	include (${CMAKE_SCRIPT_PATH}/HardwareOsPostConfig.cmake)
@@ -249,11 +350,15 @@ if(NOT CMAKE_SIZE)
 	endif()
 endif()
 
+if(EIVE_BUILD_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()
+endif()
 
 string(CONCAT POST_BUILD_COMMENT
     "Build directory: ${CMAKE_BINARY_DIR}\n"
@@ -263,11 +368,12 @@ string(CONCAT POST_BUILD_COMMENT
 )
 
 add_custom_command(
-   TARGET ${TARGET_NAME}
+   TARGET ${OBSW_NAME}
    POST_BUILD
-   COMMAND ${CMAKE_SIZE} ${TARGET_NAME}${FILE_SUFFIX}
+   COMMAND ${CMAKE_SIZE} ${OBSW_BIN_NAME}${FILE_SUFFIX}
    COMMENT ${POST_BUILD_COMMENT}
 )
 
+
 include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
 set_build_type()

Justfile

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

LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
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+      designated in writing by the copyright owner as "Not a Contribution."
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+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
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+   2. Grant of Copyright License. Subject to the terms and conditions of
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+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
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+      meet the following conditions:
+
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+          Derivative Works a copy of this License; and
+
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+      (c) You must retain, in the Source form of any Derivative Works
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+          of the NOTICE file are for informational purposes only and
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+          notices within Derivative Works that You distribute, alongside
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+          that such additional attribution notices cannot be construed
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+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

NOTICE

@@ -0,0 +1,13 @@
+Copyright 2021 Institute of Space Systems (IRS), University of Stuttgart
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

automation/Dockerfile

@@ -0,0 +1,20 @@
+FROM ubuntu:focal
+
+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
+
+# 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
+
+# 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 Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
+ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"

automation/Jenkinsfile

@@ -0,0 +1,37 @@
+pipeline {
+    environment {
+        BUILDDIR_Q7 = 'build_q7'
+        BUILDDIR_LINUX = 'build_linux'
+    }
+    agent {
+        docker {
+            image 'eive-obsw-ci:d2'
+            args '--sysctl fs.mqueue.msg_max=100'
+        }
+    }
+    stages {
+        stage('Clean') {
+            steps {
+                sh 'rm -rf $BUILDDIR_Q7'
+                sh 'rm -rf $BUILDDIR_LINUX'
+            }
+        }
+        stage('Build Q7S') {
+            steps {
+                dir(BUILDDIR_Q7) {
+                    sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..'
+                    sh 'cmake --build . -j'
+                }
+            }
+        }
+        stage('Unittests') {
+            steps {
+                dir(BUILDDIR_LINUX) {
+                    sh 'cmake ..'
+                    sh 'cmake --build . -t eive-unittest -j'
+                    sh './eive-unittest'
+                }
+            }
+        }
+    }
+}

bsp_egse/CMakeLists.txt

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

bsp_egse/InitMission.cpp

@@ -0,0 +1,192 @@
+#include "InitMission.h"
+
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+#include <fsfw/tasks/PeriodicTaskIF.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <mission/utility/InitMission.h>
+
+#include <iostream>
+
+#include "OBSWConfig.h"
+#include "ObjectFactory.h"
+#include "objects/systemObjectList.h"
+#include "pollingsequence/pollingSequenceFactory.h"
+
+ServiceInterfaceStream sif::debug("DEBUG");
+ServiceInterfaceStream sif::info("INFO");
+ServiceInterfaceStream sif::warning("WARNING");
+ServiceInterfaceStream sif::error("ERROR");
+
+ObjectManagerIF* objectManager = nullptr;
+
+void initmission::initMission() {
+  sif::info << "Make sure the systemd service ser2net on the egse has been stopped "
+            << "(alias stop-ser2net)" << std::endl;
+  sif::info << "Make sure the power lines of the star tracker have been enabled "
+            << "(alias enable-startracker)" << std::endl;
+  sif::info << "Building global objects.." << std::endl;
+  /* Instantiate global object manager and also create all objects */
+  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
+  sif::info << "Initializing all objects.." << std::endl;
+  ObjectManager::instance()->initialize();
+
+  /* This function creates and starts all tasks */
+  initTasks();
+}
+
+void initmission::initTasks() {
+  TaskFactory* factory = TaskFactory::instance();
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  if (factory == nullptr) {
+    /* Should never happen ! */
+    return;
+  }
+#if OBSW_PRINT_MISSED_DEADLINES == 1
+  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
+#else
+  void (*missedDeadlineFunc)(void) = nullptr;
+#endif
+
+  /* TMTC Distribution */
+  PeriodicTaskIF* tmtcDistributor = factory->createPeriodicTask(
+      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+
+  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
+      "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Add component TMTC Bridge failed" << std::endl;
+  }
+  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
+      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Add component TMTC Polling failed" << std::endl;
+  }
+
+  /* PUS Services */
+  std::vector<PeriodicTaskIF*> pusTasks;
+  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
+
+  std::vector<PeriodicTaskIF*> pstTasks;
+  FixedTimeslotTaskIF* pst = factory->createFixedTimeslotTask(
+      "STAR_TRACKER_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
+  result = pst::pstUart(pst);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+  }
+  pstTasks.push_back(pst);
+
+  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
+      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = strHelperTask->addComponent(objects::STR_HELPER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
+  }
+  pstTasks.push_back(strHelperTask);
+
+  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
+    for (const auto& task : taskVector) {
+      if (task != nullptr) {
+        task->startTask();
+      } else {
+        sif::error << "Task in vector " << name << " is invalid!" << std::endl;
+      }
+    }
+  };
+
+  sif::info << "Starting tasks.." << std::endl;
+  tmtcDistributor->startTask();
+  tmtcBridgeTask->startTask();
+  tmtcPollingTask->startTask();
+
+  taskStarter(pstTasks, "PST Tasks");
+  taskStarter(pusTasks, "PUS Tasks");
+
+  sif::info << "Tasks started.." << std::endl;
+}
+
+void initmission::createPusTasks(TaskFactory& factory,
+                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+                                 std::vector<PeriodicTaskIF*>& taskVec) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
+      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Object add component failed" << std::endl;
+  }
+  taskVec.push_back(pusVerification);
+
+  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
+      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
+  }
+  result = pusEvents->addComponent(objects::EVENT_MANAGER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+  }
+  taskVec.push_back(pusEvents);
+
+  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
+      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+  }
+  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
+  }
+  taskVec.push_back(pusHighPrio);
+
+  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
+      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
+  }
+  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
+  }
+  taskVec.push_back(pusMedPrio);
+
+  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
+      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
+  result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
+  }
+  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
+  }
+  taskVec.push_back(pusLowPrio);
+}

bsp_egse/InitMission.h

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

bsp_egse/ObjectFactory.cpp

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

bsp_egse/ObjectFactory.h

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

bsp_egse/boardconfig/CMakeLists.txt

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

bsp_egse/boardconfig/busConf.h

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

bsp_egse/boardconfig/etl_profile.h

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

bsp_egse/boardconfig/gcov.h

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

bsp_egse/boardconfig/print.c

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

bsp_egse/boardconfig/print.h

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

bsp_egse/boardconfig/rpiConfig.h.in

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

bsp_egse/main.cpp

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

bsp_hosted/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${TARGET_NAME} PUBLIC
+target_sources(${OBSW_NAME} PUBLIC
 	InitMission.cpp
 	main.cpp
 	ObjectFactory.cpp
@@ -6,5 +6,3 @@ target_sources(${TARGET_NAME} PUBLIC
 
 add_subdirectory(fsfwconfig)
 add_subdirectory(boardconfig)
-
-

bsp_hosted/InitMission.cpp

@@ -1,20 +1,19 @@
 #include "InitMission.h"
-#include "ObjectFactory.h"
 
 #include <OBSWConfig.h>
-
+#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
-
 #include <mission/utility/InitMission.h>
 
 #include <iostream>
 
+#include "ObjectFactory.h"
+
 #ifdef LINUX
 ServiceInterfaceStream sif::debug("DEBUG");
 ServiceInterfaceStream sif::info("INFO");
@@ -55,8 +54,7 @@ void initmission::initTasks() {
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
       "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-    ReturnValue_t result = tmTcDistributor->addComponent(
+  ReturnValue_t result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-            objects::CCSDS_PACKET_DISTRIBUTOR);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Object add component failed" << std::endl;
   }
@@ -70,15 +68,15 @@ void initmission::initTasks() {
   }
 
   /* UDP bridge */
-    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
+  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
+  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Add component UDP Unix Bridge failed" << std::endl;
   }
-    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
+  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
       "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
+  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Add component UDP Polling failed" << std::endl;
   }
@@ -142,8 +140,8 @@ void initmission::initTasks() {
 
   sif::info << "Starting tasks.." << std::endl;
   tmTcDistributor->startTask();
-    udpBridgeTask->startTask();
+  tmtcBridgeTask->startTask();
-    udpPollingTask->startTask();
+  tmtcPollingTask->startTask();
 
   pusVerification->startTask();
   pusEvents->startTask();

bsp_hosted/InitMission.h

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

bsp_hosted/ObjectFactory.cpp

@@ -1,22 +1,25 @@
 #include "ObjectFactory.h"
 
-#include <OBSWConfig.h>
+#include <fsfw/tmtcservices/CommandingServiceBase.h>
+#include <fsfw/tmtcservices/PusServiceBase.h>
+#include <mission/core/GenericFactory.h>
+#include <mission/utility/TmFunnel.h>
 #include <objects/systemObjectList.h>
 #include <tmtc/apid.h>
 #include <tmtc/pusIds.h>
 
-#include <fsfw/tmtcservices/CommandingServiceBase.h>
+#include "OBSWConfig.h"
-#include <fsfw/tmtcservices/PusServiceBase.h>
 
-#include <mission/core/GenericFactory.h>
+#if OBSW_USE_TMTC_TCP_BRIDGE == 0
-#include <mission/utility/TmFunnel.h>
+#include "fsfw/osal/common/UdpTcPollingTask.h"
-
+#include "fsfw/osal/common/UdpTmTcBridge.h"
-#include <fsfw/osal/common/UdpTcPollingTask.h>
+#else
-#include <fsfw/osal/common/UdpTmTcBridge.h>
+#include "fsfw/osal/common/TcpTmTcBridge.h"
+#include "fsfw/osal/common/TcpTmTcServer.h"
+#endif
 
 #include <fsfw/tmtcpacket/pus/tm.h>
 
-
 #if OBSW_ADD_TEST_CODE == 1
 #include <test/testtasks/TestTask.h>
 #endif
@@ -28,7 +31,7 @@ void Factory::setStaticFrameworkObjectIds(){
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
   CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
-	TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
+  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
   // No storage object for now.
   TmFunnel::storageDestination = objects::NO_OBJECT;
 
@@ -40,7 +43,5 @@ void ObjectFactory::produce(void* args){
   Factory::setStaticFrameworkObjectIds();
   ObjectFactory::produceGenericObjects();
 
-    new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+  new TestTask(objects::TEST_TASK);
-    new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
-
 }

bsp_hosted/ObjectFactory.h

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

bsp_hosted/boardconfig/CMakeLists.txt

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

bsp_hosted/boardconfig/gcov.h

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

bsp_hosted/boardconfig/print.c

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

bsp_hosted/comIF/ArduinoComIF.cpp

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

bsp_hosted/comIF/ArduinoComIF.h

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

bsp_hosted/comIF/ArduinoCookie.cpp

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

bsp_hosted/comIF/ArduinoCookie.h

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

bsp_hosted/fsfwconfig/CMakeLists.txt

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

bsp_hosted/fsfwconfig/OBSWConfig.h.in

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

bsp_hosted/fsfwconfig/devices/gpioIds.h

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

bsp_hosted/fsfwconfig/devices/powerSwitcherList.h

@@ -5,7 +5,7 @@
 
 namespace pcduSwitches {
 /* Switches are uint8_t datatype and go from 0 to 255 */
-	enum switcherList {
+enum SwitcherList {
   Q7S,
   PAYLOAD_PCDU_CH1,
   RW,
@@ -22,7 +22,7 @@ namespace pcduSwitches {
   SUS_NOMINAL,
   SOLAR_CELL_EXP,
   PLOC,
-        ACS_BORAD_SIDE_A,
+  ACS_BOARD_SIDE_A,
   NUMBER_OF_SWITCHES
 };
 
@@ -52,7 +52,6 @@ namespace pcduSwitches {
 static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
 static const uint8_t INIT_STATE_PLOC = OFF;
 static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
-}
+}  // namespace pcduSwitches
-
 
 #endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */

bsp_hosted/fsfwconfig/events/subsystemIdRanges.h

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

bsp_hosted/fsfwconfig/fsfwconfig.mk

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

bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.cpp

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

bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.h

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

bsp_hosted/fsfwconfig/objects/systemObjectList.h

@@ -1,9 +1,10 @@
 #ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 #define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 
-#include <cstdint>
 #include <commonObjects.h>
 
+#include <cstdint>
+
 // The objects will be instantiated in the ID order
 namespace objects {
 enum sourceObjects : uint32_t {

bsp_hosted/fsfwconfig/returnvalues/classIds.h

@@ -1,9 +1,10 @@
 #ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
 #define CONFIG_RETURNVALUES_CLASSIDS_H_
 
-#include "commonClassIds.h"
 #include <fsfw/returnvalues/FwClassIds.h>
 
+#include "commonClassIds.h"
+
 /**
  * Source IDs starts at 73 for now
  * Framework IDs for ReturnValues run from 0 to 56
@@ -15,5 +16,4 @@ enum {
 };
 }
 
-
 #endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */

bsp_hosted/fsfwconfig/tmtc/apid.h

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

bsp_hosted/main.cpp

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

bsp_linux_board/CMakeLists.txt

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

bsp_linux_board/InitMission.cpp

@@ -1,21 +1,21 @@
 #include "InitMission.h"
-#include "ObjectFactory.h"
 
-#include "objects/systemObjectList.h"
+#include <fsfw/objectmanager/ObjectManager.h>
-#include "OBSWConfig.h"
-#include "pollingsequence/pollingSequenceFactory.h"
-
-#include <mission/utility/InitMission.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
-#include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
+#include <mission/utility/InitMission.h>
 
 #include <iostream>
 
+#include "OBSWConfig.h"
+#include "ObjectFactory.h"
+#include "objects/systemObjectList.h"
+#include "pollingsequence/pollingSequenceFactory.h"
+
 ServiceInterfaceStream sif::debug("DEBUG");
 ServiceInterfaceStream sif::info("INFO");
 ServiceInterfaceStream sif::warning("WARNING");
@@ -36,6 +36,7 @@ void initmission::initMission() {
 
 void initmission::initTasks() {
   TaskFactory* factory = TaskFactory::instance();
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   if (factory == nullptr) {
     /* Should never happen ! */
     return;
@@ -49,8 +50,7 @@ void initmission::initTasks() {
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
       "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-    ReturnValue_t result = tmTcDistributor->addComponent(
+  result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-            objects::CCSDS_PACKET_DISTRIBUTOR);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Object add component failed" << std::endl;
   }
@@ -64,35 +64,84 @@ void initmission::initTasks() {
   }
 
   /* UDP bridge */
-    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
+  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
+  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-        sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+    sif::error << "Add component TMTC Bridge failed" << std::endl;
   }
-    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
+  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
-            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
+  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-        sif::error << "Add component UDP Polling failed" << std::endl;
+    sif::error << "Add component TMTC Polling failed" << std::endl;
   }
 
   /* PUS Services */
-    PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
+  std::vector<PeriodicTaskIF*> pusTasks;
+  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
+
+  std::vector<PeriodicTaskIF*> pstTasks;
+  createPstTasks(*factory, missedDeadlineFunc, pstTasks);
+#if OBSW_ADD_TEST_CODE == 1
+  std::vector<PeriodicTaskIF*> testTasks;
+  createTestTasks(*factory, missedDeadlineFunc, pstTasks);
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
+    for (const auto& task : taskVector) {
+      if (task != nullptr) {
+        task->startTask();
+      } else {
+        sif::error << "Task in vector " << name << " is invalid!" << std::endl;
+      }
+    }
+  };
+
+  sif::info << "Starting tasks.." << std::endl;
+  tmTcDistributor->startTask();
+  tmtcBridgeTask->startTask();
+  tmtcPollingTask->startTask();
+
+  taskStarter(pusTasks, "PUS Tasks");
+#if OBSW_ADD_TEST_CODE == 1
+  taskStarter(testTasks, "Test Tasks");
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+  taskStarter(pstTasks, "PST Tasks");
+
+#if OBSW_ADD_TEST_PST == 1
+  if (startTestPst) {
+    pstTestTask->startTask();
+  }
+#endif /* RPI_TEST_ACS_BOARD == 1 */
+  sif::info << "Tasks started.." << std::endl;
+}
+
+void initmission::createPusTasks(TaskFactory& factory,
+                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+                                 std::vector<PeriodicTaskIF*>& taskVec) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
       "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "Object add component failed" << std::endl;
   }
+  taskVec.push_back(pusVerification);
 
-    PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
+  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
       "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-    result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
+    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
   }
+  result = pusEvents->addComponent(objects::EVENT_MANAGER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+  }
+  taskVec.push_back(pusEvents);
 
-    PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
+  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
       "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
   result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -102,8 +151,9 @@ void initmission::initTasks() {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
   }
+  taskVec.push_back(pusHighPrio);
 
-    PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
+  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
       "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
   result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
   if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -121,8 +171,9 @@ void initmission::initTasks() {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
   }
+  taskVec.push_back(pusMedPrio);
 
-    PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
+  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
       "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
   result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
   if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -130,28 +181,37 @@ void initmission::initTasks() {
   }
   result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("INT_ERR_RPRT",
+    initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
-                objects::INTERNAL_ERROR_REPORTER);
+  }
+  taskVec.push_back(pusLowPrio);
 }
 
-#if OBSW_ADD_TEST_PST == 1
+void initmission::createPstTasks(TaskFactory& factory,
-    FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
+                                 TaskDeadlineMissedFunction missedDeadlineFunc,
-            PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
+                                 std::vector<PeriodicTaskIF*>& taskVec) {
-    result = pst::pstTest(pstTestTask);
+  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);
+  result = pst::pstSpi(spiPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-        sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
+    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+  }
+  taskVec.push_back(spiPst);
+#endif
 }
-#endif /* RPI_TEST_ACS_BOARD == 1 */
 
-    PeriodicTaskIF* testTask = factory->createPeriodicTask(
+void initmission::createTestTasks(TaskFactory& factory,
+                                  TaskDeadlineMissedFunction missedDeadlineFunc,
+                                  std::vector<PeriodicTaskIF*>& taskVec) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  PeriodicTaskIF* testTask = factory.createPeriodicTask(
       "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-#if OBSW_ADD_TEST_CODE == 1
   result = testTask->addComponent(objects::TEST_TASK);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
   }
-#endif /* OBSW_ADD_TEST_CODE == 1 */
+#if OBSW_ADD_SPI_TEST_CODE == 1
-#if RPI_ADD_SPI_TEST == 1
   result = testTask->addComponent(objects::SPI_TEST);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
@@ -163,30 +223,23 @@ void initmission::initTasks() {
     initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
   }
 #endif /* RPI_ADD_GPIO_TEST == 1 */
-#if RPI_ADD_UART_TEST == 1
+#if OBSW_ADD_UART_TEST_CODE == 1
   result = testTask->addComponent(objects::UART_TEST);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
   }
 #endif /* RPI_ADD_GPIO_TEST == 1 */
+  taskVec.push_back(testTask);
 
-    sif::info << "Starting tasks.." << std::endl;
+  bool startTestPst = true;
-    tmTcDistributor->startTask();
+  static_cast<void>(startTestPst);
-    udpBridgeTask->startTask();
-    udpPollingTask->startTask();
-
-    pusVerification->startTask();
-    pusEvents->startTask();
-    pusHighPrio->startTask();
-    pusMedPrio->startTask();
-    pusLowPrio->startTask();
-
-#if OBSW_ADD_TEST_CODE == 1
-    testTask->startTask();
-#endif /* OBSW_ADD_TEST_CODE == 1 */
-
 #if OBSW_ADD_TEST_PST == 1
-    pstTestTask->startTask();
+  FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
-#endif /* RPI_TEST_ACS_BOARD == 1 */
+      "TEST_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
-    sif::info << "Tasks started.." << std::endl;
+  result = pst::pstTest(pstTestTask);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
+    startTestPst = false;
+  }
+#endif /* RPI_TEST_ACS_BOARD == 1 */
 }

bsp_linux_board/InitMission.h

@@ -1,9 +1,23 @@
 #ifndef BSP_LINUX_INITMISSION_H_
 #define BSP_LINUX_INITMISSION_H_
 
+#include <vector>
+
+#include "fsfw/tasks/Typedef.h"
+
+class PeriodicTaskIF;
+class TaskFactory;
+
 namespace initmission {
 void initMission();
 void initTasks();
-};
+
+void createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+                    std::vector<PeriodicTaskIF*>& taskVec);
+void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+                     std::vector<PeriodicTaskIF*>& taskVec);
+void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+                    std::vector<PeriodicTaskIF*>& taskVec);
+};  // namespace initmission
 
 #endif /* BSP_LINUX_INITMISSION_H_ */

bsp_linux_board/ObjectFactory.cpp

@@ -1,42 +1,45 @@
-#include <fsfw/hal/linux/uart/UartComIF.h>
-#include <fsfw/hal/linux/uart/UartCookie.h>
-#include <mission/devices/GPSHyperionHandler.h>
 #include "ObjectFactory.h"
 
-#include "objects/systemObjectList.h"
+#include "OBSWConfig.h"
+#include "devConf.h"
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
-#include "OBSWConfig.h"
+#include "fsfw/datapoollocal/LocalDataPoolManager.h"
-#include "tmtc/apid.h"
+#include "fsfw/tasks/TaskFactory.h"
-#include "tmtc/pusIds.h"
+#include "fsfw/tmtcpacket/pus/tm.h"
-#include "spiConf.h"
+#include "fsfw/tmtcservices/CommandingServiceBase.h"
-
+#include "fsfw/tmtcservices/PusServiceBase.h"
 #include "linux/boardtest/LibgpiodTest.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
-
 #include "mission/core/GenericFactory.h"
+#include "mission/devices/GPSHyperionHandler.h"
+#include "mission/devices/GyroADIS1650XHandler.h"
 #include "mission/utility/TmFunnel.h"
-#include "mission/devices/MGMHandlerLIS3MDL.h"
+#include "objects/systemObjectList.h"
-#include "mission/devices/MGMHandlerRM3100.h"
+#include "tmtc/apid.h"
-#include "mission/devices/GyroADIS16507Handler.h"
+#include "tmtc/pusIds.h"
-
-#include "fsfw/datapoollocal/LocalDataPoolManager.h"
-#include "fsfw/tmtcservices/CommandingServiceBase.h"
-#include "fsfw/tmtcservices/PusServiceBase.h"
-#include "fsfw/tmtcpacket/pus/tm.h"
-#include "fsfw/tasks/TaskFactory.h"
 
 /* UDP server includes */
-#include "fsfw/osal/common/UdpTmTcBridge.h"
+#if OBSW_USE_TMTC_TCP_BRIDGE == 1
+#include <fsfw/src/fsfw/osal/common/TcpTmTcBridge.h>
+#include <fsfw/src/fsfw/osal/common/TcpTmTcServer.h>
+#else
 #include "fsfw/osal/common/UdpTcPollingTask.h"
+#include "fsfw/osal/common/UdpTmTcBridge.h"
+#endif
 
-#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"
+#include <fsfw_hal/linux/uart/UartComIF.h>
-#include "fsfw/hal/linux/gpio/LinuxLibgpioIF.h"
+#include <fsfw_hal/linux/uart/UartCookie.h>
-#include "fsfw/hal/linux/rpi/GpioRPi.h"
+
-#include "fsfw/hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
-#include "fsfw/hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
-#include "fsfw/hal/linux/spi/SpiComIF.h"
+#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
+#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
+#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "fsfw_hal/linux/rpi/GpioRPi.h"
+#include "fsfw_hal/linux/spi/SpiComIF.h"
+#include "fsfw_hal/linux/spi/SpiCookie.h"
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@@ -45,7 +48,7 @@ void Factory::setStaticFrameworkObjectIds() {
   CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
   CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
-    TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
+  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
   // No storage object for now.
   TmFunnel::storageDestination = objects::NO_OBJECT;
 
@@ -53,23 +56,132 @@ void Factory::setStaticFrameworkObjectIds() {
   TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }
 
-
-
 void ObjectFactory::produce(void* args) {
   Factory::setStaticFrameworkObjectIds();
   ObjectFactory::produceGenericObjects();
 
-    new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-    new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
-
   GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
   GpioCookie* gpioCookie = nullptr;
   static_cast<void>(gpioCookie);
-#if RPI_ADD_SPI_TEST == 1
+
+  new SpiComIF(objects::SPI_COM_IF, gpioIF);
+
+  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);
+#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);
+#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);
+#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);
+#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::createTestTasks() {
+  new TestTask(objects::TEST_TASK);
+
+#if OBSW_ADD_SPI_TEST_CODE == 1
   new SpiTestClass(objects::SPI_TEST, gpioIF);
 #endif
 
-#if RPI_ADD_UART_TEST == 1
+#if OBSW_ADD_UART_TEST_CODE == 1
   new UartTestClass(objects::UART_TEST);
 #else
   new UartComIF(objects::UART_COM_IF);
@@ -89,53 +201,6 @@ void ObjectFactory::produce(void* args){
   new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
 #endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
 
-    new SpiComIF(objects::SPI_COM_IF, gpioIF);
-
-    std::string spiDev;
-    SpiCookie* spiCookie = nullptr;
-    static_cast<void>(spiCookie);
-
-#if RPI_TEST_ACS_BOARD == 1
-    if(gpioCookie == nullptr) {
-        gpioCookie = new GpioCookie();
-    }
-    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_L3G_CS, gpio::GYRO_2_BCM_PIN,
-            "GYRO_2_L3G", gpio::Direction::OUT, 1);
-    gpioIF->addGpios(gpioCookie);
-
-    spiDev = "/dev/spidev0.0";
-    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 MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
-            objects::SPI_COM_IF, spiCookie);
-    mgmLis3Handler->setStartUpImmediately();
-
-    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 MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
-            objects::SPI_COM_IF, spiCookie);
-    mgmRm3100Handler->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);
-    gyroL3gHandler->setStartUpImmediately();
-
-#endif /* RPI_TEST_ACS_BOARD == 1 */
-
 #if RPI_TEST_ADIS16507 == 1
   if (gpioCookie == nullptr) {
     gpioCookie = new GpioCookie();
@@ -144,22 +209,22 @@ void ObjectFactory::produce(void* args){
                             "GYRO_0_ADIS", gpio::Direction::OUT, 1);
   gpioIF->addGpios(gpioCookie);
 
-    spiDev = "/dev/spidev0.0";
+  spiDev = "/dev/spidev0.1";
   spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
+                            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
-            nullptr, nullptr);
+                            spi::DEFAULT_ADIS16507_SPEED, nullptr, nullptr);
-    auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
+  auto adisGyroHandler =
+      new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
   adisGyroHandler->setStartUpImmediately();
 #endif /* RPI_TEST_ADIS16507 == 1 */
 
 #if RPI_TEST_GPS_HANDLER == 1
-    UartCookie* uartCookie = new UartCookie(objects::GPS0_HANDLER, "/dev/serial0",
+  UartCookie* uartCookie =
-            UartModes::CANONICAL, 9600, 1024);
+      new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", UartModes::CANONICAL, 9600, 1024);
   uartCookie->setToFlushInput(true);
   uartCookie->setReadCycles(6);
-    GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER,
+  GPSHyperionHandler* gpsHandler =
-            objects::UART_COM_IF, uartCookie);
+      new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookie, false);
   gpsHandler->setStartUpImmediately();
 #endif
-
 }

bsp_linux_board/ObjectFactory.h

@@ -1,10 +1,11 @@
 #ifndef BSP_LINUX_OBJECTFACTORY_H_
 #define BSP_LINUX_OBJECTFACTORY_H_
 
-
 namespace ObjectFactory {
 void setStatics();
 void produce(void* args);
-};
+
+void createTestTasks();
+};  // namespace ObjectFactory
 
 #endif /* BSP_LINUX_OBJECTFACTORY_H_ */

bsp_linux_board/boardconfig/CMakeLists.txt

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

bsp_linux_board/boardconfig/gcov.h

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

bsp_linux_board/boardconfig/print.c

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

bsp_linux_board/boardconfig/rpiConfig.h.in

@@ -15,20 +15,18 @@
 #define RPI_TEST_ACS_BOARD              0
 #endif
 
-#define RPI_ADD_UART_TEST               1
+#define RPI_ADD_UART_TEST               0
-#if RPI_ADD_UART_TEST == 1
-#define RPI_TEST_GPS_DEVICE             0
-#endif
 
 /* Adapt these values accordingly */
 namespace gpio {
-static constexpr uint8_t MGM_0_BCM_PIN = 0;
+static constexpr uint8_t MGM_0_BCM_PIN = 17;
-static constexpr uint8_t MGM_1_BCM_PIN = 1;
+static constexpr uint8_t MGM_1_BCM_PIN = 27;
-static constexpr uint8_t MGM_2_BCM_PIN = 17;
+static constexpr uint8_t MGM_2_BCM_PIN = 22;
-static constexpr uint8_t MGM_3_BCM_PIN = 27;
+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 = 4;
+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

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

bsp_linux_board/main.cpp

@@ -1,11 +1,11 @@
-#include "InitMission.h"
+#include <iostream>
-#include "OBSWVersion.h"
 
+#include "InitMission.h"
+#include "OBSWConfig.h"
+#include "OBSWVersion.h"
 #include "fsfw/FSFWVersion.h"
 #include "fsfw/tasks/TaskFactory.h"
 
-#include <iostream>
-
 #ifdef RASPBERRY_PI
 static const char* const BOARD_NAME = "Raspberry Pi";
 #elif defined(BEAGLEBONEBLACK)
@@ -18,13 +18,12 @@ static const char* const BOARD_NAME = "Unknown Board";
  * @brief 	    This is the main program and entry point for the Raspberry Pi.
  * @return
  */
-int main(void)
+int main(void) {
-{
   std::cout << "-- EIVE OBSW --" << std::endl;
   std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
-    std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
+  std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
-            "." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION <<
+            << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << FSFW_REVISION
-            FSFW_REVISION << "--"  << std::endl;
+            << "--" << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
   initmission::initMission();
@@ -34,5 +33,3 @@ int main(void)
     TaskFactory::delayTask(5000);
   }
 }
-
-

bsp_q7s/CMakeLists.txt

@@ -1,16 +1,25 @@
-target_sources(${TARGET_NAME} PUBLIC
+#simple mode
+add_executable(${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
+    ${LIB_FSFW_NAME}
+)
+target_compile_definitions(${SIMPLE_OBSW_NAME} PRIVATE "Q7S_SIMPLE_MODE")
+add_subdirectory(simple)
+
+target_sources(${OBSW_NAME} PUBLIC
 	main.cpp
 )
 
 add_subdirectory(boardtest)
 
-if(Q7S_SIMPLE_MODE)
-    add_subdirectory(simple)
-else()
 add_subdirectory(boardconfig)
 add_subdirectory(comIF)
-    add_subdirectory(gpio)
 add_subdirectory(core)
 add_subdirectory(memory)
-    add_subdirectory(spiCallbacks)
+add_subdirectory(callbacks)
-endif()
+add_subdirectory(devices)

bsp_q7s/Dockerfile

@@ -1,35 +0,0 @@
-FROM ubuntu:latest
-# FROM alpine:latest
-
-ENV TZ=Europe/Berlin
-RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
-
-RUN apt-get update && apt-get install -y curl cmake g++
-
-# Q7S root filesystem, required for cross-compilation. Use IPv6 for curl
-RUN mkdir -p /usr/rootfs; \
-    curl -6 https://eive-cloud.irs.uni-stuttgart.de/index.php/s/dnfMy9kGpgynN6J/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz \
-    | tar xvz -C /usr/rootfs
-# Q7S C++ cross-compiler. Use IPv6 for curl
-RUN mkdir -p /usr/tools; \
-    curl -6 https://eive-cloud.irs.uni-stuttgart.de/index.php/s/RMsbHydJc6PSqcz/download/gcc-arm-linux-gnueabi.tar.gz \
-    | tar xvz -C /usr/tools
-
-# RUN apk add cmake make g++
-
-# Required for cmake build
-ENV Q7S_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
-ENV PATH=$PATH:"/usr/tools/gcc-arm-linux-gnueabi/bin"
-
-WORKDIR /usr/src/app
-COPY . .
-
-RUN set -ex; \
-    rm -rf build-q7s; \
-    mkdir build-q7s; \
-    cd build-q7s; \
-    cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=linux -DTGT_BSP="arm/q7s" ..;
-
-ENTRYPOINT ["cmake", "--build", "build-q7s"]
-CMD ["-j"]
-# CMD ["bash"]

bsp_q7s/boardconfig/CMakeLists.txt

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

bsp_q7s/boardconfig/busConf.h

@@ -0,0 +1,100 @@
+#ifndef BSP_Q7S_BOARDCONFIG_BUSCONF_H_
+#define BSP_Q7S_BOARDCONFIG_BUSCONF_H_
+
+namespace q7s {
+
+static constexpr char SPI_DEFAULT_DEV[] = "/dev/spi-main";
+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_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_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 {
+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 GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select";
+static constexpr char GYRO_1_L3G_CS[] = "gyro_1_l3g_chip_select";
+static constexpr char GYRO_2_ADIS_CS[] = "gyro_2_adis_chip_select";
+static constexpr char GYRO_3_L3G_CS[] = "gyro_3_l3g_chip_select";
+static constexpr char MGM_0_CS[] = "mgm_0_lis3_chip_select";
+static constexpr char MGM_1_CS[] = "mgm_1_rm3100_chip_select";
+static constexpr char MGM_2_CS[] = "mgm_2_lis3_chip_select";
+static constexpr char MGM_3_CS[] = "mgm_3_rm3100_chip_select";
+static constexpr char RESET_GNSS_0[] = "reset_gnss_0";
+static constexpr char RESET_GNSS_1[] = "reset_gnss_1";
+static constexpr char GNSS_0_ENABLE[] = "enable_gnss_0";
+static constexpr char GNSS_1_ENABLE[] = "enable_gnss_1";
+static constexpr char GYRO_0_ENABLE[] = "enable_gyro_0";
+static constexpr char GYRO_2_ENABLE[] = "enable_gyro_2";
+static constexpr char GNSS_SELECT[] = "gnss_mux_select";
+static constexpr char GNSS_MUX_SELECT[] = "gnss_mux_select";
+
+static constexpr char HEATER_0[] = "heater0";
+static constexpr char HEATER_1[] = "heater1";
+static constexpr char HEATER_2[] = "heater2";
+static constexpr char HEATER_3[] = "heater3";
+static constexpr char HEATER_4[] = "heater4";
+static constexpr char HEATER_5[] = "heater5";
+static constexpr char HEATER_6[] = "heater6";
+static constexpr char HEATER_7[] = "heater7";
+static constexpr char SA_DPL_PIN_0[] = "sa_dpl_0";
+static constexpr char SA_DPL_PIN_1[] = "sa_dpl_1";
+static constexpr char SPI_MUX_BIT_0_PIN[] = "spi_mux_bit_0";
+static constexpr char SPI_MUX_BIT_1_PIN[] = "spi_mux_bit_1";
+static constexpr char SPI_MUX_BIT_2_PIN[] = "spi_mux_bit_2";
+static constexpr char SPI_MUX_BIT_3_PIN[] = "spi_mux_bit_3";
+static constexpr char SPI_MUX_BIT_4_PIN[] = "spi_mux_bit_4";
+static constexpr char SPI_MUX_BIT_5_PIN[] = "spi_mux_bit_5";
+static constexpr char EN_RW_CS[] = "en_rw_cs";
+static constexpr char EN_RW_1[] = "enable_rw_1";
+static constexpr char EN_RW_2[] = "enable_rw_2";
+static constexpr char EN_RW_3[] = "enable_rw_3";
+static constexpr char EN_RW_4[] = "enable_rw_4";
+
+static constexpr char RAD_SENSOR_CHIP_SELECT[] = "rad_sensor_chip_select";
+static constexpr char ENABLE_RADFET[] = "enable_radfet";
+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";
+
+static constexpr char PL_PCDU_ENABLE_VBAT0[] = "enable_plpcdu_vbat0";
+static constexpr char PL_PCDU_ENABLE_VBAT1[] = "enable_plpcdu_vbat1";
+static constexpr char PL_PCDU_ENABLE_DRO[] = "enable_plpcdu_dro";
+static constexpr char PL_PCDU_ENABLE_X8[] = "enable_plpcdu_x8";
+static constexpr char PL_PCDU_ENABLE_TX[] = "enable_plpcdu_tx";
+static constexpr char PL_PCDU_ENABLE_HPA[] = "enable_plpcdu_hpa";
+static constexpr char PL_PCDU_ENABLE_MPA[] = "enable_plpcdu_mpa";
+static constexpr char PL_PCDU_ADC_CS[] = "plpcdu_adc_chip_select";
+
+}  // namespace gpioNames
+}  // namespace q7s
+
+#endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */

bsp_q7s/boardconfig/gcov.h

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

bsp_q7s/boardconfig/print.c

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

bsp_q7s/boardconfig/q7sConfig.h.in

@@ -3,7 +3,16 @@
 
 #include <cstdint>
 
-#cmakedefine01 Q7S_SIMPLE_MODE
+/*******************************************************************/
+/** 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!
+
+/*******************************************************************/
+/** Other flags                                                    */
+/*******************************************************************/
 
 #define Q7S_SD_NONE                                 0
 #define Q7S_SD_COLD_REDUNDANT                       1
@@ -15,16 +24,8 @@
 // Set to Q7S_HOT_REDUNDANT: On startup, turn on both SD cards and mount them  
 #define Q7S_SD_CARD_CONFIG                          Q7S_SD_COLD_REDUNDANT
 
-#define Q7S_ADD_RTD_DEVICES             0
+// Probably better if this is disabled for mission code. Convenient for development
-
+#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG           1
-/* Only one of those 2 should be enabled! */
-/* Add code for ACS board */
-#define OBSW_ADD_ACS_BOARD              0
-#if OBSW_ADD_ACS_BOARD == 0
-#define Q7S_ADD_SPI_TEST                0
-#endif
-
-#define Q7S_ADD_SYRLINKS_HANDLER        1
 
 #define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST             0
 

bsp_q7s/boardtest/CMakeLists.txt

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

bsp_q7s/boardtest/FileSystemTest.cpp

@@ -1,8 +1,11 @@
 #include "FileSystemTest.h"
+
+#include <cstdlib>
+#include <iostream>
+
 #include "fsfw/timemanager/Stopwatch.h"
 
-#include <iostream>
+enum SdCard { SDC0, SDC1 };
-#include <cstdlib>
 
 FileSystemTest::FileSystemTest() {
   using namespace std;
@@ -17,5 +20,4 @@ FileSystemTest::FileSystemTest() {
   // stopwatch.stop(true);
 }
 
-FileSystemTest::~FileSystemTest() {
+FileSystemTest::~FileSystemTest() {}
-}

bsp_q7s/boardtest/FileSystemTest.h

@@ -1,18 +1,12 @@
 #ifndef BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_
 #define BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_
 
-enum SdCard {
-    SDC0,
-    SDC1
-};
-
 class FileSystemTest {
  public:
   FileSystemTest();
   virtual ~FileSystemTest();
+
  private:
 };
 
-
-
 #endif /* BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_ */

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -1,34 +1,52 @@
+#include "Q7STestTask.h"
+
+#include <bsp_q7s/core/CoreController.h>
 #include <bsp_q7s/memory/FileSystemHandler.h>
 #include <fsfw/objectmanager/ObjectManager.h>
-#include "Q7STestTask.h"
+#include <gps.h>
+#include <libgpsmm.h>
+
+#include <cstdio>
+#include <ctime>
+#include <fstream>
+#include <iomanip>
+#include <iostream>
+#include <nlohmann/json.hpp>
 
 #include "bsp_q7s/memory/SdCardManager.h"
 #include "bsp_q7s/memory/scratchApi.h"
-
-#include "fsfw/timemanager/Stopwatch.h"
 #include "fsfw/tasks/TaskFactory.h"
-
+#include "fsfw/timemanager/Stopwatch.h"
 #include "test/DummyParameter.h"
 
-#include <nlohmann/json.hpp>
-
-#include <iostream>
-#include <fstream>
-#include <cstdio>
-
 Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
+  doTestSdCard = false;
+  doTestScratchApi = false;
+  doTestGps = false;
 }
 
 ReturnValue_t Q7STestTask::performOneShotAction() {
-    //testSdCard();
+  if (doTestSdCard) {
-    //testScratchApi();
+    testSdCard();
+  }
+  if (doTestScratchApi) {
+    testScratchApi();
+  }
   // testJsonLibDirect();
   // testDummyParams();
-    FsOpCodes opCode = FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY;
+  // testProtHandler();
+  FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
   testFileSystemHandlerDirect(opCode);
   return TestTask::performOneShotAction();
 }
 
+ReturnValue_t Q7STestTask::performPeriodicAction() {
+  if (doTestGps) {
+    testGpsDaemon();
+  }
+  return TestTask::performPeriodicAction();
+}
+
 void Q7STestTask::testSdCard() {
   using namespace std;
   Stopwatch stopwatch;
@@ -45,8 +63,7 @@ void Q7STestTask::testSdCard() {
     while (iss >> word) {
       if (word == "on") {
         sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
-            }
+      } else if (word == "off") {
-            else if(word == "off") {
         sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
       }
     }
@@ -116,7 +133,6 @@ void Q7STestTask::testDummyParams() {
 
   ReturnValue_t result = param.readJsonFile();
   if (result != HasReturnvaluesIF::RETURN_OK) {
-
   }
 
   param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
@@ -125,15 +141,120 @@ void Q7STestTask::testDummyParams() {
   param.writeJsonFile();
   param.print();
 
-    int test = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1);
+  int test = 0;
-    std::string test2 = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2);
+  result = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1, test);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
+                 << " does not exist" << std::endl;
+  }
+  std::string test2;
+  result = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2, test2);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Q7STestTask::testDummyParams: Key " << DummyParameter::DUMMY_KEY_PARAM_1
+                 << " does not exist" << std::endl;
+  }
   sif::info << "Test value (3 expected): " << test << std::endl;
   sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl;
 }
 
+ReturnValue_t Q7STestTask::initialize() {
+  coreController = ObjectManager::instance()->get<CoreController>(objects::CORE_CONTROLLER);
+  if (coreController == nullptr) {
+    sif::warning << "Q7STestTask::initialize: Could not retrieve CORE_CONTROLLER object"
+                 << std::endl;
+  }
+  return TestTask::initialize();
+}
+
+void Q7STestTask::testProtHandler() {
+  bool opPerformed = false;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  // If any chips are unlocked, lock them here
+  result = coreController->setBootCopyProtection(xsc::Chip::ALL_CHIP, xsc::Copy::ALL_COPY, true,
+                                                 opPerformed, true);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
+  }
+
+  // unlock own copy
+  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, false,
+                                                 opPerformed, true);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
+  }
+  if (not opPerformed) {
+    sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
+  }
+  int retval = std::system("print-chip-prot-status.sh");
+  if (retval != 0) {
+    utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
+  }
+
+  // lock own copy
+  result = coreController->setBootCopyProtection(xsc::Chip::SELF_CHIP, xsc::Copy::SELF_COPY, true,
+                                                 opPerformed, true);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
+  }
+  if (not opPerformed) {
+    sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
+  }
+  retval = std::system("print-chip-prot-status.sh");
+  if (retval != 0) {
+    utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
+  }
+
+  // unlock specific copy
+  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, false,
+                                                 opPerformed, true);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
+  }
+  if (not opPerformed) {
+    sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
+  }
+  retval = std::system("print-chip-prot-status.sh");
+  if (retval != 0) {
+    utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
+  }
+
+  // lock specific copy
+  result = coreController->setBootCopyProtection(xsc::Chip::CHIP_1, xsc::Copy::COPY_1, true,
+                                                 opPerformed, true);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
+  }
+  if (not opPerformed) {
+    sif::warning << "Q7STestTask::testProtHandler: No op performed" << std::endl;
+  }
+  retval = std::system("print-chip-prot-status.sh");
+  if (retval != 0) {
+    utility::handleSystemError(retval, "Q7STestTask::testProtHandler");
+  }
+}
+
+void Q7STestTask::testGpsDaemon() {
+  gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
+  gps_data_t* gps;
+  gps = gpsmm.read();
+  if (gps == nullptr) {
+    sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
+  }
+  sif::info << "-- Q7STestTask: GPS shared memory read test --" << std::endl;
+  time_t timeRaw = gps->fix.time.tv_sec;
+  std::tm* time = gmtime(&timeRaw);
+  sif::info << "Time: " << std::put_time(time, "%c %Z") << std::endl;
+  sif::info << "Visible satellites: " << gps->satellites_visible << std::endl;
+  sif::info << "Satellites used: " << gps->satellites_used << std::endl;
+  sif::info << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
+  sif::info << "Latitude: " << gps->fix.latitude << std::endl;
+  sif::info << "Longitude: " << gps->fix.longitude << std::endl;
+  sif::info << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+  sif::info << "Speed(m/s): " << gps->fix.speed << std::endl;
+}
+
 void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
-    auto fsHandler = ObjectManager::instance()->
+  auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
-            get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
   if (fsHandler == nullptr) {
     sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
                  << std::endl;
@@ -144,7 +265,7 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
   // Lambda for common code
   auto createNonEmptyTmpDir = [&]() {
     if (not std::filesystem::exists("/tmp/test")) {
-            result = fsHandler->createDirectory("/tmp/test", &cfg);
+      result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
       if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
       }
@@ -162,14 +283,13 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
     return result;
   };
 
-
   switch (opCode) {
     case (FsOpCodes::CREATE_EMPTY_FILE_IN_TMP): {
       // No mount prefix, cause file is created in tmp
       cfg.useMountPrefix = false;
       sif::info << "Creating empty file in /tmp folder" << std::endl;
       // Do not delete file, user can check existence in shell
-        fsHandler->createFile("/tmp", "test.txt", nullptr, 0, &cfg);
+      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
       break;
     }
     case (FsOpCodes::REMOVE_TMP_FILE): {
@@ -179,13 +299,12 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
       if (not std::filesystem::exists("/tmp/test.txt")) {
         // Creating sample file
         sif::info << "Creating sample file /tmp/test.txt to delete" << std::endl;
-            fsHandler->createFile("/tmp", "test.txt", nullptr, 0, &cfg);
+        fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
       }
       result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
       if (result == HasReturnvaluesIF::RETURN_OK) {
         sif::info << "File removed successfully" << std::endl;
-        }
+      } else {
-        else {
         sif::warning << "File removal failed!" << std::endl;
       }
       break;
@@ -195,11 +314,10 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
       cfg.useMountPrefix = false;
       sif::info << "Creating empty file in /tmp folder" << std::endl;
       // Do not delete file, user can check existence in shell
-        ReturnValue_t result = fsHandler->createDirectory("/tmp/test", &cfg);
+      ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
       if (result == HasReturnvaluesIF::RETURN_OK) {
         sif::info << "Directory created successfully" << std::endl;
-        }
+      } else {
-        else {
         sif::warning << "Directory creation failed!" << std::endl;
       }
       break;
@@ -208,17 +326,15 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
       // No mount prefix, cause file is created in tmp
       cfg.useMountPrefix = false;
       if (not std::filesystem::exists("/tmp/test")) {
-            result = fsHandler->createDirectory("/tmp/test", &cfg);
+        result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
-        }
+      } else {
-        else {
         // Delete any leftover files to regular dir removal works
         std::remove("/tmp/test/*");
       }
-        result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
+      result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
       if (result == HasReturnvaluesIF::RETURN_OK) {
         sif::info << "Directory removed successfully" << std::endl;
-        }
+      } else {
-        else {
         sif::warning << "Directory removal failed!" << std::endl;
       }
       break;
@@ -228,11 +344,10 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
       if (result != HasReturnvaluesIF::RETURN_OK) {
         return;
       }
-        result = fsHandler->removeDirectory("/tmp/test", true, &cfg);
+      result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
       if (result == HasReturnvaluesIF::RETURN_OK) {
         sif::info << "Directory removed recursively successfully" << std::endl;
-        }
+      } else {
-        else {
         sif::warning << "Recursive directory removal failed!" << std::endl;
       }
       break;
@@ -242,13 +357,41 @@ void Q7STestTask::testFileSystemHandlerDirect(FsOpCodes opCode) {
       if (result != HasReturnvaluesIF::RETURN_OK) {
         return;
       }
-        result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
+      result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
       if (result != HasReturnvaluesIF::RETURN_OK) {
         sif::info << "Directory removal attempt failed as expected" << std::endl;
-        }
+      } else {
-        else {
         sif::warning << "Directory removal worked when it should not have!" << std::endl;
       }
+      break;
+    }
+    case (FsOpCodes::RENAME_FILE): {
+      // No mount prefix, cause file is created in tmp
+      cfg.useMountPrefix = false;
+      if (std::filesystem::exists("/tmp/test.txt")) {
+        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
+      }
+      sif::info << "Creating empty file /tmp/test.txt and rename to /tmp/test2.txt" << std::endl;
+      // Do not delete file, user can check existence in shell
+      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
+      fsHandler->renameFile("/tmp/", "test.txt", "test2.txt", &cfg);
+      break;
+    }
+    case (FsOpCodes::APPEND_TO_FILE): {
+      // No mount prefix, cause file is created in tmp
+      cfg.useMountPrefix = false;
+      if (std::filesystem::exists("/tmp/test.txt")) {
+        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
+      }
+      if (std::filesystem::exists("/tmp/test.txt")) {
+        fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
+      }
+      sif::info << "Creating empty file /tmp/test.txt and adding content" << std::endl;
+      std::string content = "Hello World\n";
+      // Do not delete file, user can check existence in shell
+      fsHandler->createFile("/tmp/", "test.txt", nullptr, 0, &cfg);
+      fsHandler->appendToFile("/tmp/", "test.txt", reinterpret_cast<const uint8_t*>(content.data()),
+                              content.size(), 0, &cfg);
     }
   }
 }

bsp_q7s/boardtest/Q7STestTask.h

@@ -3,11 +3,24 @@
 
 #include "test/testtasks/TestTask.h"
 
+class CoreController;
+
 class Q7STestTask : public TestTask {
  public:
   Q7STestTask(object_id_t objectId);
+
+  ReturnValue_t initialize() override;
+
  private:
+  bool doTestSdCard = false;
+  bool doTestScratchApi = false;
+  bool doTestGps = false;
+
+  CoreController* coreController = nullptr;
   ReturnValue_t performOneShotAction() override;
+  ReturnValue_t performPeriodicAction() override;
+
+  void testGpsDaemon();
 
   void testSdCard();
   void fileTests();
@@ -15,6 +28,7 @@ private:
   void testScratchApi();
   void testJsonLibDirect();
   void testDummyParams();
+  void testProtHandler();
 
   enum FsOpCodes {
     CREATE_EMPTY_FILE_IN_TMP,
@@ -23,9 +37,10 @@ private:
     REMOVE_EMPTY_DIR_IN_TMP,
     ATTEMPT_DIR_REMOVAL_NON_EMPTY,
     REMOVE_FILLED_DIR_IN_TMP,
+    RENAME_FILE,
+    APPEND_TO_FILE,
   };
   void testFileSystemHandlerDirect(FsOpCodes opCode);
 };
 
-
 #endif /* BSP_Q7S_BOARDTEST_Q7STESTTASK_H_ */

bsp_q7s/callbacks/CMakeLists.txt

@@ -0,0 +1,6 @@
+target_sources(${OBSW_NAME} PRIVATE
+	rwSpiCallback.cpp
+	gnssCallback.cpp
+	pcduSwitchCb.cpp
+	gpioCallbacks.cpp
+)

bsp_q7s/callbacks/gnssCallback.cpp

@@ -0,0 +1,25 @@
+#include "gnssCallback.h"
+
+#include "devices/gpioIds.h"
+#include "fsfw/tasks/TaskFactory.h"
+
+ReturnValue_t gps::triggerGpioResetPin(void* args) {
+  ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
+  if (args == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  if (resetArgs->gpioComIF == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  gpioId_t gpioId;
+  if (resetArgs->gnss1) {
+    gpioId = gpioIds::GNSS_1_NRESET;
+
+  } else {
+    gpioId = gpioIds::GNSS_0_NRESET;
+  }
+  resetArgs->gpioComIF->pullLow(gpioId);
+  TaskFactory::delayTask(resetArgs->waitPeriodMs);
+  resetArgs->gpioComIF->pullHigh(gpioId);
+  return HasReturnvaluesIF::RETURN_OK;
+}

bsp_q7s/callbacks/gnssCallback.h

@@ -0,0 +1,19 @@
+#ifndef BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
+#define BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#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);
+
+}
+
+#endif /* BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_ */

bsp_q7s/callbacks/gpioCallbacks.cpp

@@ -0,0 +1,487 @@
+#include "gpioCallbacks.h"
+
+#include <devices/gpioIds.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+
+#include "busConf.h"
+
+namespace gpioCallbacks {
+
+GpioIF* gpioComInterface;
+
+void initSpiCsDecoder(GpioIF* gpioComIF) {
+  using namespace gpio;
+  ReturnValue_t result;
+
+  if (gpioComIF == nullptr) {
+    sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
+    return;
+  }
+
+  gpioComInterface = gpioComIF;
+
+  GpioCookie* spiMuxGpios = new GpioCookie;
+
+  GpiodRegularByLineName* spiMuxBit = nullptr;
+  /** Setting mux bit 1 to low will disable IC21 on the interface board */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_0_PIN, "SPI Mux Bit 1",
+                                         Direction::OUT, Levels::HIGH);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_0, spiMuxBit);
+  /** Setting mux bit 2 to low disables IC1 on the TCS board */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 2",
+                                         Direction::OUT, Levels::HIGH);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
+  /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 3",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
+
+  /** The following gpios can take arbitrary initial values */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 4",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 5",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 6",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
+  GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(
+      q7s::gpioNames::EN_RW_CS, "EN_RW_CS", Direction::OUT, Levels::HIGH);
+  spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
+
+  result = gpioComInterface->addGpios(spiMuxGpios);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
+    return;
+  }
+}
+
+void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
+                          void* args) {
+  using namespace gpio;
+  if (gpioComInterface == nullptr) {
+    sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
+               << "to specify gpioComIF" << std::endl;
+    return;
+  }
+
+  /* Reading is not supported by the callback function */
+  if (gpioOp == gpio::GpioOperation::READ) {
+    return;
+  }
+
+  if (value == Levels::HIGH) {
+    switch (gpioId) {
+      case (gpioIds::RTD_IC_3): {
+        disableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_4): {
+        disableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_5): {
+        disableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_6): {
+        disableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_7): {
+        disableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_8): {
+        disableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_9): {
+        disableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_10): {
+        disableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_11): {
+        disableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_12): {
+        disableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_13): {
+        disableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_14): {
+        disableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_15): {
+        disableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_16): {
+        disableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_17): {
+        disableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_18): {
+        disableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::CS_SUS_0): {
+        disableDecoderInterfaceBoardIc1();
+        break;
+      }
+      case (gpioIds::CS_SUS_1): {
+        disableDecoderInterfaceBoardIc1();
+        break;
+      }
+      case (gpioIds::CS_SUS_2): {
+        disableDecoderInterfaceBoardIc1();
+        break;
+      }
+      case (gpioIds::CS_SUS_3): {
+        disableDecoderInterfaceBoardIc1();
+        break;
+      }
+      case (gpioIds::CS_SUS_4): {
+        disableDecoderInterfaceBoardIc1();
+        break;
+      }
+      case (gpioIds::CS_SUS_5): {
+        disableDecoderInterfaceBoardIc1();
+        break;
+      }
+      case (gpioIds::CS_SUS_6): {
+        disableDecoderInterfaceBoardIc2();
+        break;
+      }
+      case (gpioIds::CS_SUS_7): {
+        disableDecoderInterfaceBoardIc2();
+        break;
+      }
+      case (gpioIds::CS_SUS_8): {
+        disableDecoderInterfaceBoardIc2();
+        break;
+      }
+      case (gpioIds::CS_SUS_9): {
+        disableDecoderInterfaceBoardIc2();
+        break;
+      }
+      case (gpioIds::CS_SUS_10): {
+        disableDecoderInterfaceBoardIc2();
+        break;
+      }
+      case (gpioIds::CS_SUS_11): {
+        disableDecoderInterfaceBoardIc2();
+        break;
+      }
+      case (gpioIds::CS_RW1): {
+        disableRwDecoder();
+        break;
+      }
+      case (gpioIds::CS_RW2): {
+        disableRwDecoder();
+        break;
+      }
+      case (gpioIds::CS_RW3): {
+        disableRwDecoder();
+        break;
+      }
+      case (gpioIds::CS_RW4): {
+        disableRwDecoder();
+        break;
+      }
+      default:
+        sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
+    }
+  } else if (value == Levels::LOW) {
+    switch (gpioId) {
+      case (gpioIds::RTD_IC_3): {
+        selectY7();
+        enableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_4): {
+        selectY6();
+        enableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_5): {
+        selectY5();
+        enableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_6): {
+        selectY4();
+        enableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_7): {
+        selectY3();
+        enableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_8): {
+        selectY2();
+        enableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_9): {
+        selectY1();
+        enableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_10): {
+        selectY0();
+        enableDecoderTcsIc1();
+        break;
+      }
+      case (gpioIds::RTD_IC_11): {
+        selectY7();
+        enableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_12): {
+        selectY6();
+        enableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_13): {
+        selectY5();
+        enableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_14): {
+        selectY4();
+        enableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_15): {
+        selectY3();
+        enableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_16): {
+        selectY2();
+        enableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_17): {
+        selectY1();
+        enableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::RTD_IC_18): {
+        selectY0();
+        enableDecoderTcsIc2();
+        break;
+      }
+      case (gpioIds::CS_SUS_0): {
+        selectY0();
+        enableDecoderInterfaceBoardIc1();
+        break;
+      }
+      case (gpioIds::CS_SUS_1): {
+        selectY1();
+        enableDecoderInterfaceBoardIc1();
+        break;
+      }
+      case (gpioIds::CS_SUS_2): {
+        selectY2();
+        enableDecoderInterfaceBoardIc1();
+        break;
+      }
+      case (gpioIds::CS_SUS_3): {
+        selectY3();
+        enableDecoderInterfaceBoardIc1();
+        break;
+      }
+      case (gpioIds::CS_SUS_4): {
+        selectY4();
+        enableDecoderInterfaceBoardIc1();
+        break;
+      }
+      case (gpioIds::CS_SUS_5): {
+        selectY5();
+        enableDecoderInterfaceBoardIc1();
+        break;
+      }
+      case (gpioIds::CS_SUS_6): {
+        selectY0();
+        enableDecoderInterfaceBoardIc2();
+        break;
+      }
+      case (gpioIds::CS_SUS_7): {
+        selectY1();
+        enableDecoderInterfaceBoardIc2();
+        break;
+      }
+      case (gpioIds::CS_SUS_8): {
+        selectY2();
+        enableDecoderInterfaceBoardIc2();
+        break;
+      }
+      case (gpioIds::CS_SUS_9): {
+        selectY3();
+        enableDecoderInterfaceBoardIc2();
+        break;
+      }
+      case (gpioIds::CS_SUS_10): {
+        selectY4();
+        enableDecoderInterfaceBoardIc2();
+        break;
+      }
+      case (gpioIds::CS_SUS_11): {
+        selectY5();
+        enableDecoderInterfaceBoardIc2();
+        break;
+      }
+      case (gpioIds::CS_RW1): {
+        selectY0();
+        enableRwDecoder();
+        break;
+      }
+      case (gpioIds::CS_RW2): {
+        selectY1();
+        enableRwDecoder();
+        break;
+      }
+      case (gpioIds::CS_RW3): {
+        selectY2();
+        enableRwDecoder();
+        break;
+      }
+      case (gpioIds::CS_RW4): {
+        selectY3();
+        enableRwDecoder();
+        break;
+      }
+      default:
+        sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
+    }
+  } else {
+    sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
+  }
+}
+
+void enableDecoderTcsIc1() {
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void enableDecoderTcsIc2() {
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
+}
+
+void enableDecoderInterfaceBoardIc1() {
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void enableDecoderInterfaceBoardIc2() {
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
+}
+
+void disableDecoderTcsIc1() {
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void disableDecoderTcsIc2() {
+  // DO NOT CHANGE THE ORDER HERE
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
+}
+
+void disableDecoderInterfaceBoardIc1() {
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void disableDecoderInterfaceBoardIc2() {
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void enableRwDecoder() { gpioComInterface->pullHigh(gpioIds::EN_RW_CS); }
+
+void disableRwDecoder() { gpioComInterface->pullLow(gpioIds::EN_RW_CS); }
+
+void selectY0() {
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
+}
+
+void selectY1() {
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
+}
+
+void selectY2() {
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
+}
+
+void selectY3() {
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
+}
+
+void selectY4() {
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
+}
+
+void selectY5() {
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
+}
+
+void selectY6() {
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
+}
+
+void selectY7() {
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
+  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
+}
+
+void disableAllDecoder() {
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
+  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
+  gpioComInterface->pullLow(gpioIds::EN_RW_CS);
+}
+
+}  // namespace gpioCallbacks

bsp_q7s/callbacks/gpioCallbacks.h

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

bsp_q7s/callbacks/pcduSwitchCb.cpp

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

bsp_q7s/callbacks/pcduSwitchCb.h

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

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -0,0 +1,232 @@
+#include "rwSpiCallback.h"
+
+#include "devices/gpioIds.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "mission/devices/RwHandler.h"
+
+namespace rwSpiCallback {
+
+ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
+                          size_t sendLen, void* args) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+
+  RwHandler* handler = reinterpret_cast<RwHandler*>(args);
+  if (handler == nullptr) {
+    sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  uint8_t writeBuffer[2];
+  uint8_t writeSize = 0;
+
+  gpioId_t gpioId = cookie->getChipSelectPin();
+  GpioIF* gpioIF = comIf->getGpioInterface();
+  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  uint32_t timeoutMs = 0;
+  MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+  if (mutex == nullptr or gpioIF == nullptr) {
+    sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  int fileDescriptor = 0;
+  std::string device = cookie->getSpiDevice();
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback");
+  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);
+  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;
+    }
+  }
+
+  if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
+    sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
+    closeSpi(gpioId, gpioIF, mutex);
+    return RwHandler::SPI_WRITE_FAILURE;
+  }
+
+  /** Encoding and sending command */
+  size_t idx = 0;
+  while (idx < sendLen) {
+    switch (*(sendData + idx)) {
+      case 0x7E:
+        writeBuffer[0] = 0x7D;
+        writeBuffer[1] = 0x5E;
+        writeSize = 2;
+        break;
+      case 0x7D:
+        writeBuffer[0] = 0x7D;
+        writeBuffer[1] = 0x5D;
+        writeSize = 2;
+        break;
+      default:
+        writeBuffer[0] = *(sendData + idx);
+        writeSize = 1;
+        break;
+    }
+    if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
+      sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
+      closeSpi(gpioId, gpioIF, mutex);
+      return RwHandler::SPI_WRITE_FAILURE;
+    }
+    idx++;
+  }
+
+  /** Sending frame end sign */
+  writeBuffer[0] = 0x7E;
+  writeSize = 1;
+
+  if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
+    sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
+    closeSpi(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);
+    return result;
+  }
+
+  size_t replyBufferSize = cookie->getMaxBufferSize();
+
+  /** There must be a delay of at least 20 ms after sending the command */
+  usleep(RwDefinitions::SPI_REPLY_DELAY);
+
+  /**
+   * The reaction wheel responds with empty frames while preparing the reply data.
+   * However, receiving more than 5 empty frames will be interpreted as an error.
+   */
+  uint8_t byteRead = 0;
+  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);
+      return RwHandler::SPI_READ_FAILURE;
+    }
+    if (idx == 0) {
+      if (byteRead != FLAG_BYTE) {
+        sif::error << "Invalid data, expected start marker" << std::endl;
+        closeSpi(gpioId, gpioIF, mutex);
+        return RwHandler::NO_START_MARKER;
+      }
+    }
+
+    if (byteRead != FLAG_BYTE) {
+      break;
+    }
+
+    if (idx == 9) {
+      sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
+      closeSpi(gpioId, gpioIF, mutex);
+      return RwHandler::NO_REPLY;
+    }
+  }
+
+#if FSFW_HAL_SPI_WIRETAPPING == 1
+  sif::info << "RW start marker detected" << std::endl;
+#endif
+
+  size_t decodedFrameLen = 0;
+  while (decodedFrameLen < replyBufferSize) {
+    /** First byte already read in */
+    if (decodedFrameLen != 0) {
+      byteRead = 0;
+      if (read(fileDescriptor, &byteRead, 1) != 1) {
+        sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
+        result = RwHandler::SPI_READ_FAILURE;
+        break;
+      }
+    }
+
+    if (byteRead == FLAG_BYTE) {
+      /** Reached end of frame */
+      break;
+    } else if (byteRead == 0x7D) {
+      if (read(fileDescriptor, &byteRead, 1) != 1) {
+        sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
+        result = RwHandler::SPI_READ_FAILURE;
+        break;
+      }
+      if (byteRead == 0x5E) {
+        *(rxBuf + decodedFrameLen) = 0x7E;
+        decodedFrameLen++;
+        continue;
+      } else if (byteRead == 0x5D) {
+        *(rxBuf + decodedFrameLen) = 0x7D;
+        decodedFrameLen++;
+        continue;
+      } else {
+        sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
+        closeSpi(gpioId, gpioIF, mutex);
+        result = RwHandler::INVALID_SUBSTITUTE;
+        break;
+      }
+    } else {
+      *(rxBuf + decodedFrameLen) = byteRead;
+      decodedFrameLen++;
+      continue;
+    }
+
+    /**
+     * There might be the unlikely case that each byte in a get-telemetry reply has been
+     * replaced by its substitute. Than the next byte must correspond to the end sign 0x7E.
+     * Otherwise there might be something wrong.
+     */
+    if (decodedFrameLen == replyBufferSize) {
+      if (read(fileDescriptor, &byteRead, 1) != 1) {
+        sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
+        result = RwHandler::SPI_READ_FAILURE;
+        break;
+      }
+      if (byteRead != 0x7E) {
+        sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
+        decodedFrameLen--;
+        result = RwHandler::MISSING_END_SIGN;
+        break;
+      }
+    }
+    result = HasReturnvaluesIF::RETURN_OK;
+  }
+
+  cookie->setTransferSize(decodedFrameLen);
+
+  closeSpi(gpioId, gpioIF, mutex);
+
+  return result;
+}
+
+void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+  if (gpioId != gpio::NO_GPIO) {
+    if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
+      sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
+    }
+  }
+  if (mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
+    ;
+  }
+}
+}  // namespace rwSpiCallback

bsp_q7s/callbacks/rwSpiCallback.h

@@ -1,13 +1,15 @@
 #ifndef BSP_Q7S_RW_SPI_CALLBACK_H_
 #define BSP_Q7S_RW_SPI_CALLBACK_H_
 
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include <fsfw/hal/linux/spi/SpiComIF.h>
+#include "fsfw_hal/common/gpio/GpioCookie.h"
-#include <fsfw/hal/common/gpio/GpioCookie.h>
+#include "fsfw_hal/linux/spi/SpiComIF.h"
-
 
 namespace rwSpiCallback {
 
+//! This is the end and start marker of the frame datalinklayer
+static constexpr uint8_t FLAG_BYTE = 0x7E;
+
 /**
  * @brief   This is the callback function to send commands to the nano avionics reaction wheels and
  *          receive the replies.
@@ -40,5 +42,5 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
  */
 void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
 
-}
+}  // namespace rwSpiCallback
 #endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */

bsp_q7s/comIF/CMakeLists.txt

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

bsp_q7s/core/CMakeLists.txt

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

bsp_q7s/core/CoreController.h

@@ -1,49 +1,225 @@
 #ifndef BSP_Q7S_CORE_CORECONTROLLER_H_
 #define BSP_Q7S_CORE_CORECONTROLLER_H_
 
-#include "fsfw/controller/ExtendedControllerBase.h"
+#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
-#include "bsp_q7s/memory/SdCardManager.h"
+#include <libxiphos.h>
 
+#include <cstddef>
+
+#include "bsp_q7s/memory/SdCardManager.h"
 #include "events/subsystemIdRanges.h"
+#include "fsfw/controller/ExtendedControllerBase.h"
+
+class Timer;
+class SdCardManager;
+
+namespace xsc {
+
+enum Chip : int { CHIP_0, CHIP_1, NO_CHIP, SELF_CHIP, ALL_CHIP };
+enum Copy : int { COPY_0, COPY_1, NO_COPY, SELF_COPY, ALL_COPY };
+
+}  // namespace xsc
+
+struct RebootFile {
+  static constexpr uint8_t DEFAULT_MAX_BOOT_CNT = 10;
+
+  bool enabled = true;
+  size_t maxCount = DEFAULT_MAX_BOOT_CNT;
+  uint32_t img00Cnt = 0;
+  uint32_t img01Cnt = 0;
+  uint32_t img10Cnt = 0;
+  uint32_t img11Cnt = 0;
+  bool img00Lock = false;
+  bool img01Lock = false;
+  bool img10Lock = false;
+  bool img11Lock = false;
+  uint32_t* relevantBootCnt = &img00Cnt;
+  bool bootFlag = false;
+  xsc::Chip lastChip = xsc::Chip::CHIP_0;
+  xsc::Copy lastCopy = xsc::Copy::COPY_0;
+  xsc::Chip mechanismNextChip = xsc::Chip::NO_CHIP;
+  xsc::Copy mechanismNextCopy = xsc::Copy::NO_COPY;
+};
 
 class CoreController : public ExtendedControllerBase {
  public:
+  static xsc::Chip CURRENT_CHIP;
+  static xsc::Copy CURRENT_COPY;
+
+  static constexpr char CHIP_PROT_SCRIPT[] = "/home/root/scripts/get-chip-prot-status.sh";
+  static constexpr char CHIP_STATE_FILE[] = "/tmp/chip_prot_status.txt";
+  static constexpr char CURR_COPY_FILE[] = "/tmp/curr_copy.txt";
+  static constexpr char CONF_FOLDER[] = "conf";
+  static constexpr char VERSION_FILE_NAME[] = "version.txt";
+  static constexpr char REBOOT_FILE_NAME[] = "reboot.txt";
+  const std::string VERSION_FILE =
+      "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
+  const std::string REBOOT_FILE =
+      "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
+
   static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
+  static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
+  static constexpr ActionId_t RESET_REBOOT_COUNTERS = 6;
+  static constexpr ActionId_t SWITCH_IMG_LOCK = 7;
+  static constexpr ActionId_t SET_MAX_REBOOT_CNT = 8;
+
+  static constexpr ActionId_t REBOOT_OBC = 32;
+  static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
   static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT]  Software reboot occured. Can also be a systemd reboot.
+  //! P1: Current Chip, P2: Current Copy
+  static constexpr Event REBOOT_SW = event::makeEvent(SUBSYSTEM_ID, 1, severity::MEDIUM);
+  //! [EXPORT] : [COMMENT] The reboot mechanism was triggered.
+  //! P1: First 16 bits: Last Chip, Last 16 bits: Last Copy,
+  //! P2: Each byte is the respective reboot count for the slots
+  static constexpr Event REBOOT_MECHANISM_TRIGGERED =
+      event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
+  //! Trying to find a way how to determine that the reboot came from ProASIC3 or PCDU..
+  static constexpr Event REBOOT_HW = event::makeEvent(SUBSYSTEM_ID, 3, severity::MEDIUM);
 
   CoreController(object_id_t objectId);
+  virtual ~CoreController();
 
   ReturnValue_t initialize() override;
 
   ReturnValue_t initializeAfterTaskCreation() override;
 
-    ReturnValue_t executeAction(ActionId_t actionId,
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-            MessageQueueId_t commandedBy, const uint8_t *data, size_t size) override;
+                              const uint8_t* data, size_t size) override;
 
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
 
+  /**
+   * Generate a file containing the chip lock/unlock states inside /tmp/chip_prot_status.txt
+   * @return
+   */
+  static ReturnValue_t generateChipStateFile();
   static ReturnValue_t incrementAllocationFailureCount();
+  static void getCurrentBootCopy(xsc::Chip& chip, xsc::Copy& copy);
+
+  ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);
+
+  /**
+   * Checks whether the target chip and copy are write protected and protect set them to a target
+   * state where applicable.
+   * @param targetChip
+   * @param targetCopy
+   * @param protect       Target state
+   * @param protOperationPerformed [out] Can be used to determine whether any operation
+   * was performed
+   * @param updateProtFile Specify whether the protection info file is updated
+   * @return
+   */
+  ReturnValue_t setBootCopyProtection(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
+                                      bool& protOperationPerformed, bool updateProtFile = true);
+
+  bool sdInitFinished() const;
+
  private:
+  // Designated value for rechecking FIFO open
+  static constexpr int RETRY_FIFO_OPEN = -2;
+  int watchdogFifoFd = 0;
+
+  // States for SD state machine, which is used in non-blocking mode
+  enum class SdStates {
+    NONE,
+    START,
+    GET_INFO,
+    SET_STATE_SELF,
+    MOUNT_SELF,
+    // Determine operations for other SD card, depending on redundancy configuration
+    DETERMINE_OTHER,
+    SET_STATE_OTHER,
+    // Mount or unmount other
+    MOUNT_UNMOUNT_OTHER,
+    // Skip period because the shell command used to generate the info file sometimes is
+    // missing the last performed operation if executed too early
+    SKIP_CYCLE_BEFORE_INFO_UPDATE,
+    UPDATE_INFO,
+    // SD initialization done
+    IDLE,
+    // Used if SD switches or mount commands are issued via telecommand
+    SET_STATE_FROM_COMMAND,
+  };
+  static constexpr bool BLOCKING_SD_INIT = false;
+
+  SdCardManager* sdcMan = nullptr;
+
+  struct SdInfo {
+    sd::SdCard pref = sd::SdCard::NONE;
+    sd::SdState prefState = sd::SdState::OFF;
+    sd::SdCard other = sd::SdCard::NONE;
+    sd::SdState otherState = sd::SdState::OFF;
+    std::string prefChar = "0";
+    std::string otherChar = "1";
+    SdStates state = SdStates::START;
+    // Used to track whether a command was executed
+    bool commandExecuted = true;
+    bool initFinished = false;
+    SdCardManager::SdStatePair currentState;
+    uint16_t cycleCount = 0;
+    // These two flags are related to external commanding
+    bool commandIssued = false;
+    bool commandFinished = false;
+    sd::SdState currentlyCommandedState = sd::SdState::OFF;
+    sd::SdCard commandedCard = sd::SdCard::NONE;
+    sd::SdState commandedState = sd::SdState::OFF;
+  } sdInfo;
+  RebootFile rebootFile = {};
+  bool doPerformMountedSdCardOps = true;
+
+  /**
+   * Index 0: Chip 0 Copy 0
+   * Index 1: Chip 0 Copy 1
+   * Index 2: Chip 1 Copy 0
+   * Index 3: Chip 1 Copy 1
+   */
+  std::array<bool, 4> protArray;
+  PeriodicOperationDivider opDivider;
+
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
-    ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
-                uint32_t *msToReachTheMode);
+  void performMountedSdCardOperations();
+  ReturnValue_t initVersionFile();
+  ReturnValue_t initBootCopy();
+  ReturnValue_t initWatchdogFifo();
+  ReturnValue_t initSdCardBlocking();
+  void initPrint();
 
-    ReturnValue_t sdCardInit();
+  ReturnValue_t sdStateMachine();
-    ReturnValue_t sdCardSetup(SdCardManager& sdcMan, SdCardManager::SdStatusPair& statusPair,
+  void updateSdInfoOther();
-            sd::SdCard sdCard, sd::SdStatus status, std::string sdString);
+  ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
-    ReturnValue_t sdCardColdRedundantInit(SdCardManager* sdcMan,
+                            bool printOutput = true);
-            SdCardManager::SdStatusPair& statusPair);
+  ReturnValue_t sdColdRedundantBlockingInit();
 
-    ReturnValue_t versionFileInit();
+  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);
+
+  void performWatchdogControlOperation();
+
+  ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
+  int handleBootCopyProtAtIndex(xsc::Chip targetChip, xsc::Copy targetCopy, bool protect,
+                                bool& protOperationPerformed, bool selfChip, bool selfCopy,
+                                bool allChips, bool allCopies, uint8_t arrIdx);
+  void determineAndExecuteReboot(RebootFile& rf, bool& needsReboot, xsc::Chip& tgtChip,
+                                 xsc::Copy& tgtCopy);
+  void resetRebootCount(xsc::Chip tgtChip, xsc::Copy tgtCopy);
+  void setRebootMechanismLock(bool lock, xsc::Chip tgtChip, xsc::Copy tgtCopy);
+  bool parseRebootFile(std::string path, RebootFile& file);
+  void rewriteRebootFile(RebootFile file);
 };
 
-
-
 #endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */

bsp_q7s/core/InitMission.cpp

@@ -1,28 +1,27 @@
 #include "InitMission.h"
-#include "ObjectFactory.h"
-#include "OBSWConfig.h"
-#include "pollingsequence/pollingSequenceFactory.h"
-
-#include "mission/utility/InitMission.h"
-
-#include "fsfw/platform.h"
-#include "fsfw/objectmanager/ObjectManagerIF.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/tasks/FixedTimeslotTaskIF.h"
-#include "fsfw/tasks/PeriodicTaskIF.h"
-#include "fsfw/tasks/TaskFactory.h"
 
 #include <iostream>
 #include <vector>
 
+#include "OBSWConfig.h"
+#include "ObjectFactory.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/platform.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/tasks/FixedTimeslotTaskIF.h"
+#include "fsfw/tasks/PeriodicTaskIF.h"
+#include "fsfw/tasks/TaskFactory.h"
+#include "mission/utility/InitMission.h"
+#include "pollingsequence/pollingSequenceFactory.h"
+
 /* This is configured for linux without CR */
 #ifdef PLATFORM_UNIX
 ServiceInterfaceStream sif::debug("DEBUG");
 ServiceInterfaceStream sif::info("INFO");
 ServiceInterfaceStream sif::warning("WARNING");
-ServiceInterfaceStream sif::error("ERROR", false, false, true);
+ServiceInterfaceStream sif::error("ERROR");
 #else
 ServiceInterfaceStream sif::debug("DEBUG", true);
 ServiceInterfaceStream sif::info("INFO", true);
@@ -33,7 +32,6 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
 ObjectManagerIF* objectManager = nullptr;
 
 void initmission::initMission() {
-
   sif::info << "Building global objects.." << std::endl;
   /* Instantiate global object manager and also create all objects */
   ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
@@ -57,13 +55,14 @@ void initmission::initTasks() {
   void (*missedDeadlineFunc)(void) = nullptr;
 #endif
 
+#if BOARD_TE0720 == 0
   PeriodicTaskIF* coreController = factory->createPeriodicTask(
       "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
   result = coreController->addComponent(objects::CORE_CONTROLLER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
-
   }
+#endif
 
   /* TMTC Distribution */
   PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
@@ -81,20 +80,51 @@ void initmission::initTasks() {
     initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
   }
 
-    /* UDP bridge */
+#if OBSW_ADD_TCPIP_BRIDGE == 1
-    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
+  // TMTC bridge
-            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
+      "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("UDP_BRIDGE", objects::UDP_BRIDGE);
+    initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
   }
-    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
+  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
-            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
+  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
+    initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
+  }
+#endif
+
+#if OBSW_USE_CCSDS_IP_CORE == 1
+  PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
+      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
   }
 
+  // Minimal distance between two received TCs amounts to 0.6 seconds
+  // If a command has not been read before the next one arrives, the old command will be
+  // overwritten by the PDEC.
+  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
+      "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
+  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
+  }
+#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+
+#if OBSW_ADD_ACS_HANDLERS == 1
+  PeriodicTaskIF* acsCtrl = factory->createPeriodicTask(
+      "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
+  result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
+  }
+#endif /* OBSW_ADD_ACS_HANDLERS */
+
+#if BOARD_TE0720 == 0
   // FS task, task interval does not matter because it runs in permanent loop, priority low
   // because it is a non-essential background task
   PeriodicTaskIF* fsTask = factory->createPeriodicTask(
@@ -104,7 +134,18 @@ void initmission::initTasks() {
     initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
   }
 
-#if TEST_CCSDS_BRIDGE == 1
+#if OBSW_ADD_STAR_TRACKER == 1
+  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
+      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = strHelperTask->addComponent(objects::STR_HELPER);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
+  }
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+
+#endif /* BOARD_TE0720 */
+
+#if OBSW_TEST_CCSDS_BRIDGE == 1
   PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
       "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
   result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
@@ -117,15 +158,17 @@ void initmission::initTasks() {
   createPusTasks(*factory, missedDeadlineFunc, pusTasks);
   std::vector<PeriodicTaskIF*> pstTasks;
   createPstTasks(*factory, missedDeadlineFunc, pstTasks);
+
+#if OBSW_ADD_TEST_CODE == 1
   std::vector<PeriodicTaskIF*> testTasks;
   createTestTasks(*factory, missedDeadlineFunc, testTasks);
+#endif
 
   auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
     for (const auto& task : taskVector) {
       if (task != nullptr) {
         task->startTask();
-            }
+      } else {
-            else {
         sif::error << "Task in vector " << name << " is invalid!" << std::endl;
       }
     }
@@ -133,9 +176,20 @@ void initmission::initTasks() {
 
   sif::info << "Starting tasks.." << std::endl;
   tmTcDistributor->startTask();
-    udpBridgeTask->startTask();
+
-    udpPollingTask->startTask();
+#if OBSW_ADD_TCPIP_BRIDGE == 1
+  tmtcBridgeTask->startTask();
+  tmtcPollingTask->startTask();
+#endif
+
+#if OBSW_USE_CCSDS_IP_CORE == 1
+  ccsdsHandlerTask->startTask();
+  pdecHandlerTask->startTask();
+#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
+
+#if BOARD_TE0720 == 0
   coreController->startTask();
+#endif
 
   taskStarter(pstTasks, "PST task vector");
   taskStarter(pusTasks, "PUS task vector");
@@ -143,50 +197,67 @@ void initmission::initTasks() {
   taskStarter(testTasks, "Test task vector");
 #endif
 
-#if TEST_CCSDS_BRIDGE == 1
+#if OBSW_TEST_CCSDS_BRIDGE == 1
   ptmeTestTask->startTask();
 #endif
+
+#if BOARD_TE0720 == 0
   fsTask->startTask();
+#if OBSW_ADD_STAR_TRACKER == 1
+  strHelperTask > startTask();
+#endif /* OBSW_ADD_STAR_TRACKER == 1 */
+#endif
+
+#if OBSW_ADD_ACS_HANDLERS == 1
+  acsCtrl->startTask();
+#endif
 
   sif::info << "Tasks started.." << std::endl;
 }
 
 void initmission::createPstTasks(TaskFactory& factory,
-        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
+                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+                                 std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 #if BOARD_TE0720 == 0
   /* Polling Sequence Table Default */
-#if Q7S_ADD_SPI_TEST == 0
+#if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-            "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
+      "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
-            missedDeadlineFunc);
   result = pst::pstSpi(spiPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
+    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
       sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
     }
+  } else {
     taskVec.push_back(spiPst);
+  }
 #endif
 
   FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
-            "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
+      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstUart(uartPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
   }
   taskVec.push_back(uartPst);
   FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
-            "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
+      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstGpio(gpioPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
   }
   taskVec.push_back(gpioPst);
+
+#if OBSW_ADD_I2C_TEST_CODE == 0
   FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
-            "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
+      "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
   result = pst::pstI2c(i2cPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
   }
+  taskVec.push_back(i2cPst);
+#endif
 
   FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
       "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
@@ -194,11 +265,10 @@ void initmission::createPstTasks(TaskFactory& factory,
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
   }
-    taskVec.push_back(i2cPst);
+  taskVec.push_back(gomSpacePstTask);
 #else  /* BOARD_TE7020 == 0 */
-    FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
+  FixedTimeslotTaskIF* pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
-            "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
+      "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0, missedDeadlineFunc);
-            missedDeadlineFunc);
   result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
@@ -208,7 +278,8 @@ void initmission::createPstTasks(TaskFactory& factory,
 }
 
 void initmission::createPusTasks(TaskFactory& factory,
-        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
+                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+                                 std::vector<PeriodicTaskIF*>& taskVec) {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
   /* PUS Services */
   PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
@@ -276,27 +347,47 @@ void initmission::createPusTasks(TaskFactory &factory,
   taskVec.push_back(pusLowPrio);
 }
 
-void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
+void initmission::createTestTasks(TaskFactory& factory,
+                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                   std::vector<PeriodicTaskIF*>& taskVec) {
+#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  static_cast<void>(result);  // supress warning in case it is not used
+
   PeriodicTaskIF* testTask = factory.createPeriodicTask(
       "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
+
   result = testTask->addComponent(objects::TEST_TASK);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
   }
 
-#if Q7S_ADD_SPI_TEST == 1
+#if OBSW_ADD_SPI_TEST_CODE == 1
   result = testTask->addComponent(objects::SPI_TEST);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
   }
 #endif
-#if BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1
+#if OBSW_ADD_I2C_TEST_CODE == 1
+  result = testTask->addComponent(objects::I2C_TEST);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("I2C_TEST", objects::I2C_TEST);
+  }
+#endif
+#if OBSW_ADD_UART_TEST_CODE == 1
+  result = testTask->addComponent(objects::UART_TEST);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
+  }
+#endif
+
+#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
   result = testTask->addComponent(objects::LIBGPIOD_TEST);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
   }
-#endif /* BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1 */
+#endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */
   taskVec.push_back(testTask);
+
+#endif  // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
 }

bsp_q7s/core/InitMission.h

@@ -1,9 +1,10 @@
 #ifndef BSP_Q7S_INITMISSION_H_
 #define BSP_Q7S_INITMISSION_H_
 
-#include "fsfw/tasks/Typedef.h"
 #include <vector>
 
+#include "fsfw/tasks/Typedef.h"
+
 class PeriodicTaskIF;
 class TaskFactory;
 
@@ -17,6 +18,6 @@ void createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadl
                     std::vector<PeriodicTaskIF*>& taskVec);
 void createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                      std::vector<PeriodicTaskIF*>& taskVec);
-};
+};  // namespace initmission
 
 #endif /* BSP_Q7S_INITMISSION_H_ */

bsp_q7s/core/ObjectFactory.h

@@ -2,25 +2,32 @@
 #define BSP_Q7S_OBJECTFACTORY_H_
 
 class LinuxLibgpioIF;
+class UartComIF;
+class SpiComIF;
+class I2cComIF;
 
 namespace ObjectFactory {
 
 void setStatics();
 void produce(void* args);
 
-void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF);
+void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
+                                   SpiComIF** spiComIF, I2cComIF** i2cComIF);
+
+void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
 void createTmpComponents();
-void createPcduComponents();
+void createPcduComponents(LinuxLibgpioIF* gpioComIF);
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
-void createSunSensorComponents(LinuxLibgpioIF* gpioComIF);
+void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
-void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF);
+void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF);
 void createHeaterComponents();
 void createSolarArrayDeploymentComponents();
 void createSyrlinksComponents();
 void createRtdComponents(LinuxLibgpioIF* gpioComIF);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
-void createTestComponents();
+void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
+void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
-};
+};  // namespace ObjectFactory
 
 #endif /* BSP_Q7S_OBJECTFACTORY_H_ */

bsp_q7s/core/ParameterHandler.cpp

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

bsp_q7s/core/ParameterHandler.h

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

bsp_q7s/core/obsw.cpp

@@ -1,13 +1,17 @@
 #include "obsw.h"
-#include "OBSWVersion.h"
-#include "OBSWConfig.h"
-#include "InitMission.h"
-
-#include "fsfw/tasks/TaskFactory.h"
-#include "fsfw/FSFWVersion.h"
 
+#include <filesystem>
 #include <iostream>
 
+#include "InitMission.h"
+#include "OBSWConfig.h"
+#include "OBSWVersion.h"
+#include "fsfw/FSFWVersion.h"
+#include "fsfw/tasks/TaskFactory.h"
+#include "watchdogConf.h"
+
+static int OBSW_ALREADY_RUNNING = -2;
+
 int obsw::obsw() {
   std::cout << "-- EIVE OBSW --" << std::endl;
 #if BOARD_TE0720 == 0
@@ -15,11 +19,21 @@ int obsw::obsw() {
 #else
   std::cout << "-- Compiled for Linux (TE0720) --" << std::endl;
 #endif
-    std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
+  std::cout << "-- OBSW v" << SW_VERSION << "." << SW_SUBVERSION << "." << SW_REVISION << ", FSFW v"
-            "." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "." <<
+            << FSFW_VERSION << "." << FSFW_SUBVERSION << "." << FSFW_REVISION << "--" << std::endl;
-            FSFW_REVISION << "--"  << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
+#if Q7S_CHECK_FOR_ALREADY_RUNNING_IMG == 1
+  // Check special file here. This file is created or deleted by the eive-watchdog application
+  // or systemd service!
+  if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
+    sif::warning << "File " << watchdog::RUNNING_FILE_NAME
+                 << " exists so the software might "
+                    "already be running. Check if obsw systemd service has been stopped."
+                 << std::endl;
+    return OBSW_ALREADY_RUNNING;
+  }
+#endif
   initmission::initMission();
 
   for (;;) {

bsp_q7s/devices/CMakeLists.txt

@@ -0,0 +1,5 @@
+target_sources(${OBSW_NAME} PRIVATE
+    PlocSupervisorHandler.cpp
+    PlocUpdater.cpp
+    PlocMemoryDumper.cpp
+)

bsp_q7s/devices/PlocMemoryDumper.cpp

@@ -0,0 +1,194 @@
+#include "PlocMemoryDumper.h"
+
+#include <fsfw/src/fsfw/serialize/SerializeAdapter.h>
+
+#include <filesystem>
+#include <fstream>
+#include <string>
+
+#include "fsfw/ipc/QueueFactory.h"
+
+PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId)
+    : SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
+  auto mqArgs = MqArgs(this->getObjectId());
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+}
+
+PlocMemoryDumper::~PlocMemoryDumper() {}
+
+ReturnValue_t PlocMemoryDumper::initialize() {
+  ReturnValue_t result = SystemObject::initialize();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = commandActionHelper.initialize();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = actionHelper.initialize(commandQueue);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PlocMemoryDumper::performOperation(uint8_t operationCode) {
+  readCommandQueue();
+  doStateMachine();
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PlocMemoryDumper::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                              const uint8_t* data, size_t size) {
+  if (state != State::IDLE) {
+    return IS_BUSY;
+  }
+
+  switch (actionId) {
+    case DUMP_MRAM: {
+      size_t deserializeSize = sizeof(mram.startAddress) + sizeof(mram.endAddress);
+      SerializeAdapter::deSerialize(&mram.startAddress, &data, &deserializeSize,
+                                    SerializeIF::Endianness::BIG);
+      SerializeAdapter::deSerialize(&mram.endAddress, &data, &deserializeSize,
+                                    SerializeIF::Endianness::BIG);
+      if (mram.endAddress > MAX_MRAM_ADDRESS) {
+        return MRAM_ADDRESS_TOO_HIGH;
+      }
+      if (mram.endAddress <= mram.startAddress) {
+        return MRAM_INVALID_ADDRESS_COMBINATION;
+      }
+      state = State::COMMAND_FIRST_MRAM_DUMP;
+      break;
+    }
+    default: {
+      sif::warning << "PlocMemoryDumper::executeAction: Received command with invalid action id"
+                   << std::endl;
+      return INVALID_ACTION_ID;
+    }
+  }
+
+  return EXECUTION_FINISHED;
+}
+
+MessageQueueId_t PlocMemoryDumper::getCommandQueue() const { return commandQueue->getId(); }
+
+MessageQueueIF* PlocMemoryDumper::getCommandQueuePtr() { return commandQueue; }
+
+void PlocMemoryDumper::readCommandQueue() {
+  CommandMessage message;
+  ReturnValue_t result;
+
+  for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
+       result = commandQueue->receiveMessage(&message)) {
+    if (result != RETURN_OK) {
+      continue;
+    }
+    result = actionHelper.handleActionMessage(&message);
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+      continue;
+    }
+
+    result = commandActionHelper.handleReply(&message);
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+      continue;
+    }
+
+    sif::debug << "PlocMemoryDumper::readCommandQueue: Received message with invalid format"
+               << std::endl;
+  }
+}
+
+void PlocMemoryDumper::doStateMachine() {
+  switch (state) {
+    case State::IDLE:
+      break;
+    case State::COMMAND_FIRST_MRAM_DUMP:
+      commandNextMramDump(PLOC_SPV::FIRST_MRAM_DUMP);
+      break;
+    case State::COMMAND_CONSECUTIVE_MRAM_DUMP:
+      commandNextMramDump(PLOC_SPV::CONSECUTIVE_MRAM_DUMP);
+      break;
+    case State::EXECUTING_MRAM_DUMP:
+      break;
+    default:
+      sif::debug << "PlocMemoryDumper::doStateMachine: Invalid state" << std::endl;
+      break;
+  }
+}
+
+void PlocMemoryDumper::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
+
+void PlocMemoryDumper::stepFailedReceived(ActionId_t actionId, uint8_t step,
+                                          ReturnValue_t returnCode) {}
+
+void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
+
+void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
+  switch (pendingCommand) {
+    case (PLOC_SPV::FIRST_MRAM_DUMP):
+    case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
+      if (mram.endAddress == mram.startAddress) {
+        triggerEvent(MRAM_DUMP_FINISHED);
+        state = State::IDLE;
+      } else {
+        state = State::COMMAND_CONSECUTIVE_MRAM_DUMP;
+      }
+      break;
+    default:
+      sif::debug << "PlocMemoryDumper::completionSuccessfulReceived: Invalid pending command"
+                 << std::endl;
+      state = State::IDLE;
+      break;
+  }
+}
+
+void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
+  switch (pendingCommand) {
+    case (PLOC_SPV::FIRST_MRAM_DUMP):
+    case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
+      triggerEvent(MRAM_DUMP_FAILED, mram.lastStartAddress);
+      break;
+    default:
+      sif::debug << "PlocMemoryDumper::completionFailedReceived: Invalid pending command "
+                 << std::endl;
+      break;
+  }
+  state = State::IDLE;
+}
+
+void PlocMemoryDumper::commandNextMramDump(ActionId_t dumpCommand) {
+  ReturnValue_t result = RETURN_OK;
+
+  uint32_t tempStartAddress = 0;
+  uint32_t tempEndAddress = 0;
+
+  if (mram.endAddress - mram.startAddress > MAX_MRAM_DUMP_SIZE) {
+    tempStartAddress = mram.startAddress;
+    tempEndAddress = mram.startAddress + MAX_MRAM_DUMP_SIZE;
+    mram.startAddress += MAX_MRAM_DUMP_SIZE;
+    mram.lastStartAddress = tempStartAddress;
+  } else {
+    tempStartAddress = mram.startAddress;
+    tempEndAddress = mram.endAddress;
+    mram.startAddress = mram.endAddress;
+  }
+
+  MemoryParams params(tempStartAddress, tempEndAddress);
+
+  result =
+      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, dumpCommand, &params);
+  if (result != RETURN_OK) {
+    sif::warning << "PlocMemoryDumper::commandNextMramDump: Failed to send mram dump command "
+                 << "with start address " << tempStartAddress << " and end address "
+                 << tempEndAddress << std::endl;
+    triggerEvent(SEND_MRAM_DUMP_FAILED, result, tempStartAddress);
+    state = State::IDLE;
+    pendingCommand = NONE;
+    return;
+  }
+  state = State::EXECUTING_MRAM_DUMP;
+  pendingCommand = dumpCommand;
+  return;
+}

bsp_q7s/devices/PlocMemoryDumper.h

@@ -0,0 +1,114 @@
+#ifndef MISSION_DEVICES_PLOCMEMORYDUMPER_H_
+#define MISSION_DEVICES_PLOCMEMORYDUMPER_H_
+
+#include <bsp_q7s/devices/devicedefinitions/PlocMemDumpDefinitions.h>
+#include <bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h>
+
+#include "OBSWConfig.h"
+#include "bsp_q7s/memory/SdCardManager.h"
+#include "fsfw/action/ActionHelper.h"
+#include "fsfw/action/CommandActionHelper.h"
+#include "fsfw/action/CommandsActionsIF.h"
+#include "fsfw/action/HasActionsIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tmtcpacket/SpacePacket.h"
+#include "linux/fsfwconfig/objects/systemObjectList.h"
+
+/**
+ * @brief   Because the buffer of the linux tty driver is limited to 2 x 65535 bytes, this class is
+ *          created to perform large dumps of PLOC memories.
+ *
+ * @details Currently the PLOC supervisor only implements the functionality to dump the MRAM.
+ *
+ * @author  J. Meier
+ */
+class PlocMemoryDumper : public SystemObject,
+                         public HasActionsIF,
+                         public ExecutableObjectIF,
+                         public HasReturnvaluesIF,
+                         public CommandsActionsIF {
+ public:
+  static const ActionId_t NONE = 0;
+  static const ActionId_t DUMP_MRAM = 1;
+
+  PlocMemoryDumper(object_id_t objectId);
+  virtual ~PlocMemoryDumper();
+
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size);
+  MessageQueueId_t getCommandQueue() const;
+  ReturnValue_t initialize() override;
+  MessageQueueIF* getCommandQueuePtr() override;
+  void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
+  void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
+  void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
+  void completionSuccessfulReceived(ActionId_t actionId) override;
+  void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
+
+ private:
+  static const uint32_t QUEUE_SIZE = 10;
+
+  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MEMORY_DUMPER;
+
+  //! [EXPORT] : [COMMENT] The capacity of the MRAM amounts to 512 kB. Thus the maximum address must
+  //! not be higher than 0x7d000.
+  static const ReturnValue_t MRAM_ADDRESS_TOO_HIGH = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] The specified end address is lower than the start address
+  static const ReturnValue_t MRAM_INVALID_ADDRESS_COMBINATION = MAKE_RETURN_CODE(0xA1);
+
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MEMORY_DUMPER;
+
+  //! [EXPORT] : [COMMENT] Failed to send mram dump command to supervisor handler
+  //! P1: Return value of commandAction function
+  //! P2: Start address of MRAM to dump with this command
+  static const Event SEND_MRAM_DUMP_FAILED = MAKE_EVENT(0, severity::LOW);
+  //! [EXPORT] : [COMMENT] Received completion failure report form PLOC supervisor handler
+  //! P1: MRAM start address of failing dump command
+  static const Event MRAM_DUMP_FAILED = MAKE_EVENT(1, severity::LOW);
+  //! [EXPORT] : [COMMENT] MRAM dump finished successfully
+  static const Event MRAM_DUMP_FINISHED = MAKE_EVENT(2, severity::LOW);
+
+  // Maximum size of mram dump which can be retrieved with one command
+  static const uint32_t MAX_MRAM_DUMP_SIZE = 100000;
+  static const uint32_t MAX_MRAM_ADDRESS = 0x7d000;
+
+  MessageQueueIF* commandQueue = nullptr;
+
+  CommandActionHelper commandActionHelper;
+
+  ActionHelper actionHelper;
+
+  enum class State : uint8_t {
+    IDLE,
+    COMMAND_FIRST_MRAM_DUMP,
+    COMMAND_CONSECUTIVE_MRAM_DUMP,
+    EXECUTING_MRAM_DUMP
+  };
+
+  State state = State::IDLE;
+
+  ActionId_t pendingCommand = NONE;
+
+  typedef struct MemoryInfo {
+    // Stores the start address of the next memory range to dump
+    uint32_t startAddress;
+    uint32_t endAddress;
+    // Stores the start address of the last sent dump command
+    uint32_t lastStartAddress;
+  } MemoryInfo_t;
+
+  MemoryInfo_t mram = {0, 0, 0};
+
+  void readCommandQueue();
+  void doStateMachine();
+
+  /**
+   * @brief   Sends the next mram dump command to the PLOC supervisor handler.
+   */
+  void commandNextMramDump(ActionId_t dumpCommand);
+};
+
+#endif /* MISSION_DEVICES_PLOCMEMORYDUMPER_H_ */

bsp_q7s/devices/PlocSupervisorHandler.h

@@ -0,0 +1,345 @@
+#ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
+#define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
+
+#include <bsp_q7s/memory/SdCardManager.h>
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw_hal/linux/uart/UartComIF.h>
+
+#include "devicedefinitions/PlocSupervisorDefinitions.h"
+
+/**
+ * @brief	This is the device handler for the supervisor of the PLOC which is programmed by
+ *          Thales.
+ *
+ * @details The PLOC uses the space packet protocol for communication. To each command the PLOC
+ *          answers with at least one acknowledgment and one execution report.
+ *          Flight manual:
+ *          https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_Commands
+ *          ILH ICD: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
+ *          Arbeitsdaten/08_Used%20Components/PLOC&fileid=940960
+ * @author	J. Meier
+ */
+class PlocSupervisorHandler : public DeviceHandlerBase {
+ public:
+  PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie);
+  virtual ~PlocSupervisorHandler();
+
+  virtual ReturnValue_t initialize() override;
+
+ protected:
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
+  void fillCommandAndReplyMap() override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
+                             size_t* foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
+  void setNormalDatapoolEntriesInvalid() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+  ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
+                                      uint8_t expectedReplies = 1, bool useAlternateId = false,
+                                      DeviceCommandId_t alternateReplyID = 0) override;
+  size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
+
+ private:
+  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;
+
+  //! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
+  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
+  static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
+  //! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
+  static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
+  //! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
+  static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
+  //! [EXPORT] : [COMMENT] Failed to read current system time
+  static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
+  //! [EXPORT] : [COMMENT] Invalid communication interface specified
+  static const ReturnValue_t INVALID_UART_COM_IF = MAKE_RETURN_CODE(0xA5);
+  //! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
+  //! for PS, 1 for PL and 2 for INT
+  static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA6);
+  //! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
+  //! timeouts must be in the range between 1000 and 360000 ms.
+  static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA7);
+  //! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
+  static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA8);
+  //! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
+  //! larger than 21.
+  static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA9);
+  //! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
+  //! and 2.
+  static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xAA);
+  //! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
+  static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAB);
+  //! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM  wipe
+  //! commands are invalid (e.g. start address bigger than stop address)
+  static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAC);
+  //! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
+  //! other apid.
+  static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAD);
+  //! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
+  static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAE);
+  //! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
+  //! been created with the reception of the first dump packet.
+  static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAF);
+
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
+
+  //! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
+  static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
+  //! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
+  static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
+  //! [EXPORT] : [COMMENT] PLOC received execution failure report
+  static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
+  //! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
+  static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
+
+  static const uint16_t APID_MASK = 0x7FF;
+  static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
+
+  uint8_t commandBuffer[PLOC_SPV::MAX_COMMAND_SIZE];
+
+  /**
+   * This variable is used to store the id of the next reply to receive. This is necessary
+   * because the PLOC sends as reply to each command at least one acknowledgment and execution
+   * report.
+   */
+  DeviceCommandId_t nextReplyId = PLOC_SPV::NONE;
+
+  UartComIF* uartComIf = nullptr;
+
+  PLOC_SPV::HkSet hkset;
+  PLOC_SPV::BootStatusReport bootStatusReport;
+  PLOC_SPV::LatchupStatusReport latchupStatusReport;
+
+  /** Number of expected replies following the MRAM dump command */
+  uint32_t expectedMramDumpPackets = 0;
+  uint32_t receivedMramDumpPackets = 0;
+  /** Set to true as soon as a complete space packet is present in the spacePacketBuffer */
+  bool packetInBuffer = false;
+  /** Points to the next free position in the space packet buffer */
+  uint16_t bufferTop = 0;
+
+  /** This buffer is used to concatenate space packets received in two different read steps */
+  uint8_t spacePacketBuffer[PLOC_SPV::MAX_PACKET_SIZE];
+
+#if BOARD_TE0720 == 0
+  SdCardManager* sdcMan = nullptr;
+#endif /* BOARD_TE0720 == 0 */
+
+  /** Path to PLOC specific files on SD card */
+  std::string plocFilePath = "ploc";
+  std::string activeMramFile;
+
+  /** Setting this variable to true will enable direct downlink of MRAM packets */
+  bool downlinkMramDump = false;
+
+  /**
+   * @brief   This function checks the crc of the received PLOC reply.
+   *
+   * @param start Pointer to the first byte of the reply.
+   * @param foundLen  Pointer to the length of the whole packet.
+   *
+   * @return  RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
+   */
+  ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
+
+  /**
+   * @brief   This function handles the acknowledgment report.
+   *
+   * @param data  Pointer to the data holding the acknowledgment report.
+   *
+   * @return  RETURN_OK if successful, otherwise an error code.
+   */
+  ReturnValue_t handleAckReport(const uint8_t* data);
+
+  /**
+   * @brief   This function handles the data of a execution report.
+   *
+   * @param data  Pointer to the received data packet.
+   *
+   * @return  RETURN_OK if successful, otherwise an error code.
+   */
+  ReturnValue_t handleExecutionReport(const uint8_t* data);
+
+  /**
+   * @brief   This function handles the housekeeping report. This means verifying the CRC of the
+   *          reply and filling the appropriate dataset.
+   *
+   * @param data  Pointer to the data buffer holding the housekeeping read report.
+   *
+   * @return  RETURN_OK if successful, otherwise an error code.
+   */
+  ReturnValue_t handleHkReport(const uint8_t* data);
+
+  /**
+   * @brief   This function calls the function to check the CRC of the received boot status report
+   *          and fills the associated dataset with the boot status information.
+   */
+  ReturnValue_t handleBootStatusReport(const uint8_t* data);
+
+  ReturnValue_t handleLatchupStatusReport(const uint8_t* data);
+
+  /**
+   * @brief   Depending on the current active command, this function sets the reply id of the
+   *          next reply after a successful acknowledgment report has been received. This is
+   *          required by the function getNextReplyLength() to identify the length of the next
+   *          reply to read.
+   */
+  void setNextReplyId();
+
+  /**
+   * @brief   This function handles action message replies in case the telemetry has been
+   *          requested by another object.
+   *
+   * @param data  Pointer to the telemetry data.
+   * @param dataSize  Size of telemetry in bytes.
+   * @param replyId   Id of the reply. This will be added to the ActionMessage.
+   */
+  void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
+
+  /**
+   * @brief   This function prepares a space packet which does not transport any data in the
+   *          packet data field apart from the crc.
+   */
+  void prepareEmptyCmd(uint16_t apid);
+
+  /**
+   * @brief   This function initializes the space packet to select the boot image of the MPSoC.
+   */
+  void prepareSelBootImageCmd(const uint8_t* commandData);
+
+  void prepareDisableHk();
+
+  /**
+   * @brief   This function fills the commandBuffer with the data to update the time of the
+   *          PLOC supervisor.
+   */
+  ReturnValue_t prepareSetTimeRefCmd();
+
+  /**
+   * @brief   This function fills the commandBuffer with the data to change the boot timeout
+   *          value in the PLOC supervisor.
+   */
+  void prepareSetBootTimeoutCmd(const uint8_t* commandData);
+
+  void prepareRestartTriesCmd(const uint8_t* commandData);
+
+  /**
+   * @brief   This function fills the command buffer with the packet to enable or disable the
+   *          watchdogs on the PLOC.
+   */
+  void prepareWatchdogsEnableCmd(const uint8_t* commandData);
+
+  /**
+   * @brief   This function fills the command buffer with the packet to set the watchdog timer
+   *          of one of the three watchdogs (PS, PL, INT).
+   */
+  ReturnValue_t prepareWatchdogsConfigTimeoutCmd(const uint8_t* commandData);
+
+  ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData,
+                                        DeviceCommandId_t deviceCommand);
+  ReturnValue_t prepareAutoCalibrateAlertCmd(const uint8_t* commandData);
+  ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData);
+  ReturnValue_t prepareSetAlertIrqFilterCmd(const uint8_t* commandData);
+  ReturnValue_t prepareSetAdcSweetPeriodCmd(const uint8_t* commandData);
+  void prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData);
+  void prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData);
+  void prepareSetAdcThresholdCmd(const uint8_t* commandData);
+  void prepareEnableNvmsCmd(const uint8_t* commandData);
+  void prepareSelectNvmCmd(const uint8_t* commandData);
+  ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData);
+  ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData);
+  ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
+  void preparePrintCpuStatsCmd(const uint8_t* commandData);
+  void prepareSetDbgVerbosityCmd(const uint8_t* commandData);
+  void prepareSetGpioCmd(const uint8_t* commandData);
+  void prepareReadGpioCmd(const uint8_t* commandData);
+
+  /**
+   * @brief   Copies the content of a space packet to the command buffer.
+   */
+  void packetToOutBuffer(uint8_t* packetData, size_t fullSize);
+
+  /**
+   * @brief   In case an acknowledgment failure reply has been received this function disables
+   *          all previously enabled commands and resets the exepected replies variable of an
+   *          active command.
+   */
+  void disableAllReplies();
+
+  /**
+   * @brief   This function sends a failure report if the active action was commanded by an other
+   *          object.
+   *
+   * @param replyId   The id of the reply which signals a failure.
+   * @param status    A status byte which gives information about the failure type.
+   */
+  void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
+
+  /**
+   * @brief   This function disables the execution report reply. Within this function also the
+   *          the variable expectedReplies of an active command will be set to 0.
+   */
+  void disableExeReportReply();
+
+  /**
+   * @brief   Function is called in scanForReply and fills the spacePacketBuffer with the read
+   *          data until a full packet has been received.
+   */
+  ReturnValue_t parseMramPackets(const uint8_t* packet, size_t remainingSize, size_t* foundlen);
+
+  /**
+   * @brief   This function generates the Service 8 packets for the MRAM dump data.
+   */
+  ReturnValue_t handleMramDumpPacket(DeviceCommandId_t id);
+
+  /**
+   * @brief   With this function the number of expected replies following an MRAM dump command
+   *          will be increased. This is necessary to release the command in case not all replies
+   *          have been received.
+   */
+  void increaseExpectedMramReplies(DeviceCommandId_t id);
+
+  /**
+   * @brief   Function checks if the packet written to the space packet buffer is really a
+   *          MRAM dump packet.
+   */
+  ReturnValue_t checkMramPacketApid();
+
+  /**
+   * @brief   Writes the data of the MRAM dump to a file. The file will be created when receiving
+   *          the first packet.
+   */
+  ReturnValue_t handleMramDumpFile(DeviceCommandId_t id);
+
+  /**
+   * @brief   Extracts the length field of a spacePacket referenced by the spacePacket pointer.
+   *
+   * @param spacePacket   Pointer to the buffer holding the space packet.
+   *
+   * @return The value stored in the length field of the data field.
+   */
+  uint16_t readSpacePacketLength(uint8_t* spacePacket);
+
+  /**
+   * @brief   Extracts the sequence flags from a space packet referenced by the spacePacket
+   *          pointer.
+   *
+   * @param spacePacket   Pointer to the buffer holding the space packet.
+   *
+   * @return uint8_t where the two least significant bits hold the sequence flags.
+   */
+  uint8_t readSequenceFlags(uint8_t* spacePacket);
+
+  ReturnValue_t createMramDumpFile();
+  ReturnValue_t getTimeStampString(std::string& timeStamp);
+};
+
+#endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */

bsp_q7s/devices/PlocUpdater.cpp

@@ -0,0 +1,395 @@
+#include "PlocUpdater.h"
+
+#include <filesystem>
+#include <fstream>
+#include <string>
+
+#include "fsfw/ipc/QueueFactory.h"
+
+PlocUpdater::PlocUpdater(object_id_t objectId)
+    : SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
+  auto mqArgs = MqArgs(this->getObjectId());
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+}
+
+PlocUpdater::~PlocUpdater() {}
+
+ReturnValue_t PlocUpdater::initialize() {
+#if BOARD_TE0720 == 0
+  sdcMan = SdCardManager::instance();
+#endif
+  ReturnValue_t result = SystemObject::initialize();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = commandActionHelper.initialize();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = actionHelper.initialize(commandQueue);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
+  readCommandQueue();
+  doStateMachine();
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                         const uint8_t* data, size_t size) {
+  ReturnValue_t result = RETURN_FAILED;
+
+  if (state != State::IDLE) {
+    return IS_BUSY;
+  }
+
+  if (size > MAX_PLOC_UPDATE_PATH) {
+    return NAME_TOO_LONG;
+  }
+
+  switch (actionId) {
+    case UPDATE_A_UBOOT:
+      image = Image::A;
+      partition = Partition::UBOOT;
+      break;
+    case UPDATE_A_BITSTREAM:
+      image = Image::A;
+      partition = Partition::BITSTREAM;
+      break;
+    case UPDATE_A_LINUX:
+      image = Image::A;
+      partition = Partition::LINUX_OS;
+      break;
+    case UPDATE_A_APP_SW:
+      image = Image::A;
+      partition = Partition::APP_SW;
+      break;
+    case UPDATE_B_UBOOT:
+      image = Image::B;
+      partition = Partition::UBOOT;
+      break;
+    case UPDATE_B_BITSTREAM:
+      image = Image::B;
+      partition = Partition::BITSTREAM;
+      break;
+    case UPDATE_B_LINUX:
+      image = Image::B;
+      partition = Partition::LINUX_OS;
+      break;
+    case UPDATE_B_APP_SW:
+      image = Image::B;
+      partition = Partition::APP_SW;
+      break;
+    default:
+      return INVALID_ACTION_ID;
+  }
+
+  result = getImageLocation(data, size);
+
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  state = State::UPDATE_AVAILABLE;
+
+  return EXECUTION_FINISHED;
+}
+
+MessageQueueId_t PlocUpdater::getCommandQueue() const { return commandQueue->getId(); }
+
+MessageQueueIF* PlocUpdater::getCommandQueuePtr() { return commandQueue; }
+
+void PlocUpdater::readCommandQueue() {
+  CommandMessage message;
+  ReturnValue_t result;
+
+  for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
+       result = commandQueue->receiveMessage(&message)) {
+    if (result != RETURN_OK) {
+      continue;
+    }
+    result = actionHelper.handleActionMessage(&message);
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+      continue;
+    }
+
+    result = commandActionHelper.handleReply(&message);
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+      continue;
+    }
+
+    sif::debug << "PlocUpdater::readCommandQueue: Received message with invalid format"
+               << std::endl;
+  }
+}
+
+void PlocUpdater::doStateMachine() {
+  switch (state) {
+    case State::IDLE:
+      break;
+    case State::UPDATE_AVAILABLE:
+      commandUpdateAvailable();
+      break;
+    case State::UPDATE_TRANSFER:
+      commandUpdatePacket();
+      break;
+    case State::UPDATE_VERIFY:
+      commandUpdateVerify();
+      break;
+    case State::COMMAND_EXECUTING:
+      break;
+    default:
+      sif::debug << "PlocUpdater::doStateMachine: Invalid state" << std::endl;
+      break;
+  }
+}
+
+ReturnValue_t PlocUpdater::checkNameLength(size_t size) {
+  if (size > MAX_PLOC_UPDATE_PATH) {
+    return NAME_TOO_LONG;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
+  ReturnValue_t result = checkNameLength(size);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+#if BOARD_TE0720 == 0
+  // Check if file is stored on SD card and if associated SD card is mounted
+  if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
+      std::string(SdCardManager::SD_0_MOUNT_POINT)) {
+    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+      sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl;
+      return SD_NOT_MOUNTED;
+    }
+  } else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
+             std::string(SdCardManager::SD_1_MOUNT_POINT)) {
+    if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
+      sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
+      return SD_NOT_MOUNTED;
+    }
+  } else {
+    // update image not stored on SD card
+  }
+#endif /* BOARD_TE0720 == 0 */
+
+  updateFile = std::string(reinterpret_cast<const char*>(data), size);
+
+  // Check if file exists
+  if (not std::filesystem::exists(updateFile)) {
+    return FILE_NOT_EXISTS;
+  }
+  return RETURN_OK;
+}
+
+void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
+
+void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) {}
+
+void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
+
+void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
+  switch (pendingCommand) {
+    case (PLOC_SPV::UPDATE_AVAILABLE):
+      state = State::UPDATE_TRANSFER;
+      break;
+    case (PLOC_SPV::UPDATE_IMAGE_DATA):
+      if (remainingPackets == 0) {
+        packetsSent = 0;  // Reset packets sent variable for next update sequence
+        state = State::UPDATE_VERIFY;
+      } else {
+        state = State::UPDATE_TRANSFER;
+      }
+      break;
+    case (PLOC_SPV::UPDATE_VERIFY):
+      triggerEvent(UPDATE_FINISHED);
+      state = State::IDLE;
+      pendingCommand = PLOC_SPV::NONE;
+      break;
+    default:
+      sif::debug << "PlocUpdater::completionSuccessfulReceived: Invalid pending command"
+                 << std::endl;
+      state = State::IDLE;
+      break;
+  }
+}
+
+void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
+  switch (pendingCommand) {
+    case (PLOC_SPV::UPDATE_AVAILABLE): {
+      triggerEvent(UPDATE_AVAILABLE_FAILED);
+      break;
+    }
+    case (PLOC_SPV::UPDATE_IMAGE_DATA): {
+      triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
+      break;
+    }
+    case (PLOC_SPV::UPDATE_VERIFY): {
+      triggerEvent(UPDATE_VERIFY_FAILED);
+      break;
+    }
+    default:
+      sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " << std::endl;
+      break;
+  }
+  state = State::IDLE;
+}
+
+void PlocUpdater::commandUpdateAvailable() {
+  ReturnValue_t result = RETURN_OK;
+
+  if (not std::filesystem::exists(updateFile)) {
+    triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state));
+    state = State::IDLE;
+    return;
+  }
+
+  std::ifstream file(updateFile, std::ifstream::binary);
+  file.seekg(0, file.end);
+  imageSize = static_cast<size_t>(file.tellg());
+  file.close();
+
+  numOfUpdatePackets = imageSize / MAX_SP_DATA;
+  if (imageSize % MAX_SP_DATA) {
+    numOfUpdatePackets++;
+  }
+
+  remainingPackets = numOfUpdatePackets;
+  packetsSent = 0;
+
+  calcImageCrc();
+
+  PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
+                              static_cast<uint8_t>(partition), imageSize, imageCrc,
+                              numOfUpdatePackets);
+
+  result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
+                                             PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(),
+                                             packet.getFullSize());
+  if (result != RETURN_OK) {
+    sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
+                 << " packet to supervisor handler" << std::endl;
+    triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_AVAILABLE);
+    state = State::IDLE;
+    pendingCommand = PLOC_SPV::NONE;
+    return;
+  }
+
+  pendingCommand = PLOC_SPV::UPDATE_AVAILABLE;
+  state = State::COMMAND_EXECUTING;
+  return;
+}
+
+void PlocUpdater::commandUpdatePacket() {
+  ReturnValue_t result = RETURN_OK;
+  uint16_t payloadLength = 0;
+
+  if (not std::filesystem::exists(updateFile)) {
+    triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state), packetsSent);
+    state = State::IDLE;
+    return;
+  }
+
+  std::ifstream file(updateFile, std::ifstream::binary);
+  file.seekg(packetsSent * MAX_SP_DATA, file.beg);
+
+  if (remainingPackets == 1) {
+    payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
+  } else {
+    payloadLength = MAX_SP_DATA;
+  }
+
+  PLOC_SPV::UpdatePacket packet(payloadLength);
+  file.read(reinterpret_cast<char*>(packet.getDataFieldPointer()), payloadLength);
+  file.close();
+  // sequence count of first packet is 1
+  packet.setPacketSequenceCount((packetsSent + 1) & PLOC_SPV::SEQUENCE_COUNT_MASK);
+  if (numOfUpdatePackets > 1) {
+    adjustSequenceFlags(packet);
+  }
+  packet.makeCrc();
+
+  result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
+                                             PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(),
+                                             packet.getFullSize());
+
+  if (result != RETURN_OK) {
+    sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
+                 << " packet to supervisor handler" << std::endl;
+    triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_IMAGE_DATA);
+    state = State::IDLE;
+    pendingCommand = PLOC_SPV::NONE;
+    return;
+  }
+
+  remainingPackets--;
+  packetsSent++;
+
+  pendingCommand = PLOC_SPV::UPDATE_IMAGE_DATA;
+  state = State::COMMAND_EXECUTING;
+}
+
+void PlocUpdater::commandUpdateVerify() {
+  ReturnValue_t result = RETURN_OK;
+
+  PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
+                              static_cast<uint8_t>(partition), imageSize, imageCrc,
+                              numOfUpdatePackets);
+
+  result =
+      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, PLOC_SPV::UPDATE_VERIFY,
+                                        packet.getWholeData(), packet.getFullSize());
+  if (result != RETURN_OK) {
+    sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
+                 << " packet to supervisor handler" << std::endl;
+    triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_VERIFY);
+    state = State::IDLE;
+    pendingCommand = PLOC_SPV::NONE;
+    return;
+  }
+  state = State::COMMAND_EXECUTING;
+  pendingCommand = PLOC_SPV::UPDATE_VERIFY;
+  return;
+}
+
+void PlocUpdater::calcImageCrc() {
+  std::ifstream file(updateFile, std::ifstream::binary);
+  file.seekg(0, file.end);
+  uint32_t count;
+  uint32_t bit;
+  uint32_t remainder = INITIAL_REMAINDER_32;
+  char input;
+  for (count = 0; count < imageSize; count++) {
+    file.seekg(count, file.beg);
+    file.read(&input, 1);
+    remainder ^= (input << 16);
+    for (bit = 8; bit > 0; --bit) {
+      if (remainder & TOPBIT_32) {
+        remainder = (remainder << 1) ^ POLYNOMIAL_32;
+      } else {
+        remainder = (remainder << 1);
+      }
+    }
+  }
+  file.close();
+  imageCrc = (remainder ^ FINAL_XOR_VALUE_32);
+}
+
+void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) {
+  if (packetsSent == 0) {
+    packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT));
+  } else if (remainingPackets == 1) {
+    packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
+  } else {
+    packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
+  }
+}

bsp_q7s/devices/PlocUpdater.h

@@ -0,0 +1,171 @@
+#ifndef MISSION_DEVICES_PLOCUPDATER_H_
+#define MISSION_DEVICES_PLOCUPDATER_H_
+
+#include "OBSWConfig.h"
+#include "bsp_q7s/memory/SdCardManager.h"
+#include "devicedefinitions/PlocSupervisorDefinitions.h"
+#include "fsfw/action/ActionHelper.h"
+#include "fsfw/action/CommandActionHelper.h"
+#include "fsfw/action/CommandsActionsIF.h"
+#include "fsfw/action/HasActionsIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tmtcpacket/SpacePacket.h"
+#include "linux/fsfwconfig/objects/systemObjectList.h"
+
+/**
+ * @brief   An object of this class can be used to perform the software updates of the PLOC. The
+ *          software update will be read from one of the SD cards, split into multiple space
+ *          packets and sent to the PlocSupervisorHandler.
+ *
+ * @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition
+ * A and Partition B)
+ *
+ * @author  J. Meier
+ */
+class PlocUpdater : public SystemObject,
+                    public HasActionsIF,
+                    public ExecutableObjectIF,
+                    public HasReturnvaluesIF,
+                    public CommandsActionsIF {
+ public:
+  static const ActionId_t UPDATE_A_UBOOT = 0;
+  static const ActionId_t UPDATE_A_BITSTREAM = 1;
+  static const ActionId_t UPDATE_A_LINUX = 2;
+  static const ActionId_t UPDATE_A_APP_SW = 3;
+  static const ActionId_t UPDATE_B_UBOOT = 4;
+  static const ActionId_t UPDATE_B_BITSTREAM = 5;
+  static const ActionId_t UPDATE_B_LINUX = 6;
+  static const ActionId_t UPDATE_B_APP_SW = 7;
+
+  PlocUpdater(object_id_t objectId);
+  virtual ~PlocUpdater();
+
+  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size);
+  MessageQueueId_t getCommandQueue() const;
+  ReturnValue_t initialize() override;
+  MessageQueueIF* getCommandQueuePtr() override;
+  void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
+  void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
+  void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
+  void completionSuccessfulReceived(ActionId_t actionId) override;
+  void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
+
+ private:
+  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER;
+
+  //! [EXPORT] : [COMMENT] Updater is already performing an update
+  static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0);
+  //! [EXPORT] : [COMMENT] Received update command with invalid path string (too long).
+  static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1);
+  //! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not
+  //! mounted.
+  static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2);
+  //! [EXPORT] : [COMMENT] Update file received with update command does not exist.
+  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3);
+
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_UPDATER;
+
+  //! [EXPORT] : [COMMENT] Try to read update file but the file does not exist.
+  //! P1: Indicates in which state the file read fails
+  //! P2: During the update transfer the second parameter gives information about the number of
+  //! already sent packets
+  static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
+  //! [EXPORT] : [COMMENT] Failed to send command to supervisor handler
+  //! P1: Return value of CommandActionHelper::commandAction
+  //! P2: Action ID of command to send
+  static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution
+  //! failure of the update available command
+  static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor handler failed to transfer an update space packet.
+  //! P1: Parameter holds the number of update packets already sent (inclusive the failed packet)
+  static const Event UPDATE_TRANSFER_FAILED = MAKE_EVENT(3, severity::LOW);
+  //! [EXPORT] : [COMMENT] Supervisor failed to execute the update verify command.
+  static const Event UPDATE_VERIFY_FAILED = MAKE_EVENT(4, severity::LOW);
+  //! [EXPORT] : [COMMENT] MPSoC update successful completed
+  static const Event UPDATE_FINISHED = MAKE_EVENT(5, severity::INFO);
+
+  static const uint32_t QUEUE_SIZE = config::PLOC_UPDATER_QUEUE_SIZE;
+  static const size_t MAX_PLOC_UPDATE_PATH = 50;
+  static const size_t SD_PREFIX_LENGTH = 8;
+  // Maximum size of update payload data per space packet (max size of space packet is 1024 bytes)
+  static const size_t MAX_SP_DATA = 1016;
+
+  static const uint32_t TOPBIT_32 = (1 << 31);
+  static const uint32_t POLYNOMIAL_32 = 0x04C11DB7;
+  static const uint32_t INITIAL_REMAINDER_32 = 0xFFFFFFFF;
+  static const uint32_t FINAL_XOR_VALUE_32 = 0xFFFFFFFF;
+
+  MessageQueueIF* commandQueue = nullptr;
+
+#if BOARD_TE0720 == 0
+  SdCardManager* sdcMan = nullptr;
+#endif
+  CommandActionHelper commandActionHelper;
+
+  ActionHelper actionHelper;
+
+  enum class State : uint8_t {
+    IDLE,
+    UPDATE_AVAILABLE,
+    UPDATE_TRANSFER,
+    UPDATE_VERIFY,
+    COMMAND_EXECUTING
+  };
+
+  State state = State::IDLE;
+
+  ActionId_t pendingCommand = PLOC_SPV::NONE;
+
+  enum class Image : uint8_t { NONE, A, B };
+
+  Image image = Image::NONE;
+
+  enum class Partition : uint8_t { NONE, UBOOT, BITSTREAM, LINUX_OS, APP_SW };
+
+  Partition partition = Partition::NONE;
+
+  uint32_t packetsSent = 0;
+  uint32_t remainingPackets = 0;
+  // Number of packets required to transfer the update image
+  uint32_t numOfUpdatePackets = 0;
+
+  std::string updateFile;
+  uint32_t imageSize = 0;
+  uint32_t imageCrc = 0;
+
+  void readCommandQueue();
+  void doStateMachine();
+
+  /**
+   * @brief   Extracts the path and name of the update image from the service 8 command data.
+   */
+  ReturnValue_t getImageLocation(const uint8_t* data, size_t size);
+
+  ReturnValue_t checkNameLength(size_t size);
+
+  /**
+   * @brief   Prepares and sends update available command to PLOC supervisor handler.
+   */
+  void commandUpdateAvailable();
+
+  /**
+   * @brief   Prepares and sends and update packet to the PLOC supervisor handler.
+   */
+  void commandUpdatePacket();
+
+  /**
+   * @brief   Prepares and sends the update verification packet to the PLOC supervisor handler.
+   */
+  void commandUpdateVerify();
+
+  void calcImageCrc();
+
+  void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet);
+};
+
+#endif /* MISSION_DEVICES_PLOCUPDATER_H_ */

bsp_q7s/devices/devicedefinitions/PlocMemDumpDefinitions.h

@@ -0,0 +1,28 @@
+#ifndef BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_
+#define BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_
+
+#include <fsfw/src/fsfw/serialize/SerialLinkedListAdapter.h>
+
+class MemoryParams : public SerialLinkedListAdapter<SerializeIF> {
+ public:
+  /**
+   * @brief   Constructor
+   * @param startAddress  Start of address range to dump
+   * @param endAddress    End of address range to dump
+   */
+  MemoryParams(uint32_t startAddress, uint32_t endAddress)
+      : startAddress(startAddress), endAddress(endAddress) {
+    setLinks();
+  }
+
+ private:
+  void setLinks() {
+    setStart(&startAddress);
+    startAddress.setNext(&endAddress);
+  }
+
+  SerializeElement<uint32_t> startAddress;
+  SerializeElement<uint32_t> endAddress;
+};
+
+#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_PLOCMEMDUMPDEFINITIONS_H_ */

bsp_q7s/gpio/CMakeLists.txt

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