Merge pull request 'v1.10.0' (#220) from develop into main

Reviewed-on: #220
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

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

.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

CHANGELOG.md

@@ -0,0 +1,26 @@
+Change Log
+=======
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](http://keepachangelog.com/)
+and this project adheres to [Semantic Versioning](http://semver.org/).
+
+The [milestone](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)
+list yields a list of all related PRs for each release.
+
+# [unreleased]
+
+# [v1.11.0]
+
+## Changed
+
+- Update rootfs base of Linux, all related OBSW changes
+- Use gpsd version 3.17 now. Includes API changes
+- Add `/usr/local/bin` to PATH. All shell scripts are there now
+- Rename GPS device to `/dev/gps0`
+
+# [v1.10.0]
+
+For all releases equal or prior to v1.10.0,
+see [milestones](https://egit.irs.uni-stuttgart.de/eive/eive-obsw/milestones)

CMakeLists.txt

@@ -13,34 +13,39 @@ cmake_minimum_required(VERSION 3.13)
 
 set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-if(TGT_BSP MATCHES "arm/q7s")
-    option(EIVE_BUILD_WATCHDOG "Compile the OBSW watchdog insted" OFF)
-    option(BUILD_Q7S_SIMPLE_MODE OFF "Simple mode with a minimal main function")
-endif()
 
-option(ADD_ETL_LIB "Add ETL library" ON)
-option(ADD_JSON_LIB "Add JSON library" ON)
+option(EIVE_ADD_ETL_LIB "Add ETL library" ON)
+option(EIVE_ADD_JSON_LIB "Add JSON library" ON)
+
 option(EIVE_SYSROOT_MAGIC "Perform sysroot magic which might not be necessary" OFF)
+option(EIVE_CREATE_UNIQUE_OBSW_BIN "Append username to generated binary name" ON)
+
+set(OBSW_ADD_STAR_TRACKER 0)
+set(OBSW_DEBUG_STARTRACKER 0)
 
 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 MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
-    option(LINUX_CROSS_COMPILE ON)
+if(TGT_BSP)
+    if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
+        option(LINUX_CROSS_COMPILE ON)
+        option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" OFF)
+    elseif(TGT_BSP MATCHES "arm/q7s")
+        option(EIVE_BUILD_GPSD_GPS_HANDLER "Build GPSD dependent GPS Handler" ON)
+    endif()
 endif()
 
 # Perform steps like loading toolchain files where applicable.
 include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
 
-set(PROJECT_NAME_TO_SET eive-obsw-$ENV{USERNAME})
-if(EIVE_BUILD_WATCHDOG)
-    set(PROJECT_NAME_TO_SET eive-watchdog)
-endif()
+# Check whether the user has already installed Catch2 first. This has to come before
+# the project call. We could also exlcude doing this when the Q7S primary OBSW is built..
+find_package(Catch2 3 CONFIG QUIET)
 
 # Project Name
-project(${PROJECT_NAME_TO_SET} ASM C CXX)
+project(eive-obsw)
 
 ################################################################################
 # Pre-Sources preparation
@@ -51,34 +56,42 @@ 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(TEST_PATH test)
+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(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
-set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
-set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)
-set(ARCSEC_LIB_PATH ${THIRD_PARTY_FOLDER}/arcsec_star_tracker)
+set(LIB_EIVE_MISSION_PATH mission)
+set(LIB_CSP_PATH ${THIRD_PARTY_FOLDER}/libcsp)
+set(LIB_ETL_PATH ${THIRD_PARTY_FOLDER}/etl)
+set(LIB_CATCH2_PATH ${THIRD_PARTY_FOLDER}/Catch2)
+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.
@@ -87,47 +100,62 @@ 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" 
+        OR TGT_BSP MATCHES "arm/te0720-1cfa"
     )
         set(FSFW_CONFIG_PATH "linux/fsfwconfig")
         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" )
         # Used by configure file
         set(RASPBERRY_PI ON)
         set(FSFW_HAL_ADD_RASPBERRY_PI ON)
     endif()
+
+    if(TGT_BSP MATCHES "arm/egse")
+        # Used by configure file
+        set(EGSE ON)
+        set(FSFW_HAL_LINUX_ADD_LIBGPIOD OFF)
+        set(OBSW_ADD_STAR_TRACKER 1)
+        set(OBSW_DEBUG_STARTRACKER 1)
+    endif()
     
-    if(${TGT_BSP} MATCHES "arm/beagleboneblack")
+    if(TGT_BSP MATCHES "arm/beagleboneblack")
         # Used by configure file
         set(BEAGLEBONEBLACK ON)
     endif()
     
-    if(${TGT_BSP} MATCHES "arm/q7s")
+    if(TGT_BSP MATCHES "arm/q7s")
         # Used by configure file
         set(XIPHOS_Q7S ON)
     endif()
+    
+    if(TGT_BSP MATCHES "arm/te0720-1cfa")
+        set(TE0720_1CFA ON)
+    endif()
 else()
     # Required by FSFW library
     set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
 endif()
 
+
 # Configuration files
-if(NOT EIVE_BUILD_WATCHDOG)
-    configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
-    configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
-    configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
-    if(${TGT_BSP} MATCHES "arm/q7s")
-        configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
-    elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
-        configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
-    endif()
+configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
+configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
+configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
+if(TGT_BSP MATCHES "arm/q7s")
+    configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
+elseif(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/egse")
+    configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
 endif()
+
+
+
 configure_file(${WATCHDOG_PATH}/watchdogConf.h.in watchdogConf.h)
 
 # Set common config path for FSFW
@@ -135,139 +163,211 @@ set(FSFW_ADDITIONAL_INC_PATHS
     "${COMMON_PATH}/config"
     ${CMAKE_CURRENT_BINARY_DIR}
 )
-# Set for lwgps library
-set(LWGPS_CONFIG_PATH "${COMMON_PATH}/config")
 
 ################################################################################
 # Executable and Sources
 ################################################################################
 
-# Add executable
-add_executable(${TARGET_NAME})
+#global compiler options need to be set before adding executables
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    add_compile_options(
+        "-Wall"
+        "-Wextra"
+        "-Wimplicit-fallthrough=1"
+        "-Wno-unused-parameter"
+        "-Wno-psabi"
+        "-Wduplicated-cond" # check for duplicate conditions
+        "-Wduplicated-branches" # check for duplicate branches
+        "-Wlogical-op" # Search for bitwise operations instead of logical
+        "-Wnull-dereference" # Search for NULL dereference
+        "-Wundef" # Warn if undefind marcos are used
+        "-Wformat=2" # Format string problem detection
+        "-Wformat-overflow=2" # Formatting issues in printf
+        "-Wformat-truncation=2" # Formatting issues in printf
+        "-Wformat-security" # Search for dangerous printf operations
+        "-Wstrict-overflow=3" # Warn if integer overflows might happen
+        "-Warray-bounds=2" # Some array bounds violations will be found
+        "-Wshift-overflow=2" # Search for bit left shift overflows (<c++14)
+        "-Wcast-qual" # Warn if the constness is cast away
+        "-Wstringop-overflow=4"
+        # -Wstack-protector # Emits a few false positives for low level access
+        # -Wconversion # Creates many false positives
+        # -Warith-conversion # Use with Wconversion to find more implicit conversions
+        # -fanalyzer # Should be used to look through problems
+    )
+    # Remove unused sections.
+    add_compile_options(
+        "-ffunction-sections"
+        "-fdata-sections"
+    )
 
-if(ADD_ETL_LIB)
-    add_subdirectory(${ETL_LIB_PATH})
+    # Removed unused sections.
+    add_link_options(
+        "-Wl,--gc-sections"
+    )
+
+elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+	set(COMPILER_FLAGS "/permissive-")
 endif()
 
-if(ADD_JSON_LIB)
+if (NOT(TGT_BSP MATCHES "arm/te0720-1cfa") AND NOT(TGT_BSP MATCHES "arm/q7s"))
+# Not installed, so use FetchContent to download and provide Catch2
+if(NOT Catch2_FOUND)
+    message(STATUS "Did not find a valid Catch2 installation. Using FetchContent to install it")
+    include(FetchContent)
+
+    FetchContent_Declare(
+        Catch2
+        GIT_REPOSITORY https://github.com/catchorg/Catch2.git
+        GIT_TAG        v3.0.0-preview4
+    )
+
+    FetchContent_MakeAvailable(Catch2)
+    #fixes regression -preview4, to be confirmed in later releases
+    set_target_properties(Catch2 PROPERTIES DEBUG_POSTFIX "")
+    set_target_properties(Catch2 PROPERTIES EXCLUDE_FROM_ALL "true")
+    set_target_properties(Catch2WithMain PROPERTIES EXCLUDE_FROM_ALL "true")
+endif()
+endif()
+
+
+add_library(${LIB_EIVE_MISSION})
+
+
+# Add main executable
+add_executable(${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(NOT EIVE_BUILD_WATCHDOG)
-    if(ADD_LINUX_FILES)
-        add_subdirectory(${LINUX_PATH})
-    endif()
-    add_subdirectory(${BSP_PATH})
-    add_subdirectory(${COMMON_PATH})
-    if(ADD_CSP_LIB)
-        add_subdirectory(${CSP_LIB_PATH})
-    endif()
+
+ 
+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()
 
-if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
-    add_subdirectory(${LWGPS_LIB_PATH})
-    add_subdirectory(${FSFW_PATH})
-    add_subdirectory(${MISSION_PATH})
-    add_subdirectory(${TEST_PATH})
-    add_subdirectory(${ARCSEC_LIB_PATH})
-endif()
 
-if(EIVE_BUILD_WATCHDOG)
-    add_subdirectory(${WATCHDOG_PATH})
-endif()
+add_subdirectory(${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
 ################################################################################
 
-set_property(CACHE FSFW_OSAL PROPERTY STRINGS host linux)
 
-if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
-    # Add libraries for all sources.
-    target_link_libraries(${TARGET_NAME} PRIVATE
-        ${LIB_FSFW_NAME}
-        ${LIB_OS_NAME}
-        ${LIB_LWGPS_NAME}
+
+# Add libraries
+target_link_libraries(${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}
+        ${LIB_GPS}
     )
-
-    if(TGT_BSP MATCHES "arm/q7s")
-        target_link_libraries(${TARGET_NAME} PRIVATE
-            ${LIB_ARCSEC}
-        )
-    endif()
 endif()
 
-if(NOT EIVE_BUILD_WATCHDOG)
-    if(ADD_CSP_LIB)
-        target_link_libraries(${TARGET_NAME} PRIVATE
-            ${LIB_CSP_NAME}
-        )
-    endif()
+target_link_libraries(${UNITTEST_NAME} PRIVATE
+    Catch2
+    ${LIB_EIVE_MISSION}
+)
+
+if(TGT_BSP MATCHES "arm/egse")
+    target_link_libraries(${OBSW_NAME} PRIVATE
+	    ${LIB_ARCSEC}
+	)
 endif()
 
-if(ADD_ETL_LIB)
-    target_link_libraries(${TARGET_NAME} PRIVATE
+if(ADD_CSP_LIB)
+    target_link_libraries(${OBSW_NAME} PRIVATE
+        ${LIB_CSP_NAME}
+    )
+endif()
+
+
+if(EIVE_ADD_ETL_LIB)
+    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
         ${LIB_ETL_NAME}
     )
 endif()
 
-if(ADD_JSON_LIB)
-    target_link_libraries(${TARGET_NAME} PRIVATE
+if(EIVE_ADD_JSON_LIB)
+    target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
         ${LIB_JSON_NAME}
     )
 endif()
 
-target_link_libraries(${TARGET_NAME} PRIVATE
+target_link_libraries(${LIB_EIVE_MISSION} PUBLIC
     ${LIB_CXX_FS}
 )
 
 # Add include paths for all sources.
-target_include_directories(${TARGET_NAME} PRIVATE
+target_include_directories(${LIB_EIVE_MISSION} PUBLIC
 	${CMAKE_CURRENT_SOURCE_DIR}
 	${FSFW_CONFIG_PATH}
 	${CMAKE_CURRENT_BINARY_DIR}
-	${ARCSEC_LIB_PATH}
-)	
+	${LIB_ARCSEC_PATH}
+)
 
-if(TGT_BSP MATCHES "arm/q7s")
-    target_include_directories(${TARGET_NAME} PRIVATE
+if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/egse")
+    target_include_directories(${LIB_EIVE_MISSION} PUBLIC
         ${ARCSEC_LIB_PATH}
     )
 endif()
 
-if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-	set(WARNING_FLAGS
-		-Wall
-		-Wextra
-		-Wimplicit-fallthrough=1
-		-Wno-unused-parameter
-		-Wno-psabi
-	)
-	
-	# Remove unused sections.
-	target_compile_options(${TARGET_NAME} PRIVATE
-		"-ffunction-sections"
-		"-fdata-sections"
-	)
-
-	# Removed unused sections.
-	target_link_options(${TARGET_NAME} PRIVATE
-		"-Wl,--gc-sections"
-	)
-	
-elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
-	set(COMPILER_FLAGS "/permissive-")
-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)
@@ -299,11 +399,12 @@ 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

README.md

@@ -11,13 +11,18 @@
 4. [Useful and Common Host Commands](#host-commands)
 5. [Setting up Prerequisites](#set-up-prereq)
 6. [Remote Debugging](#remote-debugging)
-7. [Direct Debugging](#direct-debugging)
-8. [Transfering Files to the Q7S](#file-transfer)
-9. [Q7S OBC](#q7s)
-10. [Static Code Analysis](#static-code-analysis)
-11. [Eclipse](#eclipse)
-12. [Running the OBSW on a Raspberry Pi](#rpi)
-13. [FSFW](#fsfw)
+6. [Remote Reset](#remote-reset)
+8. [TMTC testing](#tmtc-testing)
+9. [Direct Debugging](#direct-debugging)
+10. [Transfering Files to the Q7S](#file-transfer)
+11. [Q7S OBC](#q7s)
+12. [Static Code Analysis](#static-code-analysis)
+13. [Eclipse](#eclipse)
+14. [Running the OBSW on a Raspberry Pi](#rpi)
+15. [Running OBSW on EGSE](#egse)
+16. [Manually preparing sysroots to compile gpsd](#gpsd)
+17. [FSFW](#fsfw)
+18. [Coding Style](#coding-style)
 
 # <a id="general"></a> General information
 
@@ -35,7 +40,7 @@ Target systems:
      relevant pages. The most recent datasheet can be found 
      [here](https://trac2.xiphos.ca/manual/wiki/Q7RevB/UserManual).
    * Linux OS built with Yocto 2.5
-   * Linux Kernel https://github.com/XiphosSystemsCorp/linux-xlnx.git . EIVE version can be found
+   * [Linux Kernel](https://github.com/XiphosSystemsCorp/linux-xlnx.git) . EIVE version can be found
      [here](https://github.com/spacefisch/linux-xlnx) . Pre-compiled files can be
      found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/q7s-linux-components&fileid=777299).
    * Q7S base project can be found [here](https://egit.irs.uni-stuttgart.de/eive/q7s-base)
@@ -65,7 +70,7 @@ prerequisites.
    as a [separate download](#arm-toolchain)
 2. [Q7S sysroot](#q7s-sysroot) on local development machine
 3. Recommended: Eclipse or [Vivado 2018.2 SDK](#vivado) for OBSW development
-3. [TCF agent] running on Q7S
+3. [TCF agent](https://wiki.eclipse.org/TCF) running on Q7S
 
 ## Hardware Design
 
@@ -102,7 +107,7 @@ When using Windows, run theses steps in MSYS2.
 
    ```sh
    mkdir build-Debug-Q7S && cd build-Debug-Q7S
-   cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DOS_FSFW=linux ..
+   cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..
    cmake --build . -j
    ```
 
@@ -117,8 +122,7 @@ When using Windows, run theses steps in MSYS2.
    This will invoke a Python script which in turn invokes CMake with the correct
    arguments to configure CMake for Q7S cross-compilation.
    
-   You can build the hosted variant of the OBSW by replacing `-DOS_FSFW=linux` with 
-   `-DOS_FSFW=host`. There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
+   There are also different values for `-DTGT_BSP` to build for the Raspberry Pi
    or the Beagle Bone Black: `arm/raspberrypi` and `arm/beagleboneblack`.
    
 5. Build the software with
@@ -157,20 +161,47 @@ automatically.
 
 ### Q7S OBSW
 
+The EIVE OBSW is the default target if no target is specified.
+
 ```sh
 mkdir build-Debug-Q7S && cd build-Debug-Q7S
-cmake -DTGT_BSP=arm/q7s -DFSFW_OSAL=linux -DCMAKE_BUILD_TYPE=Debug ..
+cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```
 
 ### Q7S Watchdog
 
+To build the EIVE watchdog, the corresponding target must be specified in the build command.
+The configure steps do not need to be repeated if the folder has already been configured.
+
 ```sh
-mkdir build-Debug-Q7S && cd build-Debug-Q7S
-cmake -DTGT_BSP=arm/q7s -DFSFW_OSAL=linux -DEIVE_BUILD_WATCHDOG=ON -DCMAKE_BUILD_TYPE=Debug ..
+mkdir build-Debug-Watchdog && cd build-Debug-Watchdog
+cmake -DTGT_BSP=arm/q7s -DCMAKE_BUILD_TYPE=Debug ..
+cmake --build . --target eive-watchdog -j
+```
+
+### Hosted
+
+You can also use the FSFW OSAL `host` to build on Windows or for generic OSes.
+Note: Currently this is not supported.
+
+```sh
+mkdir build-Debug-Host && cd build-Debug-Host
+cmake -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 cmake --build . -j
 ```
 
+### Unittests
+
+To build the unittests, the corresponding target must be specified in the build command.
+The configure steps do not need to be repeated if the folder has already been configured.
+
+```sh
+mkdir build-Debug-Unittest && cd build-Debug-Unittest
+cmake ..
+cmake --build . --target eive-unittests -j
+```
+
 ## Connect to EIVE flatsat
 
 ### DNS
@@ -324,23 +355,37 @@ For Linux, you can also download a more recent version of the
 [Linaro 8.3.0 cross-compiler](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads)
 from [here](https://developer.arm.com/-/media/Files/downloads/gnu-a/8.3-2019.03/binrel/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz?revision=e09a1c45-0ed3-4a8e-b06b-db3978fd8d56&la=en&hash=93ED4444B8B3A812B893373B490B90BBB28FD2E3)
 
+### Compatibility issues with wayland on more recent Linux distributions
+
+If Vivado crashes and you find following lines in the `hs_err_pid*` files:
+
+```sh
+#
+# An unexpected error has occurred (11)
+#
+Stack:
+/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/server/libjvm.so(+0x923da9) [0x7f666cf5eda9]
+/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/server/libjvm.so(JVM_handle_linux_signal+0xb6) [0x7f666cf653f6]
+/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/server/libjvm.so(+0x9209d3) [0x7f666cf5b9d3]
+/lib/x86_64-linux-gnu/libc.so.6(+0x35fc0) [0x7f66a993efc0]
+/opt/Xilinx/Vivado/2017.4/tps/lnx64/jre/lib/amd64/libawt_xawt.so(+0x42028) [0x7f664e24d028]
+...
+```
+
+You can [solve this](https://forums.xilinx.com/t5/Design-Entry/Bug-Vivado-2017-4-crashing-on-rightclick-in-console-log/td-p/881811)
+by logging in with `xorg` like specified [here](https://www.maketecheasier.com/switch-xorg-wayland-ubuntu1710/).
+
+### Using `docnav` on more recent Linux versions
+
+If you want to use `docnav` for navigating Xilinx documentation, it is recommended to install
+it as a standalone version from [here](https://www.xilinx.com/support/download/index.html/content/xilinx/en/downloadNav/documentation-nav.html).
+This is because the `docnav` installed as part of version 2018.2 requires `libpng12`, which is not part of
+more recent disitributions anymore.
+
 ## <a id="arm-toolchain"></a> Installing toolchain without Vivado
 
 You can download the toolchains for Windows and Linux
-[from the EIVE cloud](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files?dir=/EIVE_IRS/Software/tools&fileid=831898).
-
-If `wget` is available (e.g. MinGW64), you can use the following command to download the
-toolchain for Windows
-
-```sh
-wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/rfoaistRd67yBbH/download/gcc-arm-linux-gnueabi-win.zip
-```
-
-or the following command for Linux (could be useful for CI/CD)
-
-```sh
-wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/MRaeA2XnMXpZ5Pp/download/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf.tar.xz
-```
+[from the EIVE cloud](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/tools).
 
 ## Installing CMake and MSYS2 on Windows
 
@@ -384,12 +429,24 @@ Beagle Bone Black for download here
 Download it and unzip it somewhere in the Xilinx installation folder.
 You can use the following command if `wget` can be used or for CI/CD:
 
-```
-wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/agnJGYeRf6fw2ci/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
+```sh
+wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/SyXpdBBQX32xPgE/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
 ```
 
 Then, create a new environmental variables `Q7S_SYSROOT` and set it to the local system root path.
 
+### Updating system root for CI
+
+If the system root is updated, it needs to be manually updated on the buggy file server.
+If access on `buggy.irs.uni-stuttgart.de` is possible with `ssh` and the rootfs in the cloud
+[was updated](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/rootfs&fileid=831849)
+as well, you can update the rootfs like this:
+
+```sh
+cd /var/www/eive/tools
+wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/SyXpdBBQX32xPgE/download/cortexa9hf-neon-xiphos-linux-gnueabi.tar.gz
+```
+
 ## Setting up UNIX environment for real-time functionalities
 
 Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities 
@@ -487,10 +544,10 @@ ssh root@192.168.133.10
 ```
 
 If this has not been done yet, you can access the serial
-console of the Q7S like this to set it
+console of the Q7S like this
 
 ```sh
-picocom -b 115200 /dev/ttyUSB0
+picocom -b 115200 /dev/q7sSerial
 ```
 
 The flatsat has the aliases and shell scripts `q7s_ssh` and `q7s_serial` for this task as well.
@@ -527,6 +584,63 @@ alias or shell script to do this quickly.
 Note: When now setting up a debug session in the Xilinx SDK or Eclipse, the host must be set 
 to localhost instead of the IP address of the Q7S.
 
+# <a id="remote-reset"></a> Remote Reset
+1. Launch xilinx hardware server on flatsat with alias
+````
+launch-hwserver-xilinx
+````
+2. On host PC start xsc
+3. In xsct console type the follwing command to connect to the hardware server (replace </flatsat-pc-ip-address/> with the IP address of the flatsat PC. Can be found out with ifconfig)
+````
+connect -url tcp:</flatsat-pc-ip-address/>:3121
+````
+4. The following command will list all available devices
+````
+targets
+````
+5. Connect to the APU of the Q7S
+````
+target </APU-number/>
+````
+6. Perform reset
+````
+rst
+````
+
+# <a id="tmtc-testing"></a> TMTC testing
+
+The OBSW supports sending PUS TM packets via TCP or the PDEC IP Core which transmits the data as
+CADU frames. To make the CADU frames receivabel by the
+[TMTC porgram](https://egit.irs.uni-stuttgart.de/eive/eive-tmtc), a python script is running as
+`systemd` service named `tmtc_bridge` on the flatsat PC which forwards TCP commands to the TCP
+server of the OBC and reads CADU frames from a serial interface.
+
+You can check whether the service is running the following command on the flatsat PC
+
+```sh
+systemctl status tmtc_bridge
+```
+
+The PUS packets transported with the CADU frames are extracted
+and forwared to the TMTC program's TCP client. The code of the TMTC bridge can be found
+[here](https://egit.irs.uni-stuttgart.de/eive/tmtc-bridge). To connect the TMTC program to the
+TMTC-bridge a port forwarding from a host must be set up with the following command:
+
+```sh
+ssh -L 1537:127.0.0.1:7100 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t bash
+```
+
+You can print the output of the `systemd` service with
+
+```sh
+journalctl -u tmtc_bridge
+```
+
+This can be helpful to determine whether any TCs arrive or TMs are coming back.
+
+Note: The encoding of the TM packets and conversion of CADU frames takes some time.
+Thus the replies are received with a larger delay compared to a direct TCP connection.
+
 # <a id="direct-debugging"></a> Direct Debugging
 
 1. Assign static IP address to Q7S
@@ -939,26 +1053,7 @@ cat file.bin | hexdump -v -n X
 
 ## Preparation of a fresh rootfs and SD card
 
-This section summarizes important changes between a fresh rootfs and the current
-EIVE implementation
-
-### rootfs
-
-- Mount point `/mnt/sd0` created for SD card 0. Created with `mkdir`
-- Mount point `/mnt/sd1` created for SD card 1. Created with `mkdir`
-- Folder `scripts` in `/home/root` folder.
-- `scripts` folder currently contains a few shell helper scripts
-- Folder `profile.d` in `/etc` folder which contains the `path-set.sh` script
-  which is sourced at software startup
-- Library `libwire.so` in `/usr/lib` folder
-
-### SD Cards
-
-- Folder `bin` for binaries, for example the OBSW
-- Folder `misc` for miscellaneous files. Contains `ls` for directory listings
-- Folder `tc` for telecommands
-- Folder `tm` for telemetry
-- Folder `xdi` for XDI components (e.g. for firmware or device tree updates)
+See [q7s-package repository README](https://egit.irs.uni-stuttgart.de/eive/q7s-package)
 
 # <a id="static-code-analysis"></a> Running cppcheck on the Software
 
@@ -1006,7 +1101,7 @@ The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debu
 1. Install the TCF agent plugin in Eclipse from
    the [releases](https://www.eclipse.org/tcf/downloads.php). Go to
    Help &rarr; Install New Software and use the download page, for
-   example https://download.eclipse.org/tools/tcf/releases/1.6/1.6.2/ to search for the plugin and install it.
+   example https://download.eclipse.org/tools/tcf/releases/1.7/1.7.0/ to search for the plugin and install it. You can find the newest version [here](https://www.eclipse.org/tcf/downloads.php)
 
 2. Go to Window &rarr; Perspective &rarr; Open Perspective and open the **Target Explorer Perspective**. 
    Here, the Q7S should show up if the local port forwarding was set up as explained previously.
@@ -1045,6 +1140,38 @@ sudo apt-get install gpiod libgpiod-dev
 
 to install the required GPIO libraries before cloning the system root folder.
 
+# <a id="egse"></a> Running OBSW on EGSE
+The EGSE is a test system from arcsec build arround a raspberry pi 4 to test the star tracker. The IP address of the EGSE (raspberry pi) is 192.168.18.31. An ssh session can be opened with
+````
+ssh pi@192.168.18.31
+````
+Password: raspberry
+
+To run the obsw perform the following steps:
+1. Build the cmake EGSE Configuration 
+   * the sysroots for the EGSE can be found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/egse&fileid=1190471)
+   * toolchain for linux host can be downloaded from [here](https://github.com/Pro/raspi-toolchain)
+   * toolchain for windows host from [here](https://gnutoolchains.com/raspberry/) (the raspios-buster-armhf toolchain is the right one for the EGSE)
+2. Disable the ser2net systemd service on the EGSE
+````sh
+$ sudo systemctl stop ser2net.service
+````
+3. Power on the star tracker by running
+````sh
+$ ~/powerctrl/enable0.sh`
+````
+4. Run portforwarding script for tmtc tcp connection and tcf agent on host PC
+````sh
+$ ./scripts/egse-port.sh
+````
+5. The star tracker can be powered off by running
+````sh
+$ ~/powerctrl/disable0.sh
+````
+
+# <a id="gpsd"></a> Manually preparing sysroots to compile gpsd
+Copy all header files from [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/gpsd&fileid=1189985) to the /usr/include directory and all static libraries to /usr/lib.
+
 # <a id="fsfw"></a> Flight Software Framework (FSFW)
 
 An EIVE fork of the FSFW is submodules into this repository.
@@ -1064,3 +1191,15 @@ git merge upstream/master
 
 Alternatively, changes from other upstreams (forks) and branches can be merged like that
 in the same way.
+
+# <a id="coding-style"></a> Coding Style
+* the formatting is based on the clang-format tools
+## Setting up eclipse auto-fromatter with clang-format
+1. Help &rarr; Install New Software &rarr; Add
+2. In location insert the link http://www.cppstyle.com/luna
+3. The software package CppStyle should now be available for installation
+4. On windows download the clang-formatting tools from https://llvm.org/builds/. On linux clang-format can be installed with the package manager.
+5. Navigate to Preferences &rarr; C/C++ &rarr; CppStyle 
+6. Insert the path to the clang-format executable
+7. Under C/C++ &rarr; Code Style &rarr; Formatter, change the formatter to CppStyle (clang-format)
+8. Code can now be formatted with the clang tool by using the key combination Ctrl + Shift + f

archive/gpio/GpioCookie.cpp

@@ -0,0 +1,32 @@
+#include "GpioCookie.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+GpioCookie::GpioCookie() {}
+
+ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
+  if (gpioConfig == nullptr) {
+    sif::debug << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  auto gpioMapIter = gpioMap.find(gpioId);
+  if (gpioMapIter == gpioMap.end()) {
+    auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
+    if (statusPair.second == false) {
+#if FSFW_VERBOSE_LEVEL >= 1
+      sif::error << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
+                 << std::endl;
+#endif
+      return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+  }
+#if FSFW_VERBOSE_LEVEL >= 1
+  sif::error << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
+#endif
+  return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
+
+GpioCookie::~GpioCookie() {}

archive/gpio/GpioCookie.h

@@ -1,11 +1,12 @@
 #ifndef LINUX_GPIO_GPIOCOOKIE_H_
 #define LINUX_GPIO_GPIOCOOKIE_H_
 
-#include "GpioIF.h"
-#include "gpioDefinitions.h"
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
+#include "GpioIF.h"
+#include "gpioDefinitions.h"
+
 /**
  * @brief   Cookie for the GpioIF. Allows the GpioIF to determine which
  * 			GPIOs to initialize and whether they should be configured as in- or
@@ -16,24 +17,23 @@
  *
  * @author 	J. Meier
  */
-class GpioCookie: public CookieIF {
-public:
+class GpioCookie : public CookieIF {
+ public:
+  GpioCookie();
 
-    GpioCookie();
+  virtual ~GpioCookie();
 
-    virtual ~GpioCookie();
+  ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
+  /**
+   * @brief	Get map with registered GPIOs.
+   */
+  GpioMap getGpioMap() const;
 
-    ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
-    /**
-     * @brief	Get map with registered GPIOs.
-     */
-    GpioMap getGpioMap() const;
-
-private:
-    /**
-     * Returns a copy of the internal GPIO map.
-     */
-    GpioMap gpioMap;
+ private:
+  /**
+   * Returns a copy of the internal GPIO map.
+   */
+  GpioMap gpioMap;
 };
 
 #endif /* LINUX_GPIO_GPIOCOOKIE_H_ */

archive/gpio/GpioIF.h

@@ -0,0 +1,54 @@
+#ifndef LINUX_GPIO_GPIOIF_H_
+#define LINUX_GPIO_GPIOIF_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include "gpioDefinitions.h"
+
+class GpioCookie;
+
+/**
+ * @brief	This class defines the interface for objects requiring the control
+ * 			over GPIOs.
+ * @author	J. Meier
+ */
+class GpioIF : public HasReturnvaluesIF {
+ public:
+  virtual ~GpioIF(){};
+
+  /**
+   * @brief   Called by the GPIO using object.
+   * @param cookie	Cookie specifying informations of the GPIOs required
+   * 					by a object.
+   */
+  virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
+
+  /**
+   * @brief	By implementing this function a child must provide the
+   * 			functionality to pull a certain GPIO to high logic level.
+   *
+   * @param gpioId	A unique number which specifies the GPIO to drive.
+   * @return  Returns RETURN_OK for success. This should never return RETURN_FAILED.
+   */
+  virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
+
+  /**
+   * @brief	By implementing this function a child must provide the
+   * 			functionality to pull a certain GPIO to low logic level.
+   *
+   * @param gpioId	A unique number which specifies the GPIO to drive.
+   */
+  virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
+
+  /**
+   * @brief   This function requires a child to implement the functionality to read the state of
+   *          an ouput or input gpio.
+   *
+   * @param gpioId    A unique number which specifies the GPIO to read.
+   * @param gpioState State of GPIO will be written to this pointer.
+   */
+  virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
+};
+
+#endif /* LINUX_GPIO_GPIOIF_H_ */

archive/gpio/LinuxLibgpioIF.cpp

@@ -0,0 +1,295 @@
+#include "LinuxLibgpioIF.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <gpiod.h>
+#include <linux/gpio/gpioDefinitions.h>
+#include <unistd.h>
+
+#include <utility>
+
+#include "GpioCookie.h"
+
+LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
+  struct gpiod_chip* chip = gpiod_chip_open_by_label("/amba_pl/gpio@42030000");
+
+  sif::debug << chip->name << std::endl;
+}
+
+LinuxLibgpioIF::~LinuxLibgpioIF() {}
+
+ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
+  ReturnValue_t result;
+  if (gpioCookie == nullptr) {
+    sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
+    return RETURN_FAILED;
+  }
+
+  GpioMap mapToAdd = gpioCookie->getGpioMap();
+
+  /* Check whether this ID already exists in the map and remove duplicates */
+  result = checkForConflicts(mapToAdd);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  result = configureGpios(mapToAdd);
+  if (result != RETURN_OK) {
+    return RETURN_FAILED;
+  }
+
+  /* Register new GPIOs in gpioMap */
+  gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
+
+  return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
+  for (auto& gpioConfig : mapToAdd) {
+    switch (gpioConfig.second->gpioType) {
+      case (gpio::GpioTypes::NONE): {
+        return GPIO_INVALID_INSTANCE;
+      }
+      case (gpio::GpioTypes::GPIOD_REGULAR): {
+        GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+        if (regularGpio == nullptr) {
+          return GPIO_INVALID_INSTANCE;
+        }
+        configureRegularGpio(gpioConfig.first, regularGpio);
+        break;
+      }
+      case (gpio::GpioTypes::CALLBACK): {
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
+        if (gpioCallback->callback == nullptr) {
+          return GPIO_INVALID_INSTANCE;
+        }
+        gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
+                               gpioCallback->initValue, gpioCallback->callbackArgs);
+      }
+    }
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio) {
+  std::string chipname;
+  unsigned int lineNum;
+  struct gpiod_chip* chip;
+  gpio::Direction direction;
+  std::string consumer;
+  struct gpiod_line* lineHandle;
+  int result = 0;
+
+  chipname = regularGpio->chipname;
+  chip = gpiod_chip_open_by_name(chipname.c_str());
+  if (!chip) {
+    sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip " << chipname
+               << ". Gpio ID: " << gpioId << std::endl;
+    return RETURN_FAILED;
+  }
+
+  lineNum = regularGpio->lineNum;
+  lineHandle = gpiod_chip_get_line(chip, lineNum);
+  if (!lineHandle) {
+    sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line for GPIO with id " << gpioId
+               << std::endl;
+    gpiod_chip_close(chip);
+    return RETURN_FAILED;
+  }
+
+  direction = regularGpio->direction;
+  consumer = regularGpio->consumer;
+  /* Configure direction and add a description to the GPIO */
+  switch (direction) {
+    case (gpio::OUT): {
+      result = gpiod_line_request_output(lineHandle, consumer.c_str(), regularGpio->initValue);
+      if (result < 0) {
+        sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum
+                   << " from GPIO instance with ID: " << gpioId << std::endl;
+        gpiod_line_release(lineHandle);
+        return RETURN_FAILED;
+      }
+      break;
+    }
+    case (gpio::IN): {
+      result = gpiod_line_request_input(lineHandle, consumer.c_str());
+      if (result < 0) {
+        sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum
+                   << " from GPIO instance with ID: " << gpioId << std::endl;
+        gpiod_line_release(lineHandle);
+        return RETURN_FAILED;
+      }
+      break;
+    }
+    default: {
+      sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
+      return GPIO_INVALID_INSTANCE;
+    }
+  }
+  /**
+   * Write line handle to GPIO configuration instance so it can later be used to set or
+   * read states of GPIOs.
+   */
+  regularGpio->lineHandle = lineHandle;
+  return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
+  gpioMapIter = gpioMap.find(gpioId);
+  if (gpioMapIter == gpioMap.end()) {
+    sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
+    return UNKNOWN_GPIO_ID;
+  }
+
+  if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
+    return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
+  } else {
+    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+    if (gpioCallback->callback == nullptr) {
+      return GPIO_INVALID_INSTANCE;
+    }
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, 1,
+                           gpioCallback->callbackArgs);
+  }
+  return GPIO_TYPE_FAILURE;
+}
+
+ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
+  gpioMapIter = gpioMap.find(gpioId);
+  if (gpioMapIter == gpioMap.end()) {
+    sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
+    return UNKNOWN_GPIO_ID;
+  }
+
+  if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
+    return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
+  } else {
+    auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+    if (gpioCallback->callback == nullptr) {
+      return GPIO_INVALID_INSTANCE;
+    }
+    gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, 0,
+                           gpioCallback->callbackArgs);
+  }
+  return GPIO_TYPE_FAILURE;
+}
+
+ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio,
+                                        unsigned int logicLevel) {
+  if (regularGpio == nullptr) {
+    return GPIO_TYPE_FAILURE;
+  }
+
+  int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
+  if (result < 0) {
+    sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
+                 << " to logic level " << logicLevel << std::endl;
+    return DRIVE_GPIO_FAILURE;
+  }
+
+  return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
+  gpioMapIter = gpioMap.find(gpioId);
+  if (gpioMapIter == gpioMap.end()) {
+    sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
+    return UNKNOWN_GPIO_ID;
+  }
+
+  if (gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
+    GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+    if (regularGpio == nullptr) {
+      return GPIO_TYPE_FAILURE;
+    }
+    *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
+  } else {
+  }
+
+  return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
+  ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  for (auto& gpioConfig : mapToAdd) {
+    switch (gpioConfig.second->gpioType) {
+      case (gpio::GpioTypes::GPIOD_REGULAR): {
+        auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+        if (regularGpio == nullptr) {
+          return GPIO_TYPE_FAILURE;
+        }
+        /* Check for conflicts and remove duplicates if necessary */
+        result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          status = result;
+        }
+        break;
+      }
+      case (gpio::GpioTypes::CALLBACK): {
+        auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
+        if (callbackGpio == nullptr) {
+          return GPIO_TYPE_FAILURE;
+        }
+        /* Check for conflicts and remove duplicates if necessary */
+        result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+          status = result;
+        }
+        break;
+      }
+      default: {
+      }
+    }
+  }
+  return status;
+}
+
+ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
+                                                           GpiodRegular* gpioToCheck,
+                                                           GpioMap& mapToAdd) {
+  /* Cross check with private map */
+  gpioMapIter = gpioMap.find(gpioIdToCheck);
+  if (gpioMapIter != gpioMap.end()) {
+    if (gpioMapIter->second->gpioType != gpio::GpioTypes::GPIOD_REGULAR) {
+      sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
+                      "GPIO type"
+                   << gpioIdToCheck << ". Removing duplicate." << std::endl;
+      mapToAdd.erase(gpioIdToCheck);
+      return HasReturnvaluesIF::RETURN_OK;
+    }
+    auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+    if (ownRegularGpio == nullptr) {
+      return GPIO_TYPE_FAILURE;
+    }
+
+    /* Remove element from map to add because a entry for this GPIO
+    already exists */
+    sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
+                 << " detected. Duplicate will be removed from map to add." << std::endl;
+    mapToAdd.erase(gpioIdToCheck);
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
+                                                            GpioCallback* callbackGpio,
+                                                            GpioMap& mapToAdd) {
+  /* Cross check with private map */
+  gpioMapIter = gpioMap.find(gpioIdToCheck);
+  if (gpioMapIter != gpioMap.end()) {
+    if (gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
+      sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
+                      "GPIO type"
+                   << gpioIdToCheck << ". Removing duplicate." << std::endl;
+      mapToAdd.erase(gpioIdToCheck);
+      return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    /* Remove element from map to add because a entry for this GPIO
+    already exists */
+    sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
+                 << " detected. Duplicate will be removed from map to add." << std::endl;
+    mapToAdd.erase(gpioIdToCheck);
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}

archive/gpio/LinuxLibgpioIF.h

@@ -0,0 +1,75 @@
+#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
+#define LINUX_GPIO_LINUXLIBGPIOIF_H_
+
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfwconfig/returnvalues/classIds.h>
+#include <linux/gpio/GpioIF.h>
+
+class GpioCookie;
+
+/**
+ * @brief	This class implements the GpioIF for a linux based system. The
+ * 			implementation is based on the libgpiod lib which requires linux 4.8
+ * 			or higher.
+ * @note	The Petalinux SDK from Xilinx supports libgpiod since Petalinux
+ * 			2019.1.
+ */
+class LinuxLibgpioIF : public GpioIF, public SystemObject {
+ public:
+  static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF;
+
+  static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
+  static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
+  static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
+  static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
+      HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
+
+  LinuxLibgpioIF(object_id_t objectId);
+  virtual ~LinuxLibgpioIF();
+
+  ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
+  ReturnValue_t pullHigh(gpioId_t gpioId) override;
+  ReturnValue_t pullLow(gpioId_t gpioId) override;
+  ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
+
+ private:
+  /* Holds the information and configuration of all used GPIOs */
+  GpioMap gpioMap;
+  GpioMapIter gpioMapIter;
+
+  /**
+   * @brief	This functions drives line of a GPIO specified by the GPIO ID.
+   *
+   * @param gpioId	The GPIO ID of the GPIO to drive.
+   * @param logiclevel	The logic level to set. O or 1.
+   */
+  ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, unsigned int logiclevel);
+
+  ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio);
+
+  /**
+   * @brief	This function checks if GPIOs are already registered and whether
+   * 			there exists a conflict in the GPIO configuration. E.g. the
+   * 			direction.
+   *
+   * @param mapToAdd	The GPIOs which shall be added to the gpioMap.
+   *
+   * @return	RETURN_OK if successful, otherwise RETURN_FAILED
+   */
+  ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
+
+  ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
+                                             GpioMap& mapToAdd);
+  ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
+                                              GpioMap& mapToAdd);
+
+  /**
+   * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
+   */
+  ReturnValue_t configureGpios(GpioMap& mapToAdd);
+};
+
+#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

archive/gpio/gpioDefinitions.h

@@ -0,0 +1,83 @@
+#ifndef LINUX_GPIO_GPIODEFINITIONS_H_
+#define LINUX_GPIO_GPIODEFINITIONS_H_
+
+#include <string>
+#include <unordered_map>
+
+using gpioId_t = uint16_t;
+
+namespace gpio {
+
+enum class Levels : uint8_t { LOW = 0, HIGH = 1 };
+
+enum class Direction : uint8_t { IN = 0, OUT = 1 };
+
+enum class GpioOperation { READ, WRITE };
+
+enum class GpioTypes { NONE, GPIOD_REGULAR, CALLBACK };
+
+static constexpr gpioId_t NO_GPIO = -1;
+}  // namespace gpio
+
+/**
+ * @brief   Struct containing information about the GPIO to use. This is
+ *          required by the libgpiod to access and drive a GPIO.
+ * @param chipname      String of the chipname specifying the group which contains the GPIO to
+ *                      access. E.g. gpiochip0. To detect names of GPIO groups run gpiodetect on
+ *                      the linux command line.
+ * @param lineNum       The offset of the GPIO within the GPIO group.
+ * @param consumer      Name of the consumer. Simply a description of the GPIO configuration.
+ * @param direction     Specifies whether the GPIO should be used as in- or output.
+ * @param initValue     Defines the initial state of the GPIO when configured as output.
+ *                      Only required for output GPIOs.
+ * @param lineHandle    The handle returned by gpiod_chip_get_line will be later written to this
+ *                      pointer.
+ */
+class GpioBase {
+ public:
+  GpioBase() = default;
+
+  GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction, int initValue)
+      : gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
+
+  virtual ~GpioBase(){};
+
+  /* Can be used to cast GpioBase to a concrete child implementation */
+  gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
+  std::string consumer;
+  gpio::Direction direction = gpio::Direction::IN;
+  int initValue = 0;
+};
+
+class GpiodRegular : public GpioBase {
+ public:
+  GpiodRegular()
+      : GpioBase(gpio::GpioTypes::GPIOD_REGULAR, std::string(), gpio::Direction::IN, 0){};
+
+  GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
+               gpio::Direction direction_, int initValue_)
+      : GpioBase(gpio::GpioTypes::GPIOD_REGULAR, consumer_, direction_, initValue_),
+        chipname(chipname_),
+        lineNum(lineNum_) {}
+  std::string chipname;
+  int lineNum = 0;
+  struct gpiod_line* lineHandle = nullptr;
+};
+
+class GpioCallback : public GpioBase {
+ public:
+  GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
+               void (*callback)(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args),
+               void* callbackArgs)
+      : GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
+        callback(callback),
+        callbackArgs(callbackArgs) {}
+
+  void (*callback)(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args) = nullptr;
+  void* callbackArgs = nullptr;
+};
+
+using GpioMap = std::unordered_map<gpioId_t, GpioBase*>;
+using GpioMapIter = GpioMap::iterator;
+
+#endif /* LINUX_GPIO_GPIODEFINITIONS_H_ */

archive/tmtc/CCSDSIPCoreBridge.cpp

@@ -0,0 +1,128 @@
+#include <fcntl.h>
+#include <linux/obc/Ptme.h>
+#include <sys/mman.h>
+
+CCSDSIPCoreBridge::CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination,
+                                     object_id_t tmStoreId, object_id_t tcStoreId,
+                                     LinuxLibgpioIF* gpioComIF, std::string uioPtme,
+                                     gpioId_t papbBusyId, gpioId_t papbEmptyId)
+    : TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId),
+      gpioComIF(gpioComIF),
+      uioPtme(uioPtme),
+      papbBusyId(papbBusyId),
+      papbEmptyId(papbEmptyId) {}
+
+CCSDSIPCoreBridge::~CCSDSIPCoreBridge() {}
+
+ReturnValue_t CCSDSIPCoreBridge::initialize() {
+  ReturnValue_t result = TmTcBridge::initialize();
+
+  fd = open("/dev/uio0", O_RDWR);
+  if (fd < 1) {
+    sif::debug << "CCSDSIPCoreBridge::initialize: Invalid UIO device file" << std::endl;
+    return RETURN_FAILED;
+  }
+
+  /**
+   * Map uio device in virtual address space
+   * PROT_WRITE: Map uio device in writable only mode
+   */
+  ptmeBaseAddress =
+      static_cast<uint32_t*>(mmap(NULL, MAP_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
+
+  if (ptmeBaseAddress == MAP_FAILED) {
+    sif::error << "CCSDSIPCoreBridge::initialize: Failed to map uio address" << std::endl;
+    return RETURN_FAILED;
+  }
+
+  return result;
+}
+
+ReturnValue_t CCSDSIPCoreBridge::handleTm() {
+#if OBSW_TEST_CCSDS_PTME == 1
+  return sendTestFrame();
+#else
+  return TmTcBridge::handleTm();
+#endif
+}
+
+ReturnValue_t CCSDSIPCoreBridge::sendTm(const uint8_t* data, size_t dataLen) {
+  if (pollPapbBusySignal() == RETURN_OK) {
+    startPacketTransfer();
+  }
+
+  for (size_t idx = 0; idx < dataLen; idx++) {
+    if (pollPapbBusySignal() == RETURN_OK) {
+      *(ptmeBaseAddress + PTME_DATA_REG_OFFSET) = static_cast<uint32_t>(*(data + idx));
+    } else {
+      sif::debug << "CCSDSIPCoreBridge::sendTm: Only written " << idx - 1 << " of " << dataLen
+                 << " data" << std::endl;
+      return RETURN_FAILED;
+    }
+  }
+
+  if (pollPapbBusySignal() == RETURN_OK) {
+    endPacketTransfer();
+  }
+  return RETURN_OK;
+}
+
+void CCSDSIPCoreBridge::startPacketTransfer() { *ptmeBaseAddress = PTME_CONFIG_START; }
+
+void CCSDSIPCoreBridge::endPacketTransfer() { *ptmeBaseAddress = PTME_CONFIG_END; }
+
+ReturnValue_t CCSDSIPCoreBridge::pollPapbBusySignal() {
+  int papbBusyState = 0;
+  ReturnValue_t result = RETURN_OK;
+
+  /** Check if PAPB interface is ready to receive data */
+  result = gpioComIF->readGpio(papbBusyId, &papbBusyState);
+  if (result != RETURN_OK) {
+    sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: Failed to read papb busy signal"
+               << std::endl;
+    return RETURN_FAILED;
+  }
+  if (!papbBusyState) {
+    sif::debug << "CCSDSIPCoreBridge::pollPapbBusySignal: PAPB busy" << std::endl;
+    return PAPB_BUSY;
+  }
+
+  return RETURN_OK;
+}
+
+void CCSDSIPCoreBridge::isPtmeBufferEmpty() {
+  ReturnValue_t result = RETURN_OK;
+  int papbEmptyState = 1;
+
+  result = gpioComIF->readGpio(papbEmptyId, &papbEmptyState);
+
+  if (result != RETURN_OK) {
+    sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Failed to read papb empty signal"
+               << std::endl;
+    return;
+  }
+
+  if (papbEmptyState == 1) {
+    sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is empty" << std::endl;
+  } else {
+    sif::debug << "CCSDSIPCoreBridge::isPtmeBufferEmpty: Buffer is not empty" << std::endl;
+  }
+  return;
+}
+
+ReturnValue_t CCSDSIPCoreBridge::sendTestFrame() {
+  /** Size of one complete transfer frame data field amounts to 1105 bytes */
+  uint8_t testPacket[1105];
+
+  /** Fill one test packet */
+  for (int idx = 0; idx < 1105; idx++) {
+    testPacket[idx] = static_cast<uint8_t>(idx & 0xFF);
+  }
+
+  ReturnValue_t result = sendTm(testPacket, 1105);
+  if (result != RETURN_OK) {
+    return result;
+  }
+
+  return RETURN_OK;
+}

archive/tmtc/CCSDSIPCoreBridge.h

@@ -0,0 +1,129 @@
+#ifndef MISSION_OBC_CCSDSIPCOREBRIDGE_H_
+#define MISSION_OBC_CCSDSIPCOREBRIDGE_H_
+
+#include <fsfw/tmtcservices/TmTcBridge.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
+#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+
+#include <cstring>
+
+#include "OBSWConfig.h"
+
+/**
+ * @brief   This class handles the interfacing to the telemetry (PTME) and telecommand (PDEC) IP
+ *          cores responsible for the CCSDS encoding and decoding. The IP cores are implemented
+ *          on the programmable logic and are accessible through the linux UIO driver.
+ */
+class CCSDSIPCoreBridge : public TmTcBridge {
+ public:
+  /**
+   * @brief   Constructor
+   *
+   * @param objectId
+   * @param tcDestination
+   * @param tmStoreId
+   * @param tcStoreId
+   * @param uioPtme   Name of the uio device file which provides access to the PTME IP Core.
+   * @param papbBusyId    The ID of the GPIO which is connected to the PAPBBusy_N signal of the
+   *                      PTME IP Core. A low logic level indicates the PTME is not ready to
+   *                      receive more data.
+   * @param papbEmptyId   The ID of the GPIO which is connected to the PAPBEmpty signal of the
+   *                      PTME IP Core. The signal is high when there are no packets in the
+   *                      external buffer memory (BRAM).
+   */
+  CCSDSIPCoreBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
+                    object_id_t tcStoreId, LinuxLibgpioIF* gpioComIF, std::string uioPtme,
+                    gpioId_t papbBusyId, gpioId_t papbEmptyId);
+  virtual ~CCSDSIPCoreBridge();
+
+  ReturnValue_t initialize() override;
+
+ protected:
+  /**
+   * Overwriting this function to provide the capability of testing the PTME IP Core
+   * implementation.
+   */
+  virtual ReturnValue_t handleTm() override;
+
+  virtual ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) override;
+
+ private:
+  static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_IP_CORE_BRIDGE;
+
+  static const ReturnValue_t PAPB_BUSY = MAKE_RETURN_CODE(0xA0);
+
+  /** Size of mapped address space. 4k (minimal size of pl device) */
+  //    static const int MAP_SIZE = 0xFA0;
+  static const int MAP_SIZE = 0x1000;
+
+  /**
+   * Configuration bits:
+   * bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00
+   * bit[2]: Set this bit to 1 to abort a transfered packet
+   * bit[3]: Signals to PTME the start of a new telemetry packet
+   */
+  static const uint32_t PTME_CONFIG_START = 0x8;
+
+  /**
+   * Writing this word to the ptme base address signals to the PTME that a complete tm packet has
+   * been transferred.
+   */
+  static const uint32_t PTME_CONFIG_END = 0x0;
+
+  /**
+   * Writing to this offset within the PTME memory space will insert data for encoding to the
+   * PTME IP core.
+   * The address offset is 0x400 (= 4 * 256)
+   */
+  static const int PTME_DATA_REG_OFFSET = 256;
+
+  LinuxLibgpioIF* gpioComIF = nullptr;
+
+  /** The uio device file related to the PTME IP Core */
+  std::string uioPtme;
+
+  /** Pulled to low when PTME not ready to receive data */
+  gpioId_t papbBusyId = gpio::NO_GPIO;
+
+  /** High when externally buffer memory of PTME is empty */
+  gpioId_t papbEmptyId = gpio::NO_GPIO;
+
+  /** The file descriptor of the UIO driver */
+  int fd;
+
+  uint32_t* ptmeBaseAddress = nullptr;
+
+  /**
+   * @brief   This function sends the config byte to the PTME IP Core to initiate a packet
+   *          transfer.
+   */
+  void startPacketTransfer();
+
+  /**
+   * @brief   This function sends the config byte to the PTME IP Core to signal the end of a
+   *          packet transfer.
+   */
+  void endPacketTransfer();
+
+  /**
+   * @brief   This function reads the papb busy signal indicating whether the PAPB interface is
+   *          ready to receive more data or not. PAPB is ready when PAPB_Busy_N == '1'.
+   *
+   * @return  RETURN_OK when ready to receive data else PAPB_BUSY.
+   */
+  ReturnValue_t pollPapbBusySignal();
+
+  /**
+   * @brief   This function can be used for debugging to check wheter there are packets in
+   *          the packet buffer of the PTME or not.
+   */
+  void isPtmeBufferEmpty();
+
+  /**
+   * @brief   This function sends a complete telemetry transfer frame data field (1105 bytes)
+   *          to the input of the PTME IP Core. Can be used to test the implementation.
+   */
+  ReturnValue_t sendTestFrame();
+};
+
+#endif /* MISSION_OBC_CCSDSIPCOREBRIDGE_H_ */

automation/Dockerfile

@@ -2,7 +2,9 @@ FROM ubuntu:focal
 
 RUN apt-get update
 RUN apt-get --yes upgrade
-RUN apt-get --yes install cmake libgpiod-dev xz-utils nano curl
+#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; \
@@ -14,6 +16,5 @@ 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 ZYNQ_7020_SYSROOT="/usr/rootfs/cortexa9hf-neon-xiphos-linux-gnueabi"
 ENV PATH=$PATH:"/usr/tools/gcc-arm-8.3-2019.03-x86_64-arm-linux-gnueabihf/bin"

automation/Jenkinsfile

@@ -1,48 +1,36 @@
 pipeline {
-    agent any
-    stages {
-        stage('Build Container') {
-            when {
-                changeset "automation/Dockerfile-q7s"
-                branch 'develop'
-            }
-            steps {
-                sh 'docker build -t eive-fsw-build-q7s:gcc8 - < automation/Dockerfile-q7s'
-
-            }
+    environment {
+        BUILDDIR_Q7 = 'build_q7'
+        BUILDDIR_LINUX = 'build_linux'
+    }
+    agent {
+        docker {
+            image 'eive-obsw-ci:d3'
+            args '--sysctl fs.mqueue.msg_max=100'
         }
+    }
+    stages {
         stage('Clean') {
-            when {
-                anyOf {
-                    changelog 'cleanCI'
-                    changeset '*.cmake'
-                    changeset 'CMakeLists.txt'
-                }
-            }
             steps {
-                sh 'rm -rf build-q7s-debug'
+                sh 'rm -rf $BUILDDIR_Q7'
+                sh 'rm -rf $BUILDDIR_LINUX'
             }
         }
         stage('Build Q7S') {
-            agent {
-                docker {
-                    image 'eive-fsw-build-q7s:gcc8'
-                    reuseNode true
-                }
-            }
             steps {
-                dir('build-q7s-debug') {
-                    sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug -DFSFW_OSAL=linux ..'
-                    sh 'cmake --build . -j'
+                dir(BUILDDIR_Q7) {
+                    sh 'cmake -DTGT_BSP="arm/q7s" -DCMAKE_BUILD_TYPE=Debug ..'
+                    sh 'cmake --build . -j4'
                 }
             }
         }
-        stage('Deploy') {
-            when {
-                tag 'v*.*.*'
-            }
+        stage('Unittests') {
             steps {
-                sh 'echo Deploying'
+                dir(BUILDDIR_LINUX) {
+                    sh 'cmake ..'
+                    sh 'cmake --build . -t eive-unittest -j4'
+                    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 +1,48 @@
+#include "ObjectFactory.h"
+
+#include <devConf.h>
+#include <fsfw_hal/linux/uart/UartComIF.h>
+#include <fsfw_hal/linux/uart/UartCookie.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/tasks/TaskFactory.h"
+#include "fsfw/version.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

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");
@@ -27,133 +26,132 @@ ServiceInterfaceStream sif::warning("WARNING", true);
 ServiceInterfaceStream sif::error("ERROR", true, false, true);
 #endif
 
-ObjectManagerIF *objectManager = nullptr;
+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);
-    sif::info << "Initializing all objects.." << std::endl;
-    ObjectManager::instance()->initialize();
+  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();
+  /* This function creates and starts all tasks */
+  initTasks();
 }
 
 void initmission::initTasks() {
-    TaskFactory* factory = TaskFactory::instance();
-    if(factory == nullptr) {
-        /* Should never happen ! */
-        return;
-    }
+  TaskFactory* factory = TaskFactory::instance();
+  if (factory == nullptr) {
+    /* Should never happen ! */
+    return;
+  }
 #if OBSW_PRINT_MISSED_DEADLINES == 1
-    void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
+  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
 #else
-    void (*missedDeadlineFunc) (void) = nullptr;
+  void (*missedDeadlineFunc)(void) = nullptr;
 #endif
 
-    /* TMTC Distribution */
-    PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-            "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-    ReturnValue_t 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;
-    }
+  /* TMTC Distribution */
+  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
+      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  ReturnValue_t 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;
+  }
 
-    /* UDP bridge */
-    PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
-            "TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-    result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::error << "Add component UDP Unix Bridge failed" << std::endl;
-    }
-    PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
-            "UDP_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 UDP Polling failed" << std::endl;
-    }
+  /* UDP bridge */
+  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
+      "TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+  }
+  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
+      "UDP_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 UDP Polling failed" << std::endl;
+  }
 
-    /* PUS Services */
-    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;
-    }
+  /* PUS Services */
+  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;
+  }
 
-    PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
-            "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-    result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-    if(result != HasReturnvaluesIF::RETURN_OK){
-        initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
-    }
+  PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
+      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+  result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
+  }
 
-    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);
-    }
+  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);
+  }
 
-    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);
-    }
+  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);
+  }
 
-    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);
-    }
+  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);
+  }
 
-    PeriodicTaskIF* testTask = factory->createPeriodicTask(
-            "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  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);
-    }
+  result = testTask->addComponent(objects::TEST_TASK);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+  }
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
-    sif::info << "Starting tasks.." << std::endl;
-    tmTcDistributor->startTask();
-    tmtcBridgeTask->startTask();
-    tmtcPollingTask->startTask();
+  sif::info << "Starting tasks.." << std::endl;
+  tmTcDistributor->startTask();
+  tmtcBridgeTask->startTask();
+  tmtcPollingTask->startTask();
 
-    pusVerification->startTask();
-    pusEvents->startTask();
-    pusHighPrio->startTask();
-    pusMedPrio->startTask();
-    pusLowPrio->startTask();
+  pusVerification->startTask();
+  pusEvents->startTask();
+  pusHighPrio->startTask();
+  pusMedPrio->startTask();
+  pusLowPrio->startTask();
 
 #if OBSW_ADD_TEST_CODE == 1
-    testTask->startTask();
+  testTask->startTask();
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
-    sif::info << "Tasks started.." << std::endl;
+  sif::info << "Tasks started.." << std::endl;
 }

bsp_hosted/InitMission.h

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

bsp_hosted/ObjectFactory.cpp

@@ -1,14 +1,14 @@
 #include "ObjectFactory.h"
-#include "OBSWConfig.h"
+
+#include <fsfw/tmtcservices/CommandingServiceBase.h>
+#include <fsfw/tmtcservices/PusServiceBase.h>
+#include <mission/core/GenericFactory.h>
+#include <mission/utility/TmFunnel.h>
 #include <objects/systemObjectList.h>
 #include <tmtc/apid.h>
 #include <tmtc/pusIds.h>
 
-#include <fsfw/tmtcservices/CommandingServiceBase.h>
-#include <fsfw/tmtcservices/PusServiceBase.h>
-
-#include <mission/core/GenericFactory.h>
-#include <mission/utility/TmFunnel.h>
+#include "OBSWConfig.h"
 
 #if OBSW_USE_TMTC_TCP_BRIDGE == 0
 #include "fsfw/osal/common/UdpTcPollingTask.h"
@@ -20,42 +20,28 @@
 
 #include <fsfw/tmtcpacket/pus/tm.h>
 
-
 #if OBSW_ADD_TEST_CODE == 1
 #include <test/testtasks/TestTask.h>
 #endif
 
-void Factory::setStaticFrameworkObjectIds(){
-	PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-	PusServiceBase::packetDestination = objects::TM_FUNNEL;
+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;
+  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
+  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
-	TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
-	// No storage object for now.
-	TmFunnel::storageDestination = objects::NO_OBJECT;
+  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
+  // No storage object for now.
+  TmFunnel::storageDestination = objects::NO_OBJECT;
 
-	VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-	TmPacketBase::timeStamperId = objects::TIME_STAMPER;
+  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
+  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }
 
-void ObjectFactory::produce(void* args){
-	Factory::setStaticFrameworkObjectIds();
-	ObjectFactory::produceGenericObjects();
-
-#if OBSW_USE_TMTC_TCP_BRIDGE == 0
-	sif::info << "Setting up UDP TMTC bridge with listener port " <<
-	        UdpTmTcBridge::DEFAULT_SERVER_PORT << std::endl;
-    new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-    new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
-#else
-    sif::info << "Setting up TCP TMTC bridge with listener port " <<
-            TcpTmTcServer::DEFAULT_SERVER_PORT << std::endl;
-    new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-    new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
-#endif
-
-    new TestTask(objects::TEST_TASK);
+void ObjectFactory::produce(void* args) {
+  Factory::setStaticFrameworkObjectIds();
+  ObjectFactory::produceGenericObjects();
 
+  new TestTask(objects::TEST_TASK);
 }

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);
-};
+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/etl_profile.h

@@ -32,7 +32,7 @@ SOFTWARE.
 
 #define ETL_CHECK_PUSH_POP
 
-#define ETL_CPP11_SUPPORTED  1
-#define ETL_NO_NULLPTR_SUPPORT  0
+#define ETL_CPP11_SUPPORTED 1
+#define ETL_NO_NULLPTR_SUPPORT 0
 
 #endif

bsp_hosted/boardconfig/gcov.h

@@ -6,8 +6,9 @@
 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;
+  sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
+               "coverage information is desired.\n"
+            << std::flush;
 }
 #endif
 

bsp_hosted/boardconfig/print.c

@@ -3,13 +3,9 @@
 #include <stdio.h>
 
 void printChar(const char* character, bool errStream) {
-	if(errStream) {
-		putc(*character, stderr);
-		return;
-	}
-	putc(*character, stdout);
+  if (errStream) {
+    putc(*character, stderr);
+    return;
+  }
+  putc(*character, stdout);
 }
-
-
-
-

bsp_hosted/comIF/ArduinoComIF.cpp

@@ -1,376 +1,351 @@
 #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,
-        const char *serialDevice):
-		rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES*10, true),
-		SystemObject(setObjectId) {
+ArduinoComIF::ArduinoComIF(object_id_t setObjectId, bool promptComIF, const char *serialDevice)
+    : rxBuffer(MAX_PACKET_SIZE * MAX_NUMBER_OF_SPI_DEVICES * 10, true), SystemObject(setObjectId) {
 #ifdef LINUX
-	initialized = false;
-	serialPort = ::open("/dev/ttyUSB0", O_RDWR);
+  initialized = false;
+  serialPort = ::open("/dev/ttyUSB0", O_RDWR);
 
-	if (serialPort < 0) {
-		//configuration error
-		printf("Error %i from open: %s\n", errno, strerror(errno));
-		return;
-	}
+  if (serialPort < 0) {
+    // configuration error
+    printf("Error %i from open: %s\n", errno, strerror(errno));
+    return;
+  }
 
-	struct termios tty;
-	memset(&tty, 0, sizeof tty);
+  struct termios tty;
+  memset(&tty, 0, sizeof tty);
 
-	// Read in existing settings, and handle any error
-	if (tcgetattr(serialPort, &tty) != 0) {
-		printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
-		return;
-	}
+  // Read in existing settings, and handle any error
+  if (tcgetattr(serialPort, &tty) != 0) {
+    printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
+    return;
+  }
 
-	tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity
-	tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication
-	tty.c_cflag |= CS8; // 8 bits per byte
-	tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
-	tty.c_lflag &= ~ICANON; //Disable Canonical Mode
-	tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
-	tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
-	tty.c_cc[VTIME] = 0;    // Non Blocking
-	tty.c_cc[VMIN] = 0;
+  tty.c_cflag &= ~PARENB;   // Clear parity bit, disabling parity
+  tty.c_cflag &= ~CSTOPB;   // Clear stop field, only one stop bit used in communication
+  tty.c_cflag |= CS8;       // 8 bits per byte
+  tty.c_cflag &= ~CRTSCTS;  // Disable RTS/CTS hardware flow control
+  tty.c_lflag &= ~ICANON;   // Disable Canonical Mode
+  tty.c_oflag &= ~OPOST;    // Prevent special interpretation of output bytes (e.g. newline chars)
+  tty.c_oflag &= ~ONLCR;    // Prevent conversion of newline to carriage return/line feed
+  tty.c_cc[VTIME] = 0;      // Non Blocking
+  tty.c_cc[VMIN] = 0;
 
-	cfsetispeed(&tty, B9600); //Baudrate
+  cfsetispeed(&tty, B9600);  // Baudrate
 
-	if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
-		//printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
-		return;
-	}
+  if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
+    // printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
+    return;
+  }
 
-	initialized = true;
+  initialized = true;
 #elif WIN32
-	DCB serialParams = { 0 };
+  DCB serialParams = {0};
 
-	// we need to ask the COM port from the user.
-	if(promptComIF) {
-	    sif::info << "Please enter the COM port (c to cancel): " << std::flush;
-	    std::string comPort;
-	    while(hCom == INVALID_HANDLE_VALUE) {
+  // we need to ask the COM port from the user.
+  if (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;
+      }
+      const TCHAR *pcCommPort = comPort.c_str();
+      hCom = CreateFileA(pcCommPort,                    // port name
+                         GENERIC_READ | GENERIC_WRITE,  // Read/Write
+                         0,                             // No Sharing
+                         NULL,                          // No Security
+                         OPEN_EXISTING,                 // Open existing port only
+                         0,                             // Non Overlapped I/O
+                         NULL);                         // Null for Comm Devices
 
-	        std::getline(std::cin, comPort);
-	        if(comPort[0] == 'c') {
-	            break;
-	        }
-	        const TCHAR *pcCommPort = comPort.c_str();
-	        hCom = CreateFileA(pcCommPort,        //port name
-	                GENERIC_READ | GENERIC_WRITE, //Read/Write
-	                0,                            // No Sharing
-	                NULL,                         // No Security
-	                OPEN_EXISTING,// Open existing port only
-	                0,            // Non Overlapped I/O
-	                NULL);        // Null for Comm Devices
+      if (hCom == INVALID_HANDLE_VALUE) {
+        if (GetLastError() == 2) {
+          sif::error << "COM Port does not found!" << std::endl;
+        } else {
+          TCHAR err[128];
+          FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL, GetLastError(),
+                        MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT), err, sizeof(err), NULL);
+          //  Handle the error.
+          sif::info << "CreateFileA Error code: " << GetLastError() << std::endl;
+          sif::error << err << std::flush;
+        }
+        sif::info << "Please enter a valid COM port: " << std::flush;
+      }
+    }
+  }
 
-	        if (hCom == INVALID_HANDLE_VALUE)
-	        {
-	            if(GetLastError() == 2) {
-	                sif::error << "COM Port does not found!" << std::endl;
-	            }
-	            else {
-	                TCHAR err[128];
-	                FormatMessage(FORMAT_MESSAGE_FROM_SYSTEM, NULL,
-	                        GetLastError(),
-	                        MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
-	                        err, sizeof(err), NULL);
-	                //  Handle the error.
-	                sif::info << "CreateFileA Error code: " << GetLastError()
-	                         << std::endl;
-	                sif::error << err << std::flush;
-	            }
-	            sif::info << "Please enter a valid COM port: " << std::flush;
-	        }
-	    }
+  serialParams.DCBlength = sizeof(serialParams);
+  if (baudRate == 9600) {
+    serialParams.BaudRate = CBR_9600;
+  }
+  if (baudRate == 115200) {
+    serialParams.BaudRate = CBR_115200;
+  } else {
+    serialParams.BaudRate = baudRate;
+  }
 
-	}
+  serialParams.ByteSize = 8;
+  serialParams.Parity = NOPARITY;
+  serialParams.StopBits = ONESTOPBIT;
+  SetCommState(hCom, &serialParams);
 
-
-	serialParams.DCBlength = sizeof(serialParams);
-	if(baudRate == 9600) {
-	    serialParams.BaudRate = CBR_9600;
-	}
-	if(baudRate == 115200) {
-	    serialParams.BaudRate = CBR_115200;
-	}
-	else {
-	    serialParams.BaudRate = baudRate;
-	}
-
-	serialParams.ByteSize = 8;
-	serialParams.Parity = NOPARITY;
-	serialParams.StopBits = ONESTOPBIT;
-	SetCommState(hCom, &serialParams);
-
-	COMMTIMEOUTS timeout = { 0 };
-	// This will set the read operation to be blocking until data is received
-	// and then read continuously until there is a gap of one millisecond.
-	timeout.ReadIntervalTimeout = 1;
-	timeout.ReadTotalTimeoutConstant = 0;
-	timeout.ReadTotalTimeoutMultiplier = 0;
-	timeout.WriteTotalTimeoutConstant = 0;
-	timeout.WriteTotalTimeoutMultiplier = 0;
-	SetCommTimeouts(hCom, &timeout);
-	// Serial port should now be read for operations.
+  COMMTIMEOUTS timeout = {0};
+  // This will set the read operation to be blocking until data is received
+  // and then read continuously until there is a gap of one millisecond.
+  timeout.ReadIntervalTimeout = 1;
+  timeout.ReadTotalTimeoutConstant = 0;
+  timeout.ReadTotalTimeoutMultiplier = 0;
+  timeout.WriteTotalTimeoutConstant = 0;
+  timeout.WriteTotalTimeoutMultiplier = 0;
+  SetCommTimeouts(hCom, &timeout);
+  // Serial port should now be read for operations.
 #endif
 }
 
 ArduinoComIF::~ArduinoComIF() {
 #ifdef LINUX
-	::close(serialPort);
+  ::close(serialPort);
 #elif WIN32
-	CloseHandle(hCom);
+  CloseHandle(hCom);
 #endif
 }
-ReturnValue_t ArduinoComIF::initializeInterface(CookieIF * cookie) {
-    return HasReturnvaluesIF::RETURN_OK;
+ReturnValue_t ArduinoComIF::initializeInterface(CookieIF *cookie) {
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data,
-		size_t len) {
-	ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
-	if (arduinoCookie == nullptr) {
-		return INVALID_COOKIE_TYPE;
-	}
+ReturnValue_t ArduinoComIF::sendMessage(CookieIF *cookie, const uint8_t *data, size_t len) {
+  ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
+  if (arduinoCookie == nullptr) {
+    return INVALID_COOKIE_TYPE;
+  }
 
-	return sendMessage(arduinoCookie->command, arduinoCookie->address, data,
-			len);
+  return sendMessage(arduinoCookie->command, arduinoCookie->address, data, len);
 }
 
-ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) {
-	return RETURN_OK;
+ReturnValue_t ArduinoComIF::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
+
+ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  return RETURN_OK;
 }
 
-ReturnValue_t ArduinoComIF::requestReceiveMessage(CookieIF *cookie,
-        size_t requestLen) {
-	return RETURN_OK;
+ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
+  handleSerialPortRx();
+
+  ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie *>(cookie);
+  if (arduinoCookie == nullptr) {
+    return INVALID_COOKIE_TYPE;
+  }
+
+  *buffer = arduinoCookie->replyBuffer.data();
+  *size = arduinoCookie->receivedDataLen;
+  return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t ArduinoComIF::readReceivedMessage(CookieIF *cookie,
-		uint8_t **buffer, size_t *size) {
+ReturnValue_t ArduinoComIF::sendMessage(uint8_t command, uint8_t address, const uint8_t *data,
+                                        size_t dataLen) {
+  if (dataLen > UINT16_MAX) {
+    return TOO_MUCH_DATA;
+  }
 
-	handleSerialPortRx();
+  // being conservative here
+  uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
 
-	ArduinoCookie *arduinoCookie = dynamic_cast<ArduinoCookie*>(cookie);
-	if (arduinoCookie == nullptr) {
-		return INVALID_COOKIE_TYPE;
-	}
+  sendBuffer[0] = DleEncoder::STX_CHAR;
 
-	*buffer = arduinoCookie->replyBuffer.data();
-	*size = arduinoCookie->receivedDataLen;
-	return HasReturnvaluesIF::RETURN_OK;
-}
+  uint8_t *currentPosition = sendBuffer + 1;
+  size_t remainingLen = sizeof(sendBuffer) - 1;
+  size_t encodedLen = 0;
 
-ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
-		uint8_t address, const uint8_t *data, size_t dataLen) {
-	if (dataLen > UINT16_MAX) {
-		return TOO_MUCH_DATA;
-	}
+  ReturnValue_t result =
+      DleEncoder::encode(&command, 1, currentPosition, remainingLen, &encodedLen, false);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  currentPosition += encodedLen;
+  remainingLen -= encodedLen;  // DleEncoder will never return encodedLen > remainingLen
 
-	//being conservative here
-	uint8_t sendBuffer[(dataLen + 6) * 2 + 2];
+  result = DleEncoder::encode(&address, 1, currentPosition, remainingLen, &encodedLen, false);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  currentPosition += encodedLen;
+  remainingLen -= encodedLen;  // DleEncoder will never return encodedLen > remainingLen
 
-	sendBuffer[0] = DleEncoder::STX_CHAR;
+  uint8_t temporaryBuffer[2];
 
-	uint8_t *currentPosition = sendBuffer + 1;
-	size_t remainingLen = sizeof(sendBuffer) - 1;
-	size_t encodedLen = 0;
+  // note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
+  temporaryBuffer[0] = dataLen >> 8;  // we checked dataLen above
+  temporaryBuffer[1] = dataLen;
 
-	ReturnValue_t result = 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(temporaryBuffer, 2, 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,
-			&encodedLen, false);
-	if (result != RETURN_OK) {
-		return result;
-	}
-	currentPosition += encodedLen;
-	remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
+  // encoding the actual data
+  result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen, &encodedLen, false);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  currentPosition += encodedLen;
+  remainingLen -= encodedLen;  // DleEncoder will never return encodedLen > remainingLen
 
-	uint8_t temporaryBuffer[2];
+  uint16_t crc = CRC::crc16ccitt(&command, 1);
+  crc = CRC::crc16ccitt(&address, 1, crc);
+  // fortunately the length is still there
+  crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
+  crc = CRC::crc16ccitt(data, dataLen, crc);
 
-	//note to Lukas: yes we _could_ use Serialize here, but for 16 bit it is a bit too much...
-	temporaryBuffer[0] = dataLen >> 8; //we checked dataLen above
-	temporaryBuffer[1] = dataLen;
+  temporaryBuffer[0] = crc >> 8;
+  temporaryBuffer[1] = crc;
 
-	result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
-			remainingLen, &encodedLen, false);
-	if (result != RETURN_OK) {
-		return result;
-	}
-	currentPosition += encodedLen;
-	remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
+  result =
+      DleEncoder::encode(temporaryBuffer, 2, currentPosition, remainingLen, &encodedLen, false);
+  if (result != RETURN_OK) {
+    return result;
+  }
+  currentPosition += encodedLen;
+  remainingLen -= encodedLen;  // DleEncoder will never return encodedLen > remainingLen
 
-	//encoding the actual data
-	result = DleEncoder::encode(data, dataLen, currentPosition, remainingLen,
-			&encodedLen, false);
-	if (result != RETURN_OK) {
-		return result;
-	}
-	currentPosition += encodedLen;
-	remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
+  if (remainingLen > 0) {
+    *currentPosition = DleEncoder::ETX_CHAR;
+  }
+  remainingLen -= 1;
 
-	uint16_t crc = CRC::crc16ccitt(&command, 1);
-	crc = CRC::crc16ccitt(&address, 1, crc);
-	//fortunately the length is still there
-	crc = CRC::crc16ccitt(temporaryBuffer, 2, crc);
-	crc = CRC::crc16ccitt(data, dataLen, crc);
-
-	temporaryBuffer[0] = crc >> 8;
-	temporaryBuffer[1] = crc;
-
-	result = DleEncoder::encode(temporaryBuffer, 2, currentPosition,
-			remainingLen, &encodedLen, false);
-	if (result != RETURN_OK) {
-		return result;
-	}
-	currentPosition += encodedLen;
-	remainingLen -= encodedLen; //DleEncoder will never return encodedLen > remainingLen
-
-	if (remainingLen > 0) {
-		*currentPosition = DleEncoder::ETX_CHAR;
-	}
-	remainingLen -= 1;
-
-	encodedLen = sizeof(sendBuffer) - remainingLen;
+  encodedLen = sizeof(sendBuffer) - remainingLen;
 
 #ifdef LINUX
-	ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
-	if (writtenlen < 0) {
-		//we could try to find out what happened...
-		return RETURN_FAILED;
-	}
-	if (writtenlen != encodedLen) {
-		//the OS failed us, we do not try to block until everything is written, as
-		//we can not block the whole system here
-		return RETURN_FAILED;
-	}
-	return RETURN_OK;
+  ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
+  if (writtenlen < 0) {
+    // we could try to find out what happened...
+    return RETURN_FAILED;
+  }
+  if (writtenlen != encodedLen) {
+    // the OS failed us, we do not try to block until everything is written, as
+    // we can not block the whole system here
+    return RETURN_FAILED;
+  }
+  return RETURN_OK;
 #elif WIN32
-	return HasReturnvaluesIF::RETURN_OK;
+  return HasReturnvaluesIF::RETURN_OK;
 #endif
 }
 
 void ArduinoComIF::handleSerialPortRx() {
 #ifdef LINUX
-	uint32_t availableSpace = rxBuffer.availableWriteSpace();
+  uint32_t availableSpace = rxBuffer.availableWriteSpace();
 
-	uint8_t dataFromSerial[availableSpace];
+  uint8_t dataFromSerial[availableSpace];
 
-	ssize_t bytesRead = read(serialPort, dataFromSerial,
-			sizeof(dataFromSerial));
+  ssize_t bytesRead = read(serialPort, dataFromSerial, sizeof(dataFromSerial));
 
-	if (bytesRead < 0) {
-		return;
-	}
+  if (bytesRead < 0) {
+    return;
+  }
 
-	rxBuffer.writeData(dataFromSerial, bytesRead);
+  rxBuffer.writeData(dataFromSerial, bytesRead);
 
-	uint8_t dataReceivedSoFar[rxBuffer.getMaxSize()];
+  uint8_t dataReceivedSoFar[rxBuffer.getMaxSize()];
 
-	uint32_t dataLenReceivedSoFar = 0;
+  uint32_t dataLenReceivedSoFar = 0;
 
-	rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true,
-			&dataLenReceivedSoFar);
+  rxBuffer.readData(dataReceivedSoFar, sizeof(dataReceivedSoFar), true, &dataLenReceivedSoFar);
 
-	//look for STX
-	size_t firstSTXinRawData = 0;
-	while ((firstSTXinRawData < dataLenReceivedSoFar)
-			&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
-		firstSTXinRawData++;
-	}
+  // look for STX
+  size_t firstSTXinRawData = 0;
+  while ((firstSTXinRawData < dataLenReceivedSoFar) &&
+         (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
+    firstSTXinRawData++;
+  }
 
-	if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR) {
-		//there is no STX in our data, throw it away...
-		rxBuffer.deleteData(dataLenReceivedSoFar);
-		return;
-	}
+  if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR) {
+    // there is no STX in our data, throw it away...
+    rxBuffer.deleteData(dataLenReceivedSoFar);
+    return;
+  }
 
-	uint8_t packet[MAX_PACKET_SIZE];
-	size_t packetLen = 0;
+  uint8_t packet[MAX_PACKET_SIZE];
+  size_t packetLen = 0;
 
-	size_t readSize = 0;
+  size_t readSize = 0;
 
-	ReturnValue_t result = DleEncoder::decode(
-			dataReceivedSoFar + firstSTXinRawData,
-			dataLenReceivedSoFar - firstSTXinRawData, &readSize, packet,
-			sizeof(packet), &packetLen);
+  ReturnValue_t result = DleEncoder::decode(dataReceivedSoFar + firstSTXinRawData,
+                                            dataLenReceivedSoFar - firstSTXinRawData, &readSize,
+                                            packet, sizeof(packet), &packetLen);
 
-	size_t toDelete = firstSTXinRawData;
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		handlePacket(packet, packetLen);
+  size_t toDelete = firstSTXinRawData;
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    handlePacket(packet, packetLen);
 
-		// after handling the packet, we can delete it from the raw stream,
-		// it has been copied to packet
-		toDelete += readSize;
-	}
+    // after handling the packet, we can delete it from the raw stream,
+    // it has been copied to packet
+    toDelete += readSize;
+  }
 
-	//remove Data which was processed
-	rxBuffer.deleteData(toDelete);
+  // remove Data which was processed
+  rxBuffer.deleteData(toDelete);
 #elif WIN32
 #endif
 }
 
-void ArduinoComIF::setBaudrate(uint32_t baudRate) {
-    this->baudRate = baudRate;
-}
+void ArduinoComIF::setBaudrate(uint32_t baudRate) { this->baudRate = baudRate; }
 
 void ArduinoComIF::handlePacket(uint8_t *packet, size_t packetLen) {
-	uint16_t crc = CRC::crc16ccitt(packet, packetLen);
-	if (crc != 0) {
-		//CRC error
-		return;
-	}
+  uint16_t crc = CRC::crc16ccitt(packet, packetLen);
+  if (crc != 0) {
+    // CRC error
+    return;
+  }
 
-	uint8_t command = packet[0];
-	uint8_t address = packet[1];
+  uint8_t command = packet[0];
+  uint8_t address = packet[1];
 
-	uint16_t size = (packet[2] << 8) + packet[3];
+  uint16_t size = (packet[2] << 8) + packet[3];
 
-	if (size != packetLen - 6) {
-		//Invalid Length
-		return;
-	}
+  if (size != packetLen - 6) {
+    // Invalid Length
+    return;
+  }
 
-	switch (command) {
-	case ArduinoCookie::SPI: {
-		//ArduinoCookie **itsComplicated;
-		auto findIter = spiMap.find(address);
-		if (findIter == spiMap.end()) {
-			//we do no know this address
-			return;
-		}
-		ArduinoCookie& cookie = findIter->second;
-		if (packetLen > cookie.maxReplySize + 6) {
-			packetLen = cookie.maxReplySize + 6;
-		}
-		std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6);
-		cookie.receivedDataLen = packetLen - 6;
-	}
-		break;
-	default:
-		return;
-	}
+  switch (command) {
+    case ArduinoCookie::SPI: {
+      // ArduinoCookie **itsComplicated;
+      auto findIter = spiMap.find(address);
+      if (findIter == spiMap.end()) {
+        // we do no know this address
+        return;
+      }
+      ArduinoCookie &cookie = findIter->second;
+      if (packetLen > cookie.maxReplySize + 6) {
+        packetLen = cookie.maxReplySize + 6;
+      }
+      std::memcpy(cookie.replyBuffer.data(), packet + 4, packetLen - 6);
+      cookie.receivedDataLen = packetLen - 6;
+    } 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>
@@ -14,56 +14,53 @@
 #include <windows.h>
 #endif
 
-//Forward declaration, so users don't peek
+// Forward declaration, so users don't peek
 class ArduinoCookie;
 
-class ArduinoComIF: public SystemObject,
-		public DeviceCommunicationIF {
-public:
-	static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
-	static const uint8_t MAX_PACKET_SIZE = 64;
+class ArduinoComIF : public SystemObject, public DeviceCommunicationIF {
+ public:
+  static const uint8_t MAX_NUMBER_OF_SPI_DEVICES = 8;
+  static const uint8_t MAX_PACKET_SIZE = 64;
 
-	static const uint8_t COMMAND_INVALID = -1;
-	static const uint8_t COMMAND_SPI = 1;
+  static const uint8_t COMMAND_INVALID = -1;
+  static const uint8_t COMMAND_SPI = 1;
 
-	ArduinoComIF(object_id_t setObjectId, bool promptComIF = false,
-	        const char *serialDevice = nullptr);
-	void setBaudrate(uint32_t baudRate);
+  ArduinoComIF(object_id_t setObjectId, bool promptComIF = false,
+               const char *serialDevice = nullptr);
+  void setBaudrate(uint32_t baudRate);
 
-	virtual ~ArduinoComIF();
+  virtual ~ArduinoComIF();
 
-	/** DeviceCommunicationIF overrides */
-    virtual ReturnValue_t initializeInterface(CookieIF * cookie) override;
-    virtual ReturnValue_t sendMessage(CookieIF *cookie,
-            const uint8_t * sendData, size_t sendLen) override;
-    virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
-    virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-            size_t requestLen) override;
-    virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
-            uint8_t **buffer, size_t *size) override;
+  /** DeviceCommunicationIF overrides */
+  virtual ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData,
+                                    size_t sendLen) override;
+  virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+                                            size_t *size) override;
 
-private:
+ private:
 #ifdef LINUX
 #elif WIN32
-    HANDLE hCom = INVALID_HANDLE_VALUE;
+  HANDLE hCom = INVALID_HANDLE_VALUE;
 #endif
-	// remembering if the initialization in the ctor worked
-	// if not, all calls are disabled
-	bool initialized = false;
-	int serialPort = 0;
-	// Default baud rate is 9600 for now.
-	uint32_t baudRate = 9600;
+  // remembering if the initialization in the ctor worked
+  // if not, all calls are disabled
+  bool initialized = false;
+  int serialPort = 0;
+  // Default baud rate is 9600 for now.
+  uint32_t baudRate = 9600;
 
-	//used to know where to put the data if a reply is received
-	std::map<uint8_t, ArduinoCookie> spiMap;
+  // used to know where to put the data if a reply is received
+  std::map<uint8_t, ArduinoCookie> spiMap;
 
-	SimpleRingBuffer rxBuffer;
+  SimpleRingBuffer rxBuffer;
 
-	ReturnValue_t sendMessage(uint8_t command, uint8_t address,
-			const uint8_t *data, size_t dataLen);
-	void handleSerialPortRx();
+  ReturnValue_t sendMessage(uint8_t command, uint8_t address, const uint8_t *data, size_t dataLen);
+  void handleSerialPortRx();
 
-	void handlePacket(uint8_t *packet, size_t packetLen);
+  void handlePacket(uint8_t *packet, size_t packetLen);
 };
 
 #endif /* MISSION_ARDUINOCOMMINTERFACE_H_ */

bsp_hosted/comIF/ArduinoCookie.cpp

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

bsp_hosted/comIF/ArduinoCookie.h

@@ -2,26 +2,21 @@
 #define MISSION_ARDUINO_ARDUINOCOOKIE_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
+
 #include <vector>
 
-class ArduinoCookie: public CookieIF {
-public:
-	enum Protocol_t: uint8_t {
-		INVALID,
-		SPI,
-		I2C
-	};
+class ArduinoCookie : public CookieIF {
+ public:
+  enum Protocol_t : uint8_t { INVALID, SPI, I2C };
 
-	ArduinoCookie(Protocol_t protocol, uint8_t address,
-	        const size_t maxReplySize);
-
-	Protocol_t protocol;
-	uint8_t command;
-	uint8_t address;
-	std::vector<uint8_t> replyBuffer;
-	size_t receivedDataLen = 0;
-	size_t maxReplySize;
+  ArduinoCookie(Protocol_t protocol, uint8_t address, const size_t maxReplySize);
 
+  Protocol_t protocol;
+  uint8_t command;
+  uint8_t address;
+  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

@@ -1,59 +0,0 @@
-#ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
-#define FSFWCONFIG_DEVICES_GPIOIDS_H_
-
-#include <linux/gpio/GpioIF.h>
-
-namespace gpioIds {
-	enum gpioId_t {
-		HEATER_0,
-		HEATER_1,
-		HEATER_2,
-		HEATER_3,
-		HEATER_4,
-		HEATER_5,
-		HEATER_6,
-		HEATER_7,
-		DEPLSA1,
-		DEPLSA2,
-
-		MGM_0_LIS3_CS,
-		MGM_1_RM3100_CS,
-		GYRO_0_ADIS_CS,
-		GYRO_1_L3G_CS,
-		GYRO_2_L3G_CS,
-		MGM_2_LIS3_CS,
-		MGM_3_RM3100_CS,
-
-		TEST_ID_0,
-		TEST_ID_1,
-
-		RTD_IC3,
-        RTD_IC4,
-        RTD_IC5,
-        RTD_IC6,
-        RTD_IC7,
-        RTD_IC8,
-        RTD_IC9,
-        RTD_IC10,
-        RTD_IC11,
-        RTD_IC12,
-        RTD_IC13,
-        RTD_IC14,
-        RTD_IC15,
-        RTD_IC16,
-        RTD_IC17,
-        RTD_IC18,
-
-        SPI_MUX_BIT_1,
-        SPI_MUX_BIT_2,
-        SPI_MUX_BIT_3,
-        SPI_MUX_BIT_4,
-        SPI_MUX_BIT_5,
-        SPI_MUX_BIT_6
-	};
-}
-
-
-
-
-#endif /* FSFWCONFIG_DEVICES_GPIOIDS_H_ */

bsp_hosted/fsfwconfig/devices/powerSwitcherList.h

@@ -1,58 +0,0 @@
-#ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
-#define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
-
-#include <OBSWConfig.h>
-
-namespace pcduSwitches {
-	/* Switches are uint8_t datatype and go from 0 to 255 */
-	enum switcherList {
-	    Q7S,
-        PAYLOAD_PCDU_CH1,
-        RW,
-        TCS_BOARD_8V_HEATER_IN,
-        SUS_REDUNDANT,
-        DEPLOYMENT_MECHANISM,
-        PAYLOAD_PCDU_CH6,
-        ACS_BOARD_SIDE_B,
-        PAYLOAD_CAMERA,
-        TCS_BOARD_3V3,
-        SYRLINKS,
-        STAR_TRACKER,
-        MGT,
-        SUS_NOMINAL,
-        SOLAR_CELL_EXP,
-        PLOC,
-        ACS_BORAD_SIDE_A,
-        NUMBER_OF_SWITCHES
-	};
-
-	static const uint8_t ON = 1;
-	static const uint8_t OFF = 0;
-
-	/* Output states after reboot of the PDUs */
-	static const uint8_t INIT_STATE_Q7S = ON;
-	static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
-	static const uint8_t INIT_STATE_RW = OFF;
-#if BOARD_TE0720 == 1
-	/* Because the TE0720 is not connected to the PCDU, this switch is always on */
-	static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
-#else
-	static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
-#endif
-	static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
-	static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
-	static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
-	static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
-	static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
-	static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
-	static const uint8_t INIT_STATE_SYRLINKS = OFF;
-	static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
-	static const uint8_t INIT_STATE_MGT = OFF;
-	static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
-	static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
-	static const uint8_t INIT_STATE_PLOC = OFF;
-	static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
-}
-
-
-#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 {
-	SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END
-};
+enum : uint8_t { SUBSYSTEM_ID_START = COMMON_SUBSYSTEM_ID_END };
 }
 
 #endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -89,176 +89,176 @@ const char *ACK_FAILURE_STRING = "ACK_FAILURE";
 const char *EXE_FAILURE_STRING = "EXE_FAILURE";
 const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT";
 
-const char * translateEvents(Event event) {
-	switch( (event & 0xffff) ) {
-	case(2200):
-		return STORE_SEND_WRITE_FAILED_STRING;
-	case(2201):
-		return STORE_WRITE_FAILED_STRING;
-	case(2202):
-		return STORE_SEND_READ_FAILED_STRING;
-	case(2203):
-		return STORE_READ_FAILED_STRING;
-	case(2204):
-		return UNEXPECTED_MSG_STRING;
-	case(2205):
-		return STORING_FAILED_STRING;
-	case(2206):
-		return TM_DUMP_FAILED_STRING;
-	case(2207):
-		return STORE_INIT_FAILED_STRING;
-	case(2208):
-		return STORE_INIT_EMPTY_STRING;
-	case(2209):
-		return STORE_CONTENT_CORRUPTED_STRING;
-	case(2210):
-		return STORE_INITIALIZE_STRING;
-	case(2211):
-		return INIT_DONE_STRING;
-	case(2212):
-		return DUMP_FINISHED_STRING;
-	case(2213):
-		return DELETION_FINISHED_STRING;
-	case(2214):
-		return DELETION_FAILED_STRING;
-	case(2215):
-		return AUTO_CATALOGS_SENDING_FAILED_STRING;
-	case(2600):
-		return GET_DATA_FAILED_STRING;
-	case(2601):
-		return STORE_DATA_FAILED_STRING;
-	case(2800):
-		return DEVICE_BUILDING_COMMAND_FAILED_STRING;
-	case(2801):
-		return DEVICE_SENDING_COMMAND_FAILED_STRING;
-	case(2802):
-		return DEVICE_REQUESTING_REPLY_FAILED_STRING;
-	case(2803):
-		return DEVICE_READING_REPLY_FAILED_STRING;
-	case(2804):
-		return DEVICE_INTERPRETING_REPLY_FAILED_STRING;
-	case(2805):
-		return DEVICE_MISSED_REPLY_STRING;
-	case(2806):
-		return DEVICE_UNKNOWN_REPLY_STRING;
-	case(2807):
-		return DEVICE_UNREQUESTED_REPLY_STRING;
-	case(2808):
-		return INVALID_DEVICE_COMMAND_STRING;
-	case(2809):
-		return MONITORING_LIMIT_EXCEEDED_STRING;
-	case(2810):
-		return MONITORING_AMBIGUOUS_STRING;
-	case(4201):
-		return FUSE_CURRENT_HIGH_STRING;
-	case(4202):
-		return FUSE_WENT_OFF_STRING;
-	case(4204):
-		return POWER_ABOVE_HIGH_LIMIT_STRING;
-	case(4205):
-		return POWER_BELOW_LOW_LIMIT_STRING;
-	case(4300):
-		return SWITCH_WENT_OFF_STRING;
-	case(5000):
-		return HEATER_ON_STRING;
-	case(5001):
-		return HEATER_OFF_STRING;
-	case(5002):
-		return HEATER_TIMEOUT_STRING;
-	case(5003):
-		return HEATER_STAYED_ON_STRING;
-	case(5004):
-		return HEATER_STAYED_OFF_STRING;
-	case(5200):
-		return TEMP_SENSOR_HIGH_STRING;
-	case(5201):
-		return TEMP_SENSOR_LOW_STRING;
-	case(5202):
-		return TEMP_SENSOR_GRADIENT_STRING;
-	case(5901):
-		return COMPONENT_TEMP_LOW_STRING;
-	case(5902):
-		return COMPONENT_TEMP_HIGH_STRING;
-	case(5903):
-		return COMPONENT_TEMP_OOL_LOW_STRING;
-	case(5904):
-		return COMPONENT_TEMP_OOL_HIGH_STRING;
-	case(5905):
-		return TEMP_NOT_IN_OP_RANGE_STRING;
-	case(7101):
-		return FDIR_CHANGED_STATE_STRING;
-	case(7102):
-		return FDIR_STARTS_RECOVERY_STRING;
-	case(7103):
-		return FDIR_TURNS_OFF_DEVICE_STRING;
-	case(7201):
-		return MONITOR_CHANGED_STATE_STRING;
-	case(7202):
-		return VALUE_BELOW_LOW_LIMIT_STRING;
-	case(7203):
-		return VALUE_ABOVE_HIGH_LIMIT_STRING;
-	case(7204):
-		return VALUE_OUT_OF_RANGE_STRING;
-	case(7301):
-		return SWITCHING_TM_FAILED_STRING;
-	case(7400):
-		return CHANGING_MODE_STRING;
-	case(7401):
-		return MODE_INFO_STRING;
-	case(7402):
-		return FALLBACK_FAILED_STRING;
-	case(7403):
-		return MODE_TRANSITION_FAILED_STRING;
-	case(7404):
-		return CANT_KEEP_MODE_STRING;
-	case(7405):
-		return OBJECT_IN_INVALID_MODE_STRING;
-	case(7406):
-		return FORCING_MODE_STRING;
-	case(7407):
-		return MODE_CMD_REJECTED_STRING;
-	case(7506):
-		return HEALTH_INFO_STRING;
-	case(7507):
-		return CHILD_CHANGED_HEALTH_STRING;
-	case(7508):
-		return CHILD_PROBLEMS_STRING;
-	case(7509):
-		return OVERWRITING_HEALTH_STRING;
-	case(7510):
-		return TRYING_RECOVERY_STRING;
-	case(7511):
-		return RECOVERY_STEP_STRING;
-	case(7512):
-		return RECOVERY_DONE_STRING;
-	case(7900):
-		return RF_AVAILABLE_STRING;
-	case(7901):
-		return RF_LOST_STRING;
-	case(7902):
-		return BIT_LOCK_STRING;
-	case(7903):
-		return BIT_LOCK_LOST_STRING;
-	case(7905):
-		return FRAME_PROCESSING_FAILED_STRING;
-	case(8900):
-		return CLOCK_SET_STRING;
-	case(8901):
-		return CLOCK_SET_FAILURE_STRING;
-	case(9700):
-		return TEST_STRING;
-	case(10600):
-		return CHANGE_OF_SETUP_PARAMETER_STRING;
-	case(11101):
-		return MEMORY_READ_RPT_CRC_FAILURE_STRING;
-	case(11102):
-		return ACK_FAILURE_STRING;
-	case(11103):
-		return EXE_FAILURE_STRING;
-	case(11104):
-		return CRC_FAILURE_EVENT_STRING;
-	default:
-		return "UNKNOWN_EVENT";
-	}
-	return 0;
+const char *translateEvents(Event event) {
+  switch ((event & 0xffff)) {
+    case (2200):
+      return STORE_SEND_WRITE_FAILED_STRING;
+    case (2201):
+      return STORE_WRITE_FAILED_STRING;
+    case (2202):
+      return STORE_SEND_READ_FAILED_STRING;
+    case (2203):
+      return STORE_READ_FAILED_STRING;
+    case (2204):
+      return UNEXPECTED_MSG_STRING;
+    case (2205):
+      return STORING_FAILED_STRING;
+    case (2206):
+      return TM_DUMP_FAILED_STRING;
+    case (2207):
+      return STORE_INIT_FAILED_STRING;
+    case (2208):
+      return STORE_INIT_EMPTY_STRING;
+    case (2209):
+      return STORE_CONTENT_CORRUPTED_STRING;
+    case (2210):
+      return STORE_INITIALIZE_STRING;
+    case (2211):
+      return INIT_DONE_STRING;
+    case (2212):
+      return DUMP_FINISHED_STRING;
+    case (2213):
+      return DELETION_FINISHED_STRING;
+    case (2214):
+      return DELETION_FAILED_STRING;
+    case (2215):
+      return AUTO_CATALOGS_SENDING_FAILED_STRING;
+    case (2600):
+      return GET_DATA_FAILED_STRING;
+    case (2601):
+      return STORE_DATA_FAILED_STRING;
+    case (2800):
+      return DEVICE_BUILDING_COMMAND_FAILED_STRING;
+    case (2801):
+      return DEVICE_SENDING_COMMAND_FAILED_STRING;
+    case (2802):
+      return DEVICE_REQUESTING_REPLY_FAILED_STRING;
+    case (2803):
+      return DEVICE_READING_REPLY_FAILED_STRING;
+    case (2804):
+      return DEVICE_INTERPRETING_REPLY_FAILED_STRING;
+    case (2805):
+      return DEVICE_MISSED_REPLY_STRING;
+    case (2806):
+      return DEVICE_UNKNOWN_REPLY_STRING;
+    case (2807):
+      return DEVICE_UNREQUESTED_REPLY_STRING;
+    case (2808):
+      return INVALID_DEVICE_COMMAND_STRING;
+    case (2809):
+      return MONITORING_LIMIT_EXCEEDED_STRING;
+    case (2810):
+      return MONITORING_AMBIGUOUS_STRING;
+    case (4201):
+      return FUSE_CURRENT_HIGH_STRING;
+    case (4202):
+      return FUSE_WENT_OFF_STRING;
+    case (4204):
+      return POWER_ABOVE_HIGH_LIMIT_STRING;
+    case (4205):
+      return POWER_BELOW_LOW_LIMIT_STRING;
+    case (4300):
+      return SWITCH_WENT_OFF_STRING;
+    case (5000):
+      return HEATER_ON_STRING;
+    case (5001):
+      return HEATER_OFF_STRING;
+    case (5002):
+      return HEATER_TIMEOUT_STRING;
+    case (5003):
+      return HEATER_STAYED_ON_STRING;
+    case (5004):
+      return HEATER_STAYED_OFF_STRING;
+    case (5200):
+      return TEMP_SENSOR_HIGH_STRING;
+    case (5201):
+      return TEMP_SENSOR_LOW_STRING;
+    case (5202):
+      return TEMP_SENSOR_GRADIENT_STRING;
+    case (5901):
+      return COMPONENT_TEMP_LOW_STRING;
+    case (5902):
+      return COMPONENT_TEMP_HIGH_STRING;
+    case (5903):
+      return COMPONENT_TEMP_OOL_LOW_STRING;
+    case (5904):
+      return COMPONENT_TEMP_OOL_HIGH_STRING;
+    case (5905):
+      return TEMP_NOT_IN_OP_RANGE_STRING;
+    case (7101):
+      return FDIR_CHANGED_STATE_STRING;
+    case (7102):
+      return FDIR_STARTS_RECOVERY_STRING;
+    case (7103):
+      return FDIR_TURNS_OFF_DEVICE_STRING;
+    case (7201):
+      return MONITOR_CHANGED_STATE_STRING;
+    case (7202):
+      return VALUE_BELOW_LOW_LIMIT_STRING;
+    case (7203):
+      return VALUE_ABOVE_HIGH_LIMIT_STRING;
+    case (7204):
+      return VALUE_OUT_OF_RANGE_STRING;
+    case (7301):
+      return SWITCHING_TM_FAILED_STRING;
+    case (7400):
+      return CHANGING_MODE_STRING;
+    case (7401):
+      return MODE_INFO_STRING;
+    case (7402):
+      return FALLBACK_FAILED_STRING;
+    case (7403):
+      return MODE_TRANSITION_FAILED_STRING;
+    case (7404):
+      return CANT_KEEP_MODE_STRING;
+    case (7405):
+      return OBJECT_IN_INVALID_MODE_STRING;
+    case (7406):
+      return FORCING_MODE_STRING;
+    case (7407):
+      return MODE_CMD_REJECTED_STRING;
+    case (7506):
+      return HEALTH_INFO_STRING;
+    case (7507):
+      return CHILD_CHANGED_HEALTH_STRING;
+    case (7508):
+      return CHILD_PROBLEMS_STRING;
+    case (7509):
+      return OVERWRITING_HEALTH_STRING;
+    case (7510):
+      return TRYING_RECOVERY_STRING;
+    case (7511):
+      return RECOVERY_STEP_STRING;
+    case (7512):
+      return RECOVERY_DONE_STRING;
+    case (7900):
+      return RF_AVAILABLE_STRING;
+    case (7901):
+      return RF_LOST_STRING;
+    case (7902):
+      return BIT_LOCK_STRING;
+    case (7903):
+      return BIT_LOCK_LOST_STRING;
+    case (7905):
+      return FRAME_PROCESSING_FAILED_STRING;
+    case (8900):
+      return CLOCK_SET_STRING;
+    case (8901):
+      return CLOCK_SET_FAILURE_STRING;
+    case (9700):
+      return TEST_STRING;
+    case (10600):
+      return CHANGE_OF_SETUP_PARAMETER_STRING;
+    case (11101):
+      return MEMORY_READ_RPT_CRC_FAILURE_STRING;
+    case (11102):
+      return ACK_FAILURE_STRING;
+    case (11103):
+      return EXE_FAILURE_STRING;
+    case (11104):
+      return CRC_FAILURE_EVENT_STRING;
+    default:
+      return "UNKNOWN_EVENT";
+  }
+  return 0;
 }

bsp_hosted/fsfwconfig/events/translateEvents.h

@@ -3,6 +3,6 @@
 
 #include <fsfw/events/Event.h>
 
-const char * translateEvents(Event event);
+const char* translateEvents(Event event);
 
 #endif /* FSFWCONFIG_EVENTS_TRANSLATEEVENTS_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

@@ -1,11 +1,10 @@
 #include "MissionMessageTypes.h"
+
 #include <fsfw/ipc/CommandMessage.h>
 
 void messagetypes::clearMissionMessage(CommandMessage* message) {
-	switch(message->getMessageType()) {
-	default:
-		break;
-	}
+  switch (message->getMessageType()) {
+    default:
+      break;
+  }
 }
-
-

bsp_hosted/fsfwconfig/ipc/MissionMessageTypes.h

@@ -13,10 +13,10 @@ class CommandMessage;
  */
 namespace messagetypes {
 enum MESSAGE_TYPE {
-	MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
+  MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
 };
 
 void clearMissionMessage(CommandMessage* message);
-}
+}  // namespace messagetypes
 
 #endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */

bsp_hosted/fsfwconfig/objects/systemObjectList.h

@@ -1,31 +1,32 @@
 #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 {
+enum sourceObjects : uint32_t {
 
-		PUS_SERVICE_3 = 0x51000300,
-		PUS_SERVICE_5 = 0x51000400,
-		PUS_SERVICE_6 = 0x51000500,
-		PUS_SERVICE_8 = 0x51000800,
-		PUS_SERVICE_23 = 0x51002300,
-		PUS_SERVICE_201 = 0x51020100,
+  PUS_SERVICE_3 = 0x51000300,
+  PUS_SERVICE_5 = 0x51000400,
+  PUS_SERVICE_6 = 0x51000500,
+  PUS_SERVICE_8 = 0x51000800,
+  PUS_SERVICE_23 = 0x51002300,
+  PUS_SERVICE_201 = 0x51020100,
 
-		TM_FUNNEL = 0x52000002,
+  TM_FUNNEL = 0x52000002,
 
-		/* Test Task */
+  /* Test Task */
 
-		TEST_TASK = 0x42694269,
-		DUMMY_INTERFACE = 0xCAFECAFE,
-		DUMMY_HANDLER = 0x4400AFFE,
+  TEST_TASK = 0x42694269,
+  DUMMY_INTERFACE = 0xCAFECAFE,
+  DUMMY_HANDLER = 0x4400AFFE,
 
-		/* 0x49 ('I') for Communication Interfaces **/
-		ARDUINO_COM_IF = 0x49000001
-	};
+  /* 0x49 ('I') for Communication Interfaces **/
+  ARDUINO_COM_IF = 0x49000001
+};
 }
 
 #endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -1,4 +1,4 @@
-/** 
+/**
  * @brief	Auto-generated object translation file.
  * @details
  * Contains 31 translations.
@@ -38,72 +38,72 @@ const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END";
 const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE";
 const char *NO_OBJECT_STRING = "NO_OBJECT";
 
-const char* translateObject(object_id_t object) {
-	switch( (object & 0xFFFFFFFF) ) {
-	case 0x42694269:
-		return TEST_TASK_STRING;
-	case 0x4400AFFE:
-		return DUMMY_HANDLER_STRING;
-	case 0x49000001:
-		return ARDUINO_COM_IF_STRING;
-	case 0x51000300:
-		return PUS_SERVICE_3_STRING;
-	case 0x51000400:
-		return PUS_SERVICE_5_STRING;
-	case 0x51000500:
-		return PUS_SERVICE_6_STRING;
-	case 0x51000800:
-		return PUS_SERVICE_8_STRING;
-	case 0x51002300:
-		return PUS_SERVICE_23_STRING;
-	case 0x51020100:
-		return PUS_SERVICE_201_STRING;
-	case 0x52000002:
-		return TM_FUNNEL_STRING;
-	case 0x53000000:
-		return FSFW_OBJECTS_START_STRING;
-	case 0x53000001:
-		return PUS_SERVICE_1_VERIFICATION_STRING;
-	case 0x53000002:
-		return PUS_SERVICE_2_DEVICE_ACCESS_STRING;
-	case 0x53000003:
-		return PUS_SERVICE_3_HOUSEKEEPING_STRING;
-	case 0x53000005:
-		return PUS_SERVICE_5_EVENT_REPORTING_STRING;
-	case 0x53000008:
-		return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
-	case 0x53000009:
-		return PUS_SERVICE_9_TIME_MGMT_STRING;
-	case 0x53000017:
-		return PUS_SERVICE_17_TEST_STRING;
-	case 0x53000020:
-		return PUS_SERVICE_20_PARAMETERS_STRING;
-	case 0x53000200:
-		return PUS_SERVICE_200_MODE_MGMT_STRING;
-	case 0x53010000:
-		return HEALTH_TABLE_STRING;
-	case 0x53010100:
-		return MODE_STORE_STRING;
-	case 0x53030000:
-		return EVENT_MANAGER_STRING;
-	case 0x53040000:
-		return INTERNAL_ERROR_REPORTER_STRING;
-	case 0x534f0100:
-		return TC_STORE_STRING;
-	case 0x534f0200:
-		return TM_STORE_STRING;
-	case 0x534f0300:
-		return IPC_STORE_STRING;
-	case 0x53500010:
-		return TIME_STAMPER_STRING;
-	case 0x53ffffff:
-		return FSFW_OBJECTS_END_STRING;
-	case 0xCAFECAFE:
-		return DUMMY_INTERFACE_STRING;
-	case 0xFFFFFFFF:
-		return NO_OBJECT_STRING;
-	default:
-		return "UNKNOWN_OBJECT";
-	}
-	return 0;
+const char *translateObject(object_id_t object) {
+  switch ((object & 0xFFFFFFFF)) {
+    case 0x42694269:
+      return TEST_TASK_STRING;
+    case 0x4400AFFE:
+      return DUMMY_HANDLER_STRING;
+    case 0x49000001:
+      return ARDUINO_COM_IF_STRING;
+    case 0x51000300:
+      return PUS_SERVICE_3_STRING;
+    case 0x51000400:
+      return PUS_SERVICE_5_STRING;
+    case 0x51000500:
+      return PUS_SERVICE_6_STRING;
+    case 0x51000800:
+      return PUS_SERVICE_8_STRING;
+    case 0x51002300:
+      return PUS_SERVICE_23_STRING;
+    case 0x51020100:
+      return PUS_SERVICE_201_STRING;
+    case 0x52000002:
+      return TM_FUNNEL_STRING;
+    case 0x53000000:
+      return FSFW_OBJECTS_START_STRING;
+    case 0x53000001:
+      return PUS_SERVICE_1_VERIFICATION_STRING;
+    case 0x53000002:
+      return PUS_SERVICE_2_DEVICE_ACCESS_STRING;
+    case 0x53000003:
+      return PUS_SERVICE_3_HOUSEKEEPING_STRING;
+    case 0x53000005:
+      return PUS_SERVICE_5_EVENT_REPORTING_STRING;
+    case 0x53000008:
+      return PUS_SERVICE_8_FUNCTION_MGMT_STRING;
+    case 0x53000009:
+      return PUS_SERVICE_9_TIME_MGMT_STRING;
+    case 0x53000017:
+      return PUS_SERVICE_17_TEST_STRING;
+    case 0x53000020:
+      return PUS_SERVICE_20_PARAMETERS_STRING;
+    case 0x53000200:
+      return PUS_SERVICE_200_MODE_MGMT_STRING;
+    case 0x53010000:
+      return HEALTH_TABLE_STRING;
+    case 0x53010100:
+      return MODE_STORE_STRING;
+    case 0x53030000:
+      return EVENT_MANAGER_STRING;
+    case 0x53040000:
+      return INTERNAL_ERROR_REPORTER_STRING;
+    case 0x534f0100:
+      return TC_STORE_STRING;
+    case 0x534f0200:
+      return TM_STORE_STRING;
+    case 0x534f0300:
+      return IPC_STORE_STRING;
+    case 0x53500010:
+      return TIME_STAMPER_STRING;
+    case 0x53ffffff:
+      return FSFW_OBJECTS_END_STRING;
+    case 0xCAFECAFE:
+      return DUMMY_INTERFACE_STRING;
+    case 0xFFFFFFFF:
+      return NO_OBJECT_STRING;
+    default:
+      return "UNKNOWN_OBJECT";
+  }
+  return 0;
 }

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
@@ -11,9 +12,8 @@
  */
 namespace CLASS_ID {
 enum {
-	CLASS_ID_START = COMMON_CLASS_ID_END,
+  CLASS_ID_START = COMMON_CLASS_ID_END,
 };
 }
 
-
 #endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */

bsp_hosted/fsfwconfig/tmtc/apid.h

@@ -12,8 +12,7 @@
  * APID is a 11 bit number
  */
 namespace apid {
-	static const uint16_t EIVE_OBSW = 0x65;
+static const uint16_t EIVE_OBSW = 0x65;
 }
 
-
 #endif /* FSFWCONFIG_TMTC_APID_H_ */

bsp_hosted/fsfwconfig/tmtc/pusIds.h

@@ -2,21 +2,21 @@
 #define CONFIG_TMTC_PUSIDS_HPP_
 
 namespace pus {
-enum Ids{
-	PUS_SERVICE_1 = 1,
-	PUS_SERVICE_2 = 2,
-	PUS_SERVICE_3 = 3,
-	PUS_SERVICE_3_PSB = 3,
-	PUS_SERVICE_5 = 5,
-	PUS_SERVICE_6 = 6,
-	PUS_SERVICE_8 = 8,
-	PUS_SERVICE_9 = 9,
-	PUS_SERVICE_17 = 17,
-	PUS_SERVICE_19 = 19,
-	PUS_SERVICE_20 = 20,
-	PUS_SERVICE_23 = 23,
-	PUS_SERVICE_200 = 200,
-	PUS_SERVICE_201 = 201,
+enum Ids {
+  PUS_SERVICE_1 = 1,
+  PUS_SERVICE_2 = 2,
+  PUS_SERVICE_3 = 3,
+  PUS_SERVICE_3_PSB = 3,
+  PUS_SERVICE_5 = 5,
+  PUS_SERVICE_6 = 6,
+  PUS_SERVICE_8 = 8,
+  PUS_SERVICE_9 = 9,
+  PUS_SERVICE_17 = 17,
+  PUS_SERVICE_19 = 19,
+  PUS_SERVICE_20 = 20,
+  PUS_SERVICE_23 = 23,
+  PUS_SERVICE_200 = 200,
+  PUS_SERVICE_201 = 201,
 };
 };
 

bsp_hosted/main.cpp

@@ -1,10 +1,9 @@
+#include <iostream>
+
 #include "InitMission.h"
 #include "OBSWVersion.h"
-
 #include "fsfw/FSFWVersion.h"
 #include "fsfw/tasks/TaskFactory.h"
-
-#include <iostream>
 #ifdef WIN32
 static const char* COMPILE_PRINTOUT = "Windows";
 #elif LINUX
@@ -17,21 +16,18 @@ static const char* COMPILE_PRINTOUT = "unknown OS";
  * 			Linux and Windows.
  * @return
  */
-int main(void)
-{
-    std::cout << "-- EIVE OBSW --" << std::endl;
-    std::cout << "-- Compiled for " << COMPILE_PRINTOUT <<  " --" << std::endl;
-    std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
-            "." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "." <<
-            FSFW_REVISION << "--"  << std::endl;
-    std::cout << "-- " <<  __DATE__ << " " << __TIME__ << " --" << std::endl;
+int main(void) {
+  std::cout << "-- EIVE OBSW --" << std::endl;
+  std::cout << "-- Compiled for " << COMPILE_PRINTOUT << " --" << std::endl;
+  std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
+            << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION << "."
+            << FSFW_REVISION << "--" << std::endl;
+  std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
-	initmission::initMission();
+  initmission::initMission();
 
-	for(;;) {
-		// suspend main thread by sleeping it.
-		TaskFactory::delayTask(5000);
-	}
+  for (;;) {
+    // suspend main thread by sleeping it.
+    TaskFactory::delayTask(5000);
+  }
 }
-
-

bsp_linux_board/CMakeLists.txt

@@ -1,6 +1,7 @@
-target_sources(${TARGET_NAME} PUBLIC
+target_sources(${OBSW_NAME} PUBLIC
 	InitMission.cpp
 	main.cpp
+	gpioInit.cpp
 	ObjectFactory.cpp
 )
 

bsp_linux_board/InitMission.cpp

@@ -1,196 +1,245 @@
 #include "InitMission.h"
-#include "ObjectFactory.h"
 
-#include "objects/systemObjectList.h"
-#include "OBSWConfig.h"
-#include "pollingsequence/pollingSequenceFactory.h"
-
-#include <mission/utility/InitMission.h>
+#include <fsfw/objectmanager/ObjectManager.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");
 ServiceInterfaceStream sif::error("ERROR");
 
-ObjectManagerIF *objectManager = nullptr;
+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);
-    sif::info << "Initializing all objects.." << std::endl;
-    ObjectManager::instance()->initialize();
+  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();
+  /* This function creates and starts all tasks */
+  initTasks();
 }
 
 void initmission::initTasks() {
-    TaskFactory* factory = TaskFactory::instance();
-    if(factory == nullptr) {
-        /* Should never happen ! */
-        return;
-    }
+  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;
+  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
 #else
-    void (*missedDeadlineFunc) (void) = nullptr;
+  void (*missedDeadlineFunc)(void) = nullptr;
 #endif
 
-    /* TMTC Distribution */
-    PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-            "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-    ReturnValue_t 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;
-    }
+  /* 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;
+  }
 
-    /* UDP bridge */
-    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
-            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-    result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::error << "Add component UDP Unix Bridge failed" << std::endl;
-    }
-    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-    result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::error << "Add component UDP Polling failed" << std::endl;
-    }
+  /* UDP bridge */
+  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 */
-    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;
-    }
+  /* PUS Services */
+  std::vector<PeriodicTaskIF*> pusTasks;
+  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
 
-    PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
-            "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-    result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-    if(result != HasReturnvaluesIF::RETURN_OK){
-        initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
-    }
-
-    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);
-    }
-
-    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);
-    }
-
-    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);
-    }
-
-    bool startTestPst = true;
-#if OBSW_ADD_TEST_PST == 1
-    FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
-            PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
-    result = pst::pstTest(pstTestTask);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
-        startTestPst = false;
-    }
-#endif /* RPI_TEST_ACS_BOARD == 1 */
-
-    PeriodicTaskIF* testTask = factory->createPeriodicTask(
-            "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+  std::vector<PeriodicTaskIF*> pstTasks;
+  createPstTasks(*factory, missedDeadlineFunc, pstTasks);
 #if OBSW_ADD_TEST_CODE == 1
-    result = testTask->addComponent(objects::TEST_TASK);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
-    }
+  std::vector<PeriodicTaskIF*> testTasks;
+  createTestTasks(*factory, missedDeadlineFunc, pstTasks);
 #endif /* OBSW_ADD_TEST_CODE == 1 */
-#if RPI_ADD_SPI_TEST == 1
-    result = testTask->addComponent(objects::SPI_TEST);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
+
+  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(
+      "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);
+}
+
+void initmission::createPstTasks(TaskFactory& factory,
+                                 TaskDeadlineMissedFunction missedDeadlineFunc,
+                                 std::vector<PeriodicTaskIF*>& taskVec) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+#if OBSW_ADD_SPI_TEST_CODE == 0
+  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
+      "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
+  result = pst::pstSpi(spiPst);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
+  }
+  taskVec.push_back(spiPst);
+#endif
+}
+
+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);
+  result = testTask->addComponent(objects::TEST_TASK);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+  }
+#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 /* RPI_ADD_SPI_TEST == 1 */
 #if RPI_ADD_GPIO_TEST == 1
-    result = testTask->addComponent(objects::LIBGPIOD_TEST);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
-    }
+  result = testTask->addComponent(objects::LIBGPIOD_TEST);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
+  }
 #endif /* RPI_ADD_GPIO_TEST == 1 */
-#if RPI_ADD_UART_TEST == 1
-    result = testTask->addComponent(objects::UART_TEST);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
-    }
+#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;
-    tmTcDistributor->startTask();
-    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 */
-
+  bool startTestPst = true;
+  static_cast<void>(startTestPst);
 #if OBSW_ADD_TEST_PST == 1
-    if(startTestPst) {
-        pstTestTask->startTask();
-    }
+  FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
+      "TEST_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
+  result = pst::pstTest(pstTestTask);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
+    startTestPst = false;
+  }
 #endif /* RPI_TEST_ACS_BOARD == 1 */
-    sif::info << "Tasks started.." << std::endl;
 }

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

@@ -1,179 +1,245 @@
-#include <devConf.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 "tmtc/apid.h"
-#include "tmtc/pusIds.h"
+#include "fsfw/datapoollocal/LocalDataPoolManager.h"
+#include "fsfw/power/DummyPowerSwitcher.h"
+#include "fsfw/tasks/TaskFactory.h"
+#include "fsfw/tmtcpacket/pus/tm.h"
+#include "fsfw/tmtcservices/CommandingServiceBase.h"
+#include "fsfw/tmtcservices/PusServiceBase.h"
+#include "gpioInit.h"
+#include "linux/ObjectFactory.h"
 #include "linux/boardtest/LibgpiodTest.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
-
 #include "mission/core/GenericFactory.h"
+#include "mission/devices/GPSHyperionHandler.h"
+#include "mission/devices/GyroADIS1650XHandler.h"
 #include "mission/utility/TmFunnel.h"
-#include <mission/devices/GPSHyperionHandler.h>
-#include "mission/devices/MGMHandlerLIS3MDL.h"
-#include "mission/devices/MGMHandlerRM3100.h"
-#include "mission/devices/GyroADIS16507Handler.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"
+#include "objects/systemObjectList.h"
+#include "tmtc/apid.h"
+#include "tmtc/pusIds.h"
 
 /* UDP server includes */
 #if OBSW_USE_TMTC_TCP_BRIDGE == 1
 #include <fsfw/src/fsfw/osal/common/TcpTmTcBridge.h>
 #include <fsfw/src/fsfw/osal/common/TcpTmTcServer.h>
 #else
-#include "fsfw/osal/common/UdpTmTcBridge.h"
 #include "fsfw/osal/common/UdpTcPollingTask.h"
+#include "fsfw/osal/common/UdpTmTcBridge.h"
 #endif
 
-#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
-#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
-#include "fsfw_hal/linux/rpi/GpioRPi.h"
-#include "fsfw_hal/common/gpio/GpioCookie.h"
-#include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "fsfw_hal/linux/spi/SpiComIF.h"
 #include <fsfw_hal/linux/uart/UartComIF.h>
 #include <fsfw_hal/linux/uart/UartCookie.h>
 
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
+#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
+#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
+#include "fsfw_hal/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;
-    PusServiceBase::packetDestination = objects::TM_FUNNEL;
+  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
+  PusServiceBase::packetDestination = objects::TM_FUNNEL;
 
-    CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-    CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
+  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
-    TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
-    // No storage object for now.
-    TmFunnel::storageDestination = objects::NO_OBJECT;
+  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
+  // No storage object for now.
+  TmFunnel::storageDestination = objects::NO_OBJECT;
 
-    VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
-    TmPacketBase::timeStamperId = objects::TIME_STAMPER;
+  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
+  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }
 
+void ObjectFactory::produce(void* args) {
+  Factory::setStaticFrameworkObjectIds();
+  ObjectFactory::produceGenericObjects();
 
+  GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
+  GpioCookie* gpioCookie = nullptr;
+  static_cast<void>(gpioCookie);
 
-void ObjectFactory::produce(void* args){
-    Factory::setStaticFrameworkObjectIds();
-    ObjectFactory::produceGenericObjects();
+  SpiComIF* spiComIF = new SpiComIF(objects::SPI_COM_IF, gpioIF);
+  static_cast<void>(spiComIF);
+  auto pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  static_cast<void>(pwrSwitcher);
 
-#if OBSW_USE_TMTC_TCP_BRIDGE == 1
-    new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-    new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
-#else
-    new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
-    new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
+#if OBSW_ADD_ACS_BOARD == 1 && defined(RASPBERRY_PI)
+  createRpiAcsBoard(gpioIF, spiDev);
 #endif
 
-    GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
-    GpioCookie* gpioCookie = nullptr;
-    static_cast<void>(gpioCookie);
+#if OBSW_ADD_SUN_SENSORS == 1 || defined(OBSW_ADD_RTD_DEVICES)
+#ifdef RASPBERRY_PI
+  rpi::gpio::initSpiCsDecoder(gpioIF);
+#endif
+#endif
 
-    new SpiComIF(objects::SPI_COM_IF, gpioIF);
+#if OBSW_ADD_SUN_SENSORS == 1
+  createSunSensorComponents(gpioIF, spiComIF, pwrSwitcher, spi::DEV);
+#endif
 
-    std::string spiDev;
-    SpiCookie* spiCookie = nullptr;
-    static_cast<void>(spiCookie);
+#if OBSW_ADD_RTD_DEVICES == 1
+  createRtdComponents(spi::DEV, gpioIF, pwrSwitcher);
+#endif
 
 #if OBSW_ADD_TEST_CODE == 1
-    new TestTask(objects::TEST_TASK);
+  createTestTasks();
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+}
 
-#if RPI_ADD_SPI_TEST == 1
-    new SpiTestClass(objects::SPI_TEST, gpioIF);
+void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
+  GpioCookie* gpioCookie = new GpioCookie();
+  // TODO: Missing pin for Gyro 2
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3",
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
+                            "MGM_1_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
+                            "MGM_3_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
+                            "GYRO_0_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
+                            "GYRO_2_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
+  gpioIF->addGpios(gpioCookie);
+  SpiCookie* spiCookie =
+      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, 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
 
-#if RPI_ADD_UART_TEST == 1
-    new UartTestClass(objects::UART_TEST);
+  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,
+                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
+                                              spiCookie, ADIS1650X::Type::ADIS16505);
+  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,
+                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+                                         spiCookie, ADIS1650X::Type::ADIS16505);
+  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
+}
+
+void ObjectFactory::createTestTasks() {
+  new TestTask(objects::TEST_TASK);
+
+#if OBSW_ADD_SPI_TEST_CODE == 1
+  new SpiTestClass(objects::SPI_TEST, gpioIF);
+#endif
+
+#if OBSW_ADD_UART_TEST_CODE == 1
+  new UartTestClass(objects::UART_TEST);
 #else
-    new UartComIF(objects::UART_COM_IF);
+  new UartComIF(objects::UART_COM_IF);
 #endif
 
 #if RPI_LOOPBACK_TEST_GPIO == 1
-    GpioCookie* gpioCookieLoopback = new GpioCookie();
-    /* Loopback pins. Adapt according to setup */
-    gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
-    int bcmPinSender = 26;
-    gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
-    int bcmPinReader = 16;
-    gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
-            gpio::Direction::OUT, 0);
-    gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
-            gpio::Direction::IN, 0);
-    new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
+  GpioCookie* gpioCookieLoopback = new GpioCookie();
+  /* Loopback pins. Adapt according to setup */
+  gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
+  int bcmPinSender = 26;
+  gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
+  int bcmPinReader = 16;
+  gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
+                            gpio::Direction::OUT, 0);
+  gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
+                            gpio::Direction::IN, 0);
+  new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
 #endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
 
-#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();
-    }
-    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
-            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
-    gpioIF->addGpios(gpioCookie);
+  if (gpioCookie == nullptr) {
+    gpioCookie = new GpioCookie();
+  }
+  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
+                            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
+  gpioIF->addGpios(gpioCookie);
 
-    spiDev = "/dev/spidev0.0";
-    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,
-            nullptr, nullptr);
-    auto adisGyroHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
-    adisGyroHandler->setStartUpImmediately();
+  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, nullptr, nullptr);
+  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",
-            UartModes::CANONICAL, 9600, 1024);
-    uartCookie->setToFlushInput(true);
-    uartCookie->setReadCycles(6);
-    GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER,
-            objects::UART_COM_IF, uartCookie, false);
-    gpsHandler->setStartUpImmediately();
+  UartCookie* uartCookie =
+      new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", UartModes::CANONICAL, 9600, 1024);
+  uartCookie->setToFlushInput(true);
+  uartCookie->setReadCycles(6);
+  GPSHyperionHandler* gpsHandler =
+      new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookie, false);
+  gpsHandler->setStartUpImmediately();
 #endif
-
-#endif /* OBSW_ADD_TEST_CODE == 1 */
 }

bsp_linux_board/ObjectFactory.h

@@ -1,10 +1,16 @@
 #ifndef BSP_LINUX_OBJECTFACTORY_H_
 #define BSP_LINUX_OBJECTFACTORY_H_
 
+#include <string>
+
+class GpioIF;
 
 namespace ObjectFactory {
-	void setStatics();
-	void produce(void* args);
-};
+void setStatics();
+void produce(void* args);
+
+void createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev);
+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/etl_profile.h

@@ -32,7 +32,7 @@ SOFTWARE.
 
 #define ETL_CHECK_PUSH_POP
 
-#define ETL_CPP11_SUPPORTED  1
-#define ETL_NO_NULLPTR_SUPPORT  0
+#define ETL_CPP11_SUPPORTED 1
+#define ETL_NO_NULLPTR_SUPPORT 0
 
 #endif

bsp_linux_board/boardconfig/gcov.h

@@ -6,8 +6,9 @@
 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;
+  sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
+               "coverage information is desired.\n"
+            << std::flush;
 }
 #endif
 

bsp_linux_board/boardconfig/print.c

@@ -1,14 +1,10 @@
-#include <bsp_q7s/boardconfig/print.h>
+#include <bsp_linux_board/boardconfig/print.h>
 #include <stdio.h>
 
 void printChar(const char* character, bool errStream) {
-	if(errStream) {
-		putc(*character, stderr);
-		return;
-	}
-	putc(*character, stdout);
+  if (errStream) {
+    putc(*character, stderr);
+    return;
+  }
+  putc(*character, stdout);
 }
-
-
-
-

bsp_linux_board/boardconfig/rpiConfig.h.in

@@ -17,15 +17,4 @@
 
 #define RPI_ADD_UART_TEST               0
 
-/* Adapt these values accordingly */
-namespace gpio {
-static constexpr uint8_t MGM_0_BCM_PIN = 0;
-static constexpr uint8_t MGM_1_BCM_PIN = 1;
-static constexpr uint8_t MGM_2_BCM_PIN = 17;
-static constexpr uint8_t MGM_3_BCM_PIN = 27;
-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;
-}
-
 #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/definitions.h

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

bsp_linux_board/gpioInit.cpp

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

bsp_linux_board/gpioInit.h

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

bsp_linux_board/main.cpp

@@ -1,11 +1,10 @@
+#include <iostream>
+
 #include "InitMission.h"
 #include "OBSWConfig.h"
 #include "OBSWVersion.h"
-
-#include "fsfw/FSFWVersion.h"
 #include "fsfw/tasks/TaskFactory.h"
-
-#include <iostream>
+#include "fsfw/version.h"
 
 #ifdef RASPBERRY_PI
 static const char* const BOARD_NAME = "Raspberry Pi";
@@ -19,21 +18,17 @@ 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)
-{
-    std::cout << "-- EIVE OBSW --" << std::endl;
-    std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
-    std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION <<
-            "." << SW_REVISION << ", FSFW v" << FSFW_VERSION << "." << FSFW_SUBVERSION <<
-            FSFW_REVISION << "--"  << std::endl;
-    std::cout << "-- " <<  __DATE__ << " " << __TIME__ << " --" << std::endl;
+int main(void) {
+  std::cout << "-- EIVE OBSW --" << std::endl;
+  std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
+  std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
+            << SW_REVISION << ", FSFW v" << fsfw::FSFW_VERSION << " --" << std::endl;
+  std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
-	initmission::initMission();
+  initmission::initMission();
 
-	for(;;) {
-		/* Suspend main thread by sleeping it. */
-		TaskFactory::delayTask(5000);
-	}
+  for (;;) {
+    /* Suspend main thread by sleeping it. */
+    TaskFactory::delayTask(5000);
+  }
 }
-
-

bsp_q7s/CMakeLists.txt

@@ -1,17 +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(devices)
-endif()
+add_subdirectory(boardconfig)
+add_subdirectory(comIF)
+add_subdirectory(core)
+add_subdirectory(memory)
+add_subdirectory(callbacks)
+add_subdirectory(xadc)

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

@@ -3,54 +3,102 @@
 
 namespace q7s {
 
-static constexpr char SPI_DEFAULT_DEV[] = "/dev/spidev2.0";
-static constexpr char SPI_RW_DEV[] = "/dev/spidev3.0";
+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-1";
+static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-eive";
 
-static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL3";
-static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL4";
-static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8";
+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 GPIO_ACS_BOARD_DEFAULT_CHIP[] = "gpiochip5";
-static constexpr char GPIO_MGM2_LIS3_CHIP[] = "gpiochip6";
+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;
 
-// TODO: Determine new pins, additional ADIS gyro device
-static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 1;
-static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 7;
-static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 3;
-static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 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
 
-static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5;
-static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;
-static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0;
-static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10;
+namespace gpioNames {
 
-static constexpr char GPIO_RW_DEFAULT_CHIP[] = "gpiochip5";
-static constexpr uint32_t GPIO_RW_0_CS = 7;
-static constexpr uint32_t GPIO_RW_1_CS = 3;
-static constexpr uint32_t GPIO_RW_2_CS = 11;
-static constexpr uint32_t GPIO_RW_3_CS = 6;
+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 GPIO_RW_SPI_MUX_CHIP[] = "gpiochip11";
-static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 57;
+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 GPIO_HEATER_CHIP[] = "gpiochip7";
-static constexpr uint32_t GPIO_HEATER_0_PIN = 6;
-static constexpr uint32_t GPIO_HEATER_1_PIN = 12;
-static constexpr uint32_t GPIO_HEATER_2_PIN = 7;
-static constexpr uint32_t GPIO_HEATER_3_PIN = 5;
-static constexpr uint32_t GPIO_HEATER_4_PIN = 3;
-static constexpr uint32_t GPIO_HEATER_5_PIN = 0;
-static constexpr uint32_t GPIO_HEATER_6_PIN = 1;
-static constexpr uint32_t GPIO_HEATER_7_PIN = 11;
+static constexpr 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 SYRLINKS_FAULT[] = "syrlinks_fault";
 
-static constexpr char GPIO_SOLAR_ARR_DEPL_CHIP[] = "gpiochip7";
-static constexpr uint32_t GPIO_SOL_DEPL_SA_0_PIN = 4;
-static constexpr uint32_t GPIO_SOL_DEPL_SA_1_PIN = 2;
+static constexpr char 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";
 
-static constexpr char GPIO_RAD_SENSOR_CHIP[] = "gpiochip5";
-static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19;
-}
+static constexpr char ENABLE_SUPV_UART[] = "enable_supv_uart";
+static constexpr char ENABLE_MPSOC_UART[] = "enable_mpsoc_uart";
+
+}  // namespace gpioNames
+}  // namespace q7s
 
 #endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */

bsp_q7s/boardconfig/etl_profile.h

@@ -32,7 +32,7 @@ SOFTWARE.
 
 #define ETL_CHECK_PUSH_POP
 
-#define ETL_CPP11_SUPPORTED  1
-#define ETL_NO_NULLPTR_SUPPORT  0
+#define ETL_CPP11_SUPPORTED 1
+#define ETL_NO_NULLPTR_SUPPORT 0
 
 #endif

bsp_q7s/boardconfig/gcov.h

@@ -6,8 +6,9 @@
 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;
+  sif::info << "GCC GCOV: Please supply GCOV=1 in Makefile if "
+               "coverage information is desired.\n"
+            << std::flush;
 }
 #endif
 

bsp_q7s/boardconfig/print.c

@@ -2,13 +2,9 @@
 #include <stdio.h>
 
 void printChar(const char* character, bool errStream) {
-	if(errStream) {
-		putc(*character, stderr);
-		return;
-	}
-	putc(*character, stdout);
+  if (errStream) {
+    putc(*character, stderr);
+    return;
+  }
+  putc(*character, stdout);
 }
-
-
-
-

bsp_q7s/boardconfig/q7sConfig.h.in

@@ -3,33 +3,36 @@
 
 #include <cstdint>
 
-#cmakedefine01 Q7S_SIMPLE_MODE
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
 
-#define Q7S_SD_NONE                         0
-#define Q7S_SD_COLD_REDUNDANT               1
-#define Q7S_SD_HOT_REDUNDANT                2
+//! 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
+#define Q7S_SD_HOT_REDUNDANT                        2
 // The OBSW will perform different actions to set up the SD cards depending on the flag set here
 // Set to Q7S_SD_NONE: Don't do anything
 // Set to Q7S_COLD_REDUNDANT: On startup, get the prefered SD card, turn it on and mount it, and 
 //     turn off the second SD card if it is on
 // 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_SD_CARD_CONFIG                          Q7S_SD_COLD_REDUNDANT
 
 // Probably better if this is disabled for mission code. Convenient for development
-#define Q7S_CHECK_FOR_ALREADY_RUNNING_IMG   1
-#define Q7S_ADD_RTD_DEVICES                 0
+#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
+#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST             0
+
+#ifndef Q7S_SIMPLE_MODE
+#define Q7S_SIMPLE_MODE 0
 #endif
 
-#define Q7S_ADD_SYRLINKS_HANDLER        1
-
-#define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST 0
-
 namespace config {
 
 static const uint32_t SD_CARD_ACCESS_MUTEX_TIMEOUT = 50;

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

@@ -1,26 +1,23 @@
 #include "FileSystemTest.h"
+
+#include <cstdlib>
+#include <iostream>
+
 #include "fsfw/timemanager/Stopwatch.h"
 
-#include <iostream>
-#include <cstdlib>
-
-enum SdCard {
-    SDC0,
-    SDC1
-};
+enum SdCard { SDC0, SDC1 };
 
 FileSystemTest::FileSystemTest() {
-    using namespace std;
-    SdCard sdCard = SdCard::SDC0;
-    cout << "SD Card Test for SD card " << static_cast<int>(sdCard) << std::endl;
-    //Stopwatch stopwatch;
-    std::system("q7hw sd info all > /tmp/sd_status.txt");
-    //stopwatch.stop(true);
-    std::system("q7hw sd set 0 on > /tmp/sd_set.txt");
-    //stopwatch.stop(true);
-    std::system("q7hw sd set 0 off > /tmp/sd_set.txt");
-    //stopwatch.stop(true);
+  using namespace std;
+  SdCard sdCard = SdCard::SDC0;
+  cout << "SD Card Test for SD card " << static_cast<int>(sdCard) << std::endl;
+  // Stopwatch stopwatch;
+  std::system("q7hw sd info all > /tmp/sd_status.txt");
+  // stopwatch.stop(true);
+  std::system("q7hw sd set 0 on > /tmp/sd_set.txt");
+  // stopwatch.stop(true);
+  std::system("q7hw sd set 0 off > /tmp/sd_set.txt");
+  // stopwatch.stop(true);
 }
 
-FileSystemTest::~FileSystemTest() {
-}
+FileSystemTest::~FileSystemTest() {}

bsp_q7s/boardtest/FileSystemTest.h

@@ -2,12 +2,11 @@
 #define BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_
 
 class FileSystemTest {
-public:
-    FileSystemTest();
-    virtual~ FileSystemTest();
-private:
+ public:
+  FileSystemTest();
+  virtual ~FileSystemTest();
+
+ private:
 };
 
-
-
 #endif /* BSP_Q7S_BOARDTEST_FILESYSTEMTEST_H_ */

bsp_q7s/boardtest/Q7STestTask.cpp

@@ -1,337 +1,452 @@
+#include "Q7STestTask.h"
+
 #include <bsp_q7s/core/CoreController.h>
 #include <bsp_q7s/memory/FileSystemHandler.h>
+#include <bsp_q7s/xadc/Xadc.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) {
+Q7STestTask::Q7STestTask(object_id_t objectId) : TestTask(objectId) {
+  doTestSdCard = false;
+  doTestScratchApi = false;
+  doTestGps = false;
+  doTestXadc = true;
 }
 
 ReturnValue_t Q7STestTask::performOneShotAction() {
-    //testSdCard();
-    //testScratchApi();
-    //testJsonLibDirect();
-    //testDummyParams();
-    //testProtHandler();
-    //FsOpCodes opCode = FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY;
-    //testFileSystemHandlerDirect(opCode);
-    return TestTask::performOneShotAction();
+  if (doTestSdCard) {
+    testSdCard();
+  }
+  if (doTestScratchApi) {
+    testScratchApi();
+  }
+  // testJsonLibDirect();
+  // testDummyParams();
+  // testProtHandler();
+  FsOpCodes opCode = FsOpCodes::APPEND_TO_FILE;
+  testFileSystemHandlerDirect(opCode);
+  return TestTask::performOneShotAction();
+}
+
+ReturnValue_t Q7STestTask::performPeriodicAction() {
+  if (doTestGps) {
+    testGpsDaemon();
+  }
+  if (doTestXadc) {
+    xadcTest();
+  }
+  return TestTask::performPeriodicAction();
 }
 
 void Q7STestTask::testSdCard() {
-    using namespace std;
-    Stopwatch stopwatch;
-    int result = std::system("q7hw sd info all > /tmp/sd_status.txt");
-    if(result != 0) {
-        sif::debug << "system call failed with " << result << endl;
+  using namespace std;
+  Stopwatch stopwatch;
+  int result = std::system("q7hw sd info all > /tmp/sd_status.txt");
+  if (result != 0) {
+    sif::debug << "system call failed with " << result << endl;
+  }
+  ifstream sdStatus("/tmp/sd_status.txt");
+  string line;
+  uint8_t idx = 0;
+  while (std::getline(sdStatus, line)) {
+    std::istringstream iss(line);
+    string word;
+    while (iss >> word) {
+      if (word == "on") {
+        sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
+      } else if (word == "off") {
+        sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
+      }
     }
-    ifstream sdStatus("/tmp/sd_status.txt");
-    string line;
-    uint8_t idx = 0;
-    while (std::getline(sdStatus, line)) {
-        std::istringstream iss(line);
-        string word;
-        while(iss >> word) {
-            if(word == "on") {
-                sif::info << "SD card " << static_cast<int>(idx) << " is on" << endl;
-            }
-            else if(word == "off") {
-                sif::info << "SD card " << static_cast<int>(idx) << " is off" << endl;
-            }
-        }
-        idx++;
-    }
-    std::remove("/tmp/sd_status.txt");
+    idx++;
+  }
+  std::remove("/tmp/sd_status.txt");
 }
 
 void Q7STestTask::fileTests() {
-	using namespace std;
-    ofstream testFile("/tmp/test.txt");
-    testFile << "Hallo Welt" << endl;
-    testFile.close();
+  using namespace std;
+  ofstream testFile("/tmp/test.txt");
+  testFile << "Hallo Welt" << endl;
+  testFile.close();
 
-    system("echo \"Hallo Welt\" > /tmp/test2.txt");
-    system("echo \"Hallo Welt\"");
+  system("echo \"Hallo Welt\" > /tmp/test2.txt");
+  system("echo \"Hallo Welt\"");
 }
 
 void Q7STestTask::testScratchApi() {
-    ReturnValue_t result = scratch::writeNumber("TEST", 1);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl;
-    }
-    int number = 0;
-    result = scratch::readNumber("TEST", number);
-    sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl;
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
-    }
+  ReturnValue_t result = scratch::writeNumber("TEST", 1);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::debug << "Q7STestTask::scratchApiTest: Writing number failed" << std::endl;
+  }
+  int number = 0;
+  result = scratch::readNumber("TEST", number);
+  sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST\": " << number << std::endl;
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
+  }
 
-    result = scratch::writeString("TEST2", "halloWelt");
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
-    }
-    std::string string;
-    result = scratch::readString("TEST2", string);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
-    }
-    sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
+  result = scratch::writeString("TEST2", "halloWelt");
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::debug << "Q7STestTask::scratchApiTest: Writing string failed" << std::endl;
+  }
+  std::string string;
+  result = scratch::readString("TEST2", string);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::debug << "Q7STestTask::scratchApiTest: Reading number failed" << std::endl;
+  }
+  sif::info << "Q7STestTask::testScratchApi: Value for key \"TEST2\": " << string << std::endl;
 
-    result = scratch::clearValue("TEST");
-    result = scratch::clearValue("TEST2");
+  result = scratch::clearValue("TEST");
+  result = scratch::clearValue("TEST2");
 }
 
 void Q7STestTask::testJsonLibDirect() {
-    Stopwatch stopwatch;
-    // for convenience
-    using json = nlohmann::json;
-    json helloTest;
-    // add a number that is stored as double (note the implicit conversion of j to an object)
-    helloTest["pi"] = 3.141;
-    std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
-    std::string fileName = mntPrefix + "/pretty.json";
-    std::ofstream o(fileName);
-    o << std::setw(4) << helloTest  << std::endl;
+  Stopwatch stopwatch;
+  // for convenience
+  using json = nlohmann::json;
+  json helloTest;
+  // add a number that is stored as double (note the implicit conversion of j to an object)
+  helloTest["pi"] = 3.141;
+  std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
+  std::string fileName = mntPrefix + "/pretty.json";
+  std::ofstream o(fileName);
+  o << std::setw(4) << helloTest << std::endl;
 }
 
 void Q7STestTask::testDummyParams() {
-    std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
-    DummyParameter param(mntPrefix, "dummy_json.txt");
-    param.printKeys();
-    param.print();
-    if(not param.getJsonFileExists()) {
-        param.writeJsonFile();
-    }
-
-    ReturnValue_t result = param.readJsonFile();
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-
-    }
-
-    param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
-    param.setValue(DummyParameter::DUMMY_KEY_PARAM_2, "blirb");
-
+  std::string mntPrefix = SdCardManager::instance()->getCurrentMountPrefix();
+  DummyParameter param(mntPrefix, "dummy_json.txt");
+  param.printKeys();
+  param.print();
+  if (not param.getJsonFileExists()) {
     param.writeJsonFile();
-    param.print();
+  }
 
-    int test = param.getValue<int>(DummyParameter::DUMMY_KEY_PARAM_1);
-    std::string test2 = param.getValue<std::string>(DummyParameter::DUMMY_KEY_PARAM_2);
-    sif::info << "Test value (3 expected): " << test << std::endl;
-    sif::info << "Test value 2 (\"blirb\" expected): " << test2 << std::endl;
+  ReturnValue_t result = param.readJsonFile();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+  }
+
+  param.setValue(DummyParameter::DUMMY_KEY_PARAM_1, 3);
+  param.setValue(DummyParameter::DUMMY_KEY_PARAM_2, "blirb");
+
+  param.writeJsonFile();
+  param.print();
+
+  int test = 0;
+  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();
+  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(
-            CoreController::Chip::ALL_CHIP, CoreController::Copy::ALL_COPY, true,
-            opPerformed, true);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-         sif::warning << "Q7STestTask::testProtHandler: Op failed" << std::endl;
-    }
+  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(
-            CoreController::Chip::SELF_CHIP, CoreController::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");
-    }
+  // 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(
-            CoreController::Chip::SELF_CHIP, CoreController::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");
-    }
+  // 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(
-            CoreController::Chip::CHIP_1, CoreController::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");
-    }
+  // 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(
-            CoreController::Chip::CHIP_1, CoreController::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");
-    }
+  // 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()->
-            get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
-    if(fsHandler == nullptr) {
-        sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
-                << std::endl;
-    }
-    FileSystemHandler::FsCommandCfg cfg = {};
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  auto fsHandler = ObjectManager::instance()->get<FileSystemHandler>(objects::FILE_SYSTEM_HANDLER);
+  if (fsHandler == nullptr) {
+    sif::warning << "Q7STestTask::testFileSystemHandlerDirect: No FS handler running.."
+                 << std::endl;
+  }
+  FileSystemHandler::FsCommandCfg cfg = {};
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
-    // Lambda for common code
-    auto createNonEmptyTmpDir = [&]() {
-        if(not std::filesystem::exists("/tmp/test")) {
-            result = fsHandler->createDirectory("/tmp/test", &cfg);
-            if(result != HasReturnvaluesIF::RETURN_OK) {
-                return result;
-            }
-        }
-        // Creating sample files
-        sif::info << "Creating sample files in directory" << std::endl;
-        result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg);
-        if(result != HasReturnvaluesIF::RETURN_OK) {
-            return result;
-        }
-        result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
-        if(result != HasReturnvaluesIF::RETURN_OK) {
-            return result;
-        }
+  // Lambda for common code
+  auto createNonEmptyTmpDir = [&]() {
+    if (not std::filesystem::exists("/tmp/test")) {
+      result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
         return result;
-    };
+      }
+    }
+    // Creating sample files
+    sif::info << "Creating sample files in directory" << std::endl;
+    result = fsHandler->createFile("/tmp/test", "test1.txt", nullptr, 0, &cfg);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    result = fsHandler->createFile("/tmp/test", "test2.txt", nullptr, 0, &cfg);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+    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);
-        break;
+  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);
+      break;
     }
-    case(FsOpCodes::REMOVE_TMP_FILE): {
-        sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
-        // No mount prefix, cause file is created in tmp
-        cfg.useMountPrefix = false;
-        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);
-        }
-        result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
-        if(result == HasReturnvaluesIF::RETURN_OK) {
-            sif::info << "File removed successfully" << std::endl;
-        }
-        else {
-            sif::warning << "File removal failed!" << std::endl;
-        }
-        break;
+    case (FsOpCodes::REMOVE_TMP_FILE): {
+      sif::info << "Deleting /tmp/test.txt sample file" << std::endl;
+      // No mount prefix, cause file is created in tmp
+      cfg.useMountPrefix = false;
+      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);
+      }
+      result = fsHandler->removeFile("/tmp", "test.txt", &cfg);
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        sif::info << "File removed successfully" << std::endl;
+      } else {
+        sif::warning << "File removal failed!" << std::endl;
+      }
+      break;
     }
-    case(FsOpCodes::CREATE_DIR_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
-        ReturnValue_t result = fsHandler->createDirectory("/tmp/test", &cfg);
-        if(result == HasReturnvaluesIF::RETURN_OK) {
-            sif::info << "Directory created successfully" << std::endl;
-        }
-        else {
-            sif::warning << "Directory creation failed!" << std::endl;
-        }
-        break;
+    case (FsOpCodes::CREATE_DIR_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
+      ReturnValue_t result = fsHandler->createDirectory("/tmp/", "test", false, &cfg);
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        sif::info << "Directory created successfully" << std::endl;
+      } else {
+        sif::warning << "Directory creation failed!" << std::endl;
+      }
+      break;
     }
-    case(FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
-        // 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);
-        }
-        else {
-            // Delete any leftover files to regular dir removal works
-            std::remove("/tmp/test/*");
-        }
-        result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
-        if(result == HasReturnvaluesIF::RETURN_OK) {
-            sif::info << "Directory removed successfully" << std::endl;
-        }
-        else {
-            sif::warning << "Directory removal failed!" << std::endl;
-        }
-        break;
+    case (FsOpCodes::REMOVE_EMPTY_DIR_IN_TMP): {
+      // No mount prefix, cause file is created in tmp
+      cfg.useMountPrefix = false;
+      if (not std::filesystem::exists("/tmp/test")) {
+        result = fsHandler->createDirectory("/tmp", "test", false, &cfg);
+      } else {
+        // Delete any leftover files to regular dir removal works
+        std::remove("/tmp/test/*");
+      }
+      result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        sif::info << "Directory removed successfully" << std::endl;
+      } else {
+        sif::warning << "Directory removal failed!" << std::endl;
+      }
+      break;
     }
-    case(FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
-        result = createNonEmptyTmpDir();
-        if(result != HasReturnvaluesIF::RETURN_OK) {
-            return;
-        }
-        result = fsHandler->removeDirectory("/tmp/test", true, &cfg);
-        if(result == HasReturnvaluesIF::RETURN_OK) {
-            sif::info << "Directory removed recursively successfully" << std::endl;
-        }
-        else {
-            sif::warning << "Recursive directory removal failed!" << std::endl;
-        }
-        break;
+    case (FsOpCodes::REMOVE_FILLED_DIR_IN_TMP): {
+      result = createNonEmptyTmpDir();
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        return;
+      }
+      result = fsHandler->removeDirectory("/tmp/", "test", true, &cfg);
+      if (result == HasReturnvaluesIF::RETURN_OK) {
+        sif::info << "Directory removed recursively successfully" << std::endl;
+      } else {
+        sif::warning << "Recursive directory removal failed!" << std::endl;
+      }
+      break;
     }
-    case(FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
-        result = createNonEmptyTmpDir();
-        if(result != HasReturnvaluesIF::RETURN_OK) {
-            return;
-        }
-        result = fsHandler->removeDirectory("/tmp/test", false, &cfg);
-        if(result != HasReturnvaluesIF::RETURN_OK) {
-            sif::info << "Directory removal attempt failed as expected" << std::endl;
-        }
-        else {
-            sif::warning << "Directory removal worked when it should not have!" << std::endl;
-        }
+    case (FsOpCodes::ATTEMPT_DIR_REMOVAL_NON_EMPTY): {
+      result = createNonEmptyTmpDir();
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        return;
+      }
+      result = fsHandler->removeDirectory("/tmp/", "test", false, &cfg);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+        sif::info << "Directory removal attempt failed as expected" << std::endl;
+      } 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);
+    }
+  }
+}
+
+void Q7STestTask::xadcTest() {
+  ReturnValue_t result = RETURN_OK;
+  float temperature = 0;
+  float vccPint = 0;
+  float vccPaux = 0;
+  float vccInt = 0;
+  float vccAux = 0;
+  float vccBram = 0;
+  float vccOddr = 0;
+  float vrefp = 0;
+  float vrefn = 0;
+  Xadc xadc;
+  result = xadc.getTemperature(temperature);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: Chip Temperature: " << temperature << " °C" << std::endl;
+  }
+  result = xadc.getVccPint(vccPint);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: VCC PS internal: " << vccPint << " mV" << std::endl;
+  }
+  result = xadc.getVccPaux(vccPaux);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: VCC PS auxilliary: " << vccPaux << " mV" << std::endl;
+  }
+  result = xadc.getVccInt(vccInt);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: VCC PL internal: " << vccInt << " mV" << std::endl;
+  }
+  result = xadc.getVccAux(vccAux);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: VCC PL auxilliary: " << vccAux << " mV" << std::endl;
+  }
+  result = xadc.getVccBram(vccBram);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: VCC BRAM: " << vccBram << " mV" << std::endl;
+  }
+  result = xadc.getVccOddr(vccOddr);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: VCC PS I/O DDR : " << vccOddr << " mV" << std::endl;
+  }
+  result = xadc.getVrefp(vrefp);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: Vrefp : " << vrefp << " mV" << std::endl;
+  }
+  result = xadc.getVrefn(vrefn);
+  if (result == HasReturnvaluesIF::RETURN_OK) {
+    sif::info << "Q7STestTask::xadcTest: Vrefn : " << vrefn << " mV" << std::endl;
+  }
 }

bsp_q7s/boardtest/Q7STestTask.h

@@ -3,33 +3,46 @@
 
 #include "test/testtasks/TestTask.h"
 
-class Q7STestTask: public TestTask {
-public:
-    Q7STestTask(object_id_t objectId);
+class CoreController;
 
-    ReturnValue_t initialize() override;
-private:
-    CoreController* coreController = nullptr;
-    ReturnValue_t performOneShotAction() override;
+class Q7STestTask : public TestTask {
+ public:
+  Q7STestTask(object_id_t objectId);
 
-    void testSdCard();
-    void fileTests();
+  ReturnValue_t initialize() override;
 
-    void testScratchApi();
-    void testJsonLibDirect();
-    void testDummyParams();
-    void testProtHandler();
+ private:
+  bool doTestSdCard = false;
+  bool doTestScratchApi = false;
+  bool doTestGps = false;
+  bool doTestXadc = false;
 
-    enum FsOpCodes {
-        CREATE_EMPTY_FILE_IN_TMP,
-        REMOVE_TMP_FILE,
-        CREATE_DIR_IN_TMP,
-        REMOVE_EMPTY_DIR_IN_TMP,
-        ATTEMPT_DIR_REMOVAL_NON_EMPTY,
-        REMOVE_FILLED_DIR_IN_TMP,
-    };
-    void testFileSystemHandlerDirect(FsOpCodes opCode);
+  CoreController* coreController = nullptr;
+  ReturnValue_t performOneShotAction() override;
+  ReturnValue_t performPeriodicAction() override;
+
+  void testGpsDaemon();
+
+  void testSdCard();
+  void fileTests();
+  void xadcTest();
+
+  void testScratchApi();
+  void testJsonLibDirect();
+  void testDummyParams();
+  void testProtHandler();
+
+  enum FsOpCodes {
+    CREATE_EMPTY_FILE_IN_TMP,
+    REMOVE_TMP_FILE,
+    CREATE_DIR_IN_TMP,
+    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
+	q7sGpioCallbacks.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/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::Channels typedChannel = static_cast<PDU1::Channels>(channel);
+    if (typedChannel == PDU1::Channels::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::Channels typedChannel = static_cast<PDU2::Channels>(channel);
+    if (typedChannel == PDU2::Channels::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/q7sGpioCallbacks.cpp

@@ -0,0 +1,54 @@
+#include "q7sGpioCallbacks.h"
+
+#include <devices/gpioIds.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+
+#include "busConf.h"
+
+void q7s::gpioCallbacks::initSpiCsDecoder(GpioIF* gpioComIF) {
+  using namespace gpio;
+  ReturnValue_t result;
+
+  if (gpioComIF == nullptr) {
+    sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
+    return;
+  }
+
+  GpioCookie* spiMuxGpios = new GpioCookie;
+
+  GpiodRegularByLineName* spiMuxBit = nullptr;
+  /** Setting mux bit 1 to low will disable IC21 on the interface board */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_0_PIN, "SPI Mux Bit 1",
+                                         Direction::OUT, Levels::HIGH);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_0, spiMuxBit);
+  /** Setting mux bit 2 to low disables IC1 on the TCS board */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 2",
+                                         Direction::OUT, Levels::HIGH);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
+  /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 3",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
+
+  /** The following gpios can take arbitrary initial values */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 4",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 5",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 6",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
+  GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(
+      q7s::gpioNames::EN_RW_CS, "EN_RW_CS", Direction::OUT, Levels::HIGH);
+  spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
+
+  result = gpioComIF->addGpios(spiMuxGpios);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
+    return;
+  }
+}

bsp_q7s/callbacks/q7sGpioCallbacks.h

@@ -0,0 +1,15 @@
+#pragma once
+
+class GpioIF;
+
+namespace q7s {
+namespace gpioCallbacks {
+
+/**
+ * @brief   This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
+ *          the TCS Board and the interface board.
+ */
+void initSpiCsDecoder(GpioIF* gpioComIF);
+
+}  // namespace gpioCallbacks
+}  // namespace q7s

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -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_hal/linux/spi/SpiComIF.h>
-#include <fsfw_hal/common/gpio/GpioCookie.h>
-
+#include "fsfw/returnvalues/HasReturnvaluesIF.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.
@@ -28,8 +30,8 @@ namespace rwSpiCallback {
  *          To switch between the to SPI peripherals, an EMIO is used which will also be controlled
  *          by this function.
  */
-ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData,
-        size_t sendLen, void* args);
+ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
+                          size_t sendLen, void* args);
 
 /**
  * @brief   This function closes a spi session. Pulls the chip select to high an releases the
@@ -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

@@ -2,183 +2,240 @@
 #define BSP_Q7S_CORE_CORECONTROLLER_H_
 
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
-#include "fsfw/controller/ExtendedControllerBase.h"
+#include <libxiphos.h>
+
+#include <cstddef>
+
+#include "CoreDefinitions.h"
 #include "bsp_q7s/memory/SdCardManager.h"
-
 #include "events/subsystemIdRanges.h"
-
+#include "fsfw/controller/ExtendedControllerBase.h"
+#include "mission/devices/devicedefinitions/GPSDefinitions.h"
 
 class Timer;
 class SdCardManager;
 
-class CoreController: public ExtendedControllerBase {
-public:
-    enum Chip: uint8_t {
-        CHIP_0,
-        CHIP_1,
-        NO_CHIP,
-        SELF_CHIP,
-        ALL_CHIP
-    };
+namespace xsc {
 
-    enum Copy: uint8_t {
-        COPY_0,
-        COPY_1,
-        NO_COPY,
-        SELF_COPY,
-        ALL_COPY
-    };
+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 };
 
-    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 VERSION_FILE[] = "/conf/sd_status";
+}  // namespace xsc
 
-    static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
-    static constexpr ActionId_t REBOOT_OBC = 32;
-    static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
+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;
+};
 
-    static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
+class CoreController : public ExtendedControllerBase {
+ public:
+  static xsc::Chip CURRENT_CHIP;
+  static xsc::Copy CURRENT_COPY;
 
-    static constexpr Event ALLOC_FAILURE = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+  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";
+  static constexpr char TIME_FILE_NAME[] = "time.txt";
+  const std::string VERSION_FILE =
+      "/" + std::string(CONF_FOLDER) + "/" + std::string(VERSION_FILE_NAME);
+  const std::string REBOOT_FILE =
+      "/" + std::string(CONF_FOLDER) + "/" + std::string(REBOOT_FILE_NAME);
+  const std::string TIME_FILE = "/" + std::string(CONF_FOLDER) + "/" + std::string(TIME_FILE_NAME);
 
+  static constexpr ActionId_t LIST_DIRECTORY_INTO_FILE = 0;
+  static constexpr ActionId_t SWITCH_REBOOT_FILE_HANDLING = 5;
+  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;
 
-    CoreController(object_id_t objectId);
-    virtual~ CoreController();
+  static constexpr ActionId_t REBOOT_OBC = 32;
+  static constexpr ActionId_t MOUNT_OTHER_COPY = 33;
 
-    ReturnValue_t initialize() override;
+  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CORE;
 
-    ReturnValue_t initializeAfterTaskCreation() override;
+  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);
 
-    ReturnValue_t executeAction(ActionId_t actionId,
-            MessageQueueId_t commandedBy, const uint8_t *data, size_t size) override;
+  CoreController(object_id_t objectId);
+  virtual ~CoreController();
 
-    ReturnValue_t handleCommandMessage(CommandMessage *message) override;
-    void performControlOperation() override;
+  ReturnValue_t initialize() 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(Chip& chip, Copy& copy);
+  ReturnValue_t initializeAfterTaskCreation() override;
 
-    ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
 
-    /**
-     * 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(Chip targetChip, Copy targetCopy,
-            bool protect, bool& protOperationPerformed, bool updateProtFile = true);
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+  void performControlOperation() override;
 
-    bool sdInitFinished() const;
+  /**
+   * 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);
 
-private:
-    static Chip CURRENT_CHIP;
-    static Copy CURRENT_COPY;
+  ReturnValue_t updateProtInfo(bool regenerateChipStateFile = true);
 
-    // Designated value for rechecking FIFO open
-    static constexpr int RETRY_FIFO_OPEN = -2;
-    int watchdogFifoFd = 0;
+  /**
+   * 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);
 
-    // 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;
+  bool sdInitFinished() const;
 
-    SdCardManager* sdcMan = nullptr;
+ private:
+  static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
+  static constexpr uint32_t MUTEX_TIMEOUT = 20;
+  // Designated value for rechecking FIFO open
+  static constexpr int RETRY_FIFO_OPEN = -2;
+  int watchdogFifoFd = 0;
+  GpsHyperion::FixMode gpsFix = GpsHyperion::FixMode::UNKNOWN;
 
-    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 sdInfo;
+  // 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;
 
-    /**
-     * 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;
+  SdCardManager* sdcMan = nullptr;
+  MessageQueueIF* eventQueue = nullptr;
 
-    ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-            LocalDataPoolManager& poolManager) override;
-    LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
-    ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                uint32_t *msToReachTheMode);
+  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 = {};
+  std::string currMntPrefix;
+  bool doPerformMountedSdCardOps = true;
 
-    ReturnValue_t initVersionFile();
-    ReturnValue_t initBootCopy();
-    ReturnValue_t initWatchdogFifo();
-    ReturnValue_t initSdCardBlocking();
-    void initPrint();
+  /**
+   * 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 sdStateMachine();
-    void updateSdInfoOther();
-    ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
-            bool printOutput = true);
-    ReturnValue_t sdColdRedundantBlockingInit();
-    void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
-    void determinePreferredSdCard();
-    void executeNextExternalSdCommand();
-    void checkExternalSdCommandStatus();
+  core::HkSet hkSet;
 
-    ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
-            const uint8_t *data, size_t size);
-    ReturnValue_t actionPerformReboot(const uint8_t *data, size_t size);
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t* msToReachTheMode);
+  void performMountedSdCardOperations();
+  ReturnValue_t initVersionFile();
 
-    void performWatchdogControlOperation();
+  ReturnValue_t initClockFromTimeFile();
+  ReturnValue_t timeFileHandler();
+  ReturnValue_t initBootCopy();
+  ReturnValue_t initWatchdogFifo();
+  ReturnValue_t initSdCardBlocking();
+  void initPrint();
 
-    ReturnValue_t handleProtInfoUpdateLine(std::string nextLine);
-    int handleBootCopyProtAtIndex(Chip targetChip, Copy targetCopy, bool protect,
-            bool &protOperationPerformed, bool selfChip, bool selfCopy, bool allChips,
-            bool allCopies, uint8_t arrIdx);
+  ReturnValue_t sdStateMachine();
+  void updateSdInfoOther();
+  ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
+                            bool printOutput = true);
+  ReturnValue_t sdColdRedundantBlockingInit();
+
+  void currentStateSetter(sd::SdCard sdCard, sd::SdState newState);
+  void determinePreferredSdCard();
+  void executeNextExternalSdCommand();
+  void checkExternalSdCommandStatus();
+  void performRebootFileHandling(bool recreateFile);
+
+  ReturnValue_t actionListDirectoryIntoFile(ActionId_t actionId, MessageQueueId_t commandedBy,
+                                            const uint8_t* data, size_t size);
+  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);
+  void readHkData();
+  bool isNumber(const std::string& s);
 };
 
 #endif /* BSP_Q7S_CORE_CORECONTROLLER_H_ */