bsp_q7s/core/ObjectFactory.cpp

@@ -457,7 +457,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
     mgmRm3100Handler->setStartUpImmediately();
-    mgmRm3100Handler->setToGoToNormalMode(true);
+    //mgmRm3100Handler->setToGoToNormalMode(true);
 
     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);
@@ -470,7 +470,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
             objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
     mgmRm3100Handler->setStartUpImmediately();
-    mgmRm3100Handler->setToGoToNormalMode(true);
+    //mgmRm3100Handler->setToGoToNormalMode(true);
 
     // Commented until ACS board V2 in in clean room again
     // Gyro 0 Side A
@@ -502,6 +502,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     gyroL3gHandler->setStartUpImmediately();
     //gyroL3gHandler->setGoNormalModeAtStartup();
 
+    bool debugGps = false;
+#if OBSW_DEBUG_GPS == 1
+    debugGps = true;
+#endif
     resetArgsGnss1.gnss1 = true;
     resetArgsGnss1.gpioComIF = gpioComIF;
     resetArgsGnss1.waitPeriodMs = 100;
@@ -517,11 +521,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     uartCookieGps1->setToFlushInput(true);
     uartCookieGps1->setReadCycles(6);
     auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
-            uartCookieGps0, true);
+            uartCookieGps0, debugGps);
     gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
     gpsHandler0->setStartUpImmediately();
     auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
-            uartCookieGps1, true);
+            uartCookieGps1, debugGps);
     gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1);
     gpsHandler1->setStartUpImmediately();
 }

common/config/devConf.h

@@ -26,10 +26,10 @@ static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
 static constexpr uint32_t DEFAULT_ADIS16507_SPEED = 976'000;
 static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
 
-static constexpr uint32_t RW_SPEED = 300000;
+static constexpr uint32_t RW_SPEED = 300'000;
 static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
 
-static constexpr uint32_t RTD_SPEED = 2000000;
+static constexpr uint32_t RTD_SPEED = 2'000'000;
 
 }
 

linux/fsfwconfig/OBSWConfig.h.in

@@ -63,6 +63,7 @@ debugging. */
 #define OBSW_DEBUG_P60DOCK                          0
 #define OBSW_DEBUG_PDU1                             0
 #define OBSW_DEBUG_PDU2                             0
+#define OBSW_DEBUG_GPS                              0
 #define OBSW_DEBUG_ACU                              0
 #define OBSW_DEBUG_SYRLINKS                         0
 #define OBSW_DEBUG_IMQT                             0

mission/devices/GPSHyperionHandler.cpp

@@ -23,7 +23,6 @@ GPSHyperionHandler::~GPSHyperionHandler() {}
 void GPSHyperionHandler::doStartUp() {
     if(internalState == InternalStates::NONE) {
         commandExecuted = false;
-        updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
         internalState = InternalStates::WAIT_FIRST_MESSAGE;
     }
 
@@ -76,7 +75,7 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
         DeviceCommandId_t *foundId, size_t *foundLen) {
     // Pass data to GPS library
     if(len > 0) {
-        sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
+        // sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
         if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
             // TODO: Check whether data is valid by checking whether NMEA start string is valid?
             commandExecuted = true;
@@ -202,3 +201,12 @@ void GPSHyperionHandler::setResetPinTriggerFunction(gpioResetFunction_t resetCal
 void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
         uint32_t parameter) {
 }
+
+ReturnValue_t GPSHyperionHandler::initialize() {
+    ReturnValue_t result = DeviceHandlerBase::initialize();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    // Enable reply immediately for now
+    return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
+}

mission/devices/GPSHyperionHandler.h

@@ -14,12 +14,16 @@
  */
 class GPSHyperionHandler: public DeviceHandlerBase {
 public:
-    using gpioResetFunction_t = ReturnValue_t (*) (void* args);
+
 	GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
 	        CookieIF* comCookie, bool debugHyperionGps = false);
 	virtual ~GPSHyperionHandler();
 
+    using gpioResetFunction_t = ReturnValue_t (*) (void* args);
+
 	void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void*args);
+
+	ReturnValue_t initialize() override;
 protected:
 
 	gpioResetFunction_t resetCallback = nullptr;