.gitmodules

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

CMakeLists.txt

@@ -97,18 +97,18 @@ if(TGT_BSP)
         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/beagleboneblack")
+    if(TGT_BSP MATCHES "arm/beagleboneblack")
         # Used by configure file
         set(BEAGLEBONEBLACK ON)
     endif()
     
-    if(${TGT_BSP} MATCHES "arm/q7s")
+    if(TGT_BSP MATCHES "arm/q7s")
         # Used by configure file
         set(XIPHOS_Q7S ON)
     endif()
@@ -122,9 +122,9 @@ if(NOT EIVE_BUILD_WATCHDOG)
     configure_file(${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(${TGT_BSP} MATCHES "arm/q7s")
+    if(TGT_BSP MATCHES "arm/q7s")
         configure_file(${BSP_PATH}/boardconfig/q7sConfig.h.in q7sConfig.h)
-    elseif(${TGT_BSP} MATCHES "arm/raspberrypi")
+    elseif(TGT_BSP MATCHES "arm/raspberrypi")
         configure_file(${BSP_PATH}/boardconfig/rpiConfig.h.in rpiConfig.h)
     endif()
 endif()
@@ -135,8 +135,6 @@ 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

README.md

@@ -65,7 +65,7 @@ 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
 
@@ -324,6 +324,33 @@ 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

bsp_hosted/fsfwconfig/devices/powerSwitcherList.h

@@ -5,7 +5,7 @@
 
 namespace pcduSwitches {
 	/* Switches are uint8_t datatype and go from 0 to 255 */
-	enum switcherList {
+	enum SwitcherList {
 	    Q7S,
         PAYLOAD_PCDU_CH1,
         RW,
@@ -22,7 +22,7 @@ namespace pcduSwitches {
         SUS_NOMINAL,
         SOLAR_CELL_EXP,
         PLOC,
-        ACS_BORAD_SIDE_A,
+        ACS_BOARD_SIDE_A,
         NUMBER_OF_SWITCHES
 	};
 

bsp_linux_board/InitMission.cpp

@@ -36,6 +36,7 @@ void initmission::initMission() {
 
 void initmission::initTasks() {
     TaskFactory* factory = TaskFactory::instance();
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     if(factory == nullptr) {
         /* Should never happen ! */
         return;
@@ -46,11 +47,11 @@ void initmission::initTasks() {
     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(
+    result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
-            objects::CCSDS_PACKET_DISTRIBUTOR);
     if(result != HasReturnvaluesIF::RETURN_OK){
         sif::error << "Object add component failed" << std::endl;
     }
@@ -78,21 +79,70 @@ void initmission::initTasks() {
     }
 
     /* PUS Services */
-    PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
+    std::vector<PeriodicTaskIF*> pusTasks;
+    createPusTasks(*factory, missedDeadlineFunc, pusTasks);
+
+    std::vector<PeriodicTaskIF*> pstTasks;
+    createPstTasks(*factory, missedDeadlineFunc, pstTasks);
+#if OBSW_ADD_TEST_CODE == 1
+    std::vector<PeriodicTaskIF*> testTasks;
+    createTestTasks(*factory, missedDeadlineFunc, pstTasks);
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+    auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
+        for(const auto& task: taskVector) {
+            if(task != nullptr) {
+                task->startTask();
+            }
+            else {
+                sif::error << "Task in vector " << name << " is invalid!" << std::endl;
+            }
+        }
+    };
+
+    sif::info << "Starting tasks.." << std::endl;
+    tmTcDistributor->startTask();
+    udpBridgeTask->startTask();
+    udpPollingTask->startTask();
+
+    taskStarter(pusTasks, "PUS Tasks");
+#if OBSW_ADD_TEST_CODE == 1
+    taskStarter(testTasks, "Test Tasks");
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+    taskStarter(pstTasks, "PST Tasks");
+
+#if OBSW_ADD_TEST_PST == 1
+    if(startTestPst) {
+        pstTestTask->startTask();
+    }
+#endif /* RPI_TEST_ACS_BOARD == 1 */
+    sif::info << "Tasks started.." << std::endl;
+}
+
+void initmission::createPusTasks(TaskFactory& factory,
+        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*>& taskVec) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
             "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
     result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
     if(result != HasReturnvaluesIF::RETURN_OK){
         sif::error << "Object add component failed" << std::endl;
     }
+    taskVec.push_back(pusVerification);
 
-    PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
+    PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
             "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-    result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+    result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-    if(result != HasReturnvaluesIF::RETURN_OK){
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-        initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
+        initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
     }
+    result = pusEvents->addComponent(objects::EVENT_MANAGER);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
+    }
+    taskVec.push_back(pusEvents);
 
-    PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
+    PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
             "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
     result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -102,8 +152,9 @@ void initmission::initTasks() {
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
     }
+    taskVec.push_back(pusHighPrio);
 
-    PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
+    PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
             "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
     result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -121,8 +172,9 @@ void initmission::initTasks() {
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
     }
+    taskVec.push_back(pusMedPrio);
 
-    PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
+    PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
             "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
     result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -133,26 +185,34 @@ void initmission::initTasks() {
         initmission::printAddObjectError("INT_ERR_RPRT",
                 objects::INTERNAL_ERROR_REPORTER);
     }
+    taskVec.push_back(pusLowPrio);
+}
 
-    bool startTestPst = true;
+void initmission::createPstTasks(TaskFactory& factory,
-#if OBSW_ADD_TEST_PST == 1
+        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
-    FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-            PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
+#if OBSW_ADD_SPI_TEST_CODE == 0
-    result = pst::pstTest(pstTestTask);
+    FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-    if(result != HasReturnvaluesIF::RETURN_OK) {
+            "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
-        sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
+            missedDeadlineFunc);
-        startTestPst = false;
+    result = pst::pstSpi(spiPst);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
     }
-#endif /* RPI_TEST_ACS_BOARD == 1 */
+    taskVec.push_back(spiPst);
+#endif
+}
 
-    PeriodicTaskIF* testTask = factory->createPeriodicTask(
+void initmission::createTestTasks(TaskFactory& factory,
+        TaskDeadlineMissedFunction missedDeadlineFunc,
+        std::vector<PeriodicTaskIF*> &taskVec) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    PeriodicTaskIF* testTask = factory.createPeriodicTask(
             "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-#if OBSW_ADD_TEST_CODE == 1
     result = testTask->addComponent(objects::TEST_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
     }
-#endif /* OBSW_ADD_TEST_CODE == 1 */
 #if RPI_ADD_SPI_TEST == 1
     result = testTask->addComponent(objects::SPI_TEST);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -172,25 +232,16 @@ void initmission::initTasks() {
     }
 #endif /* RPI_ADD_GPIO_TEST == 1 */
 
-    sif::info << "Starting tasks.." << std::endl;
+    bool startTestPst = true;
-    tmTcDistributor->startTask();
+    static_cast<void>(startTestPst);
-    udpBridgeTask->startTask();
-    udpPollingTask->startTask();
-
-    pusVerification->startTask();
-    pusEvents->startTask();
-    pusHighPrio->startTask();
-    pusMedPrio->startTask();
-    pusLowPrio->startTask();
-
-#if OBSW_ADD_TEST_CODE == 1
-    testTask->startTask();
-#endif /* OBSW_ADD_TEST_CODE == 1 */
-
 #if OBSW_ADD_TEST_PST == 1
-    if(startTestPst) {
+    FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("TEST_PST", 50,
-        pstTestTask->startTask();
+            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 +1,24 @@
 #ifndef BSP_LINUX_INITMISSION_H_
 #define BSP_LINUX_INITMISSION_H_
 
+#include "fsfw/tasks/Typedef.h"
+#include <vector>
+
+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);
 };
 
 #endif /* BSP_LINUX_INITMISSION_H_ */

bsp_linux_board/ObjectFactory.cpp

@@ -14,8 +14,6 @@
 #include "mission/core/GenericFactory.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"
@@ -33,6 +31,8 @@
 #include "fsfw/osal/common/UdpTcPollingTask.h"
 #endif
 
+#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
+#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 #include "fsfw_hal/linux/rpi/GpioRPi.h"
@@ -64,10 +64,12 @@ void ObjectFactory::produce(void* args){
     ObjectFactory::produceGenericObjects();
 
 #if OBSW_USE_TMTC_TCP_BRIDGE == 1
-    new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    tmtcBridge->setMaxNumberOfPacketsStored(50);
     new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
 #else
-    new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    tmtcBridge->setMaxNumberOfPacketsStored(50);
     new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
 #endif
 
@@ -81,7 +83,104 @@ void ObjectFactory::produce(void* args){
     SpiCookie* spiCookie = nullptr;
     static_cast<void>(spiCookie);
 
+#if OBSW_ADD_ACS_BOARD == 1
+    if(gpioCookie == nullptr) {
+        gpioCookie = new GpioCookie();
+    }
+    // TODO: Missing pin for Gyro 2
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
+            "MGM_0_LIS3", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
+            "MGM_1_RM3100", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
+            "MGM_2_LIS3", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
+            "MGM_3_RM3100", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
+            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
+            "GYRO_1_L3G", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
+            "GYRO_2_ADIS", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN,
+            "GYRO_3_L3G", gpio::Direction::OUT, 1);
+    gpioIF->addGpios(gpioCookie);
+
+    spiDev = "/dev/spidev0.1";
+    spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
+            MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+    auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
+            objects::SPI_COM_IF, spiCookie, 0);
+    mgmLis3Handler->setStartUpImmediately();
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+    mgmLis3Handler->setToGoToNormalMode(true);
+#endif
+
+    spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
+            RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+    auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
+            objects::SPI_COM_IF, spiCookie, 0);
+    mgmRm3100Handler->setStartUpImmediately();
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+    mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
+
+    spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
+            MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+    mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
+            objects::SPI_COM_IF, spiCookie, 0);
+    mgmLis3Handler->setStartUpImmediately();
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+    mgmLis3Handler->setToGoToNormalMode(true);
+#endif
+
+    spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
+            RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+    mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
+            objects::SPI_COM_IF, spiCookie, 0);
+    mgmRm3100Handler->setStartUpImmediately();
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+    mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
+
+    spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
+            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+    auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
+            spiCookie);
+    adisHandler->setStartUpImmediately();
+    spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
+            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+    auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
+            spiCookie, 0);
+    gyroL3gHandler->setStartUpImmediately();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
+    gyroL3gHandler->setToGoToNormalMode(true);
+#endif
+
+    spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
+            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+    adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+            spiCookie);
+    adisHandler->setStartUpImmediately();
+
+    spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
+            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
+            spiCookie, 0);
+    gyroL3gHandler->setStartUpImmediately();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG== 1
+    gyroL3gHandler->setToGoToNormalMode(true);
+#endif
+
+#endif /* RPI_TEST_ACS_BOARD == 1 */
+
 #if OBSW_ADD_TEST_CODE == 1
+    createTestTasks();
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+}
+
+void ObjectFactory::createTestTasks() {
+
     new TestTask(objects::TEST_TASK);
 
 #if RPI_ADD_SPI_TEST == 1
@@ -108,47 +207,6 @@ void ObjectFactory::produce(void* args){
     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();
@@ -157,7 +215,7 @@ void ObjectFactory::produce(void* args){
             "GYRO_0_ADIS", gpio::Direction::OUT, 1);
     gpioIF->addGpios(gpioCookie);
 
-    spiDev = "/dev/spidev0.0";
+    spiDev = "/dev/spidev0.1";
     spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
             ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED,
             nullptr, nullptr);
@@ -175,5 +233,4 @@ void ObjectFactory::produce(void* args){
     gpsHandler->setStartUpImmediately();
 #endif
 
-#endif /* OBSW_ADD_TEST_CODE == 1 */
 }

bsp_linux_board/ObjectFactory.h

@@ -5,6 +5,8 @@
 namespace ObjectFactory {
 	void setStatics();
 	void produce(void* args);
+
+	void createTestTasks();
 };
 
 #endif /* BSP_LINUX_OBJECTFACTORY_H_ */

bsp_linux_board/boardconfig/rpiConfig.h.in

@@ -19,13 +19,14 @@
 
 /* Adapt these values accordingly */
 namespace gpio {
-static constexpr uint8_t MGM_0_BCM_PIN = 0;
+static constexpr uint8_t MGM_0_BCM_PIN = 17;
-static constexpr uint8_t MGM_1_BCM_PIN = 1;
+static constexpr uint8_t MGM_1_BCM_PIN = 27;
-static constexpr uint8_t MGM_2_BCM_PIN = 17;
+static constexpr uint8_t MGM_2_BCM_PIN = 22;
-static constexpr uint8_t MGM_3_BCM_PIN = 27;
+static constexpr uint8_t MGM_3_BCM_PIN = 23;
 static constexpr uint8_t GYRO_0_BCM_PIN = 5;
 static constexpr uint8_t GYRO_1_BCM_PIN = 6;
-static constexpr uint8_t GYRO_2_BCM_PIN = 4;
+static constexpr uint8_t GYRO_2_BCM_PIN = 13;
+static constexpr uint8_t GYRO_3_BCM_PIN = 19;
 }
 
 #endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */

bsp_q7s/CMakeLists.txt

@@ -12,6 +12,6 @@ else()
     add_subdirectory(gpio)
     add_subdirectory(core)
     add_subdirectory(memory)
-    add_subdirectory(spiCallbacks)
+    add_subdirectory(callbacks)
     add_subdirectory(devices)
 endif()

bsp_q7s/boardconfig/busConf.h

@@ -10,32 +10,66 @@ static constexpr char I2C_DEFAULT_DEV[] = "/dev/i2c-1";
 
 static constexpr char UART_PLOC_MPSOC_DEV[] = "/dev/ttyUL3";
 static constexpr char UART_PLOC_SUPERVSIOR_DEV[] = "/dev/ttyUL4";
+static constexpr char UART_SYRLINKS_DEV[] = "/dev/ttyUL5";
 static constexpr char UART_STAR_TRACKER_DEV[] = "/dev/ttyUL8";
 
-static constexpr char GPIO_ACS_BOARD_DEFAULT_CHIP[] = "gpiochip5";
+static constexpr char UART_GNSS_0_DEV[] = "/dev/ttyUL0";
-static constexpr char GPIO_MGM2_LIS3_CHIP[] = "gpiochip6";
+static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";
 
-// TODO: Determine new pins, additional ADIS gyro device
+/**************************************************************/
-static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 1;
+/** OBC1E                                                     */
-static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 7;
+/**************************************************************/
-static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 3;
+static constexpr char GPIO_MULTIPURPOSE_1V8_OBC1D[] = "/amba_pl/gpio@42020000";
-static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 3;
+static const char* const GPIO_GYRO_ADIS_LABEL = GPIO_MULTIPURPOSE_1V8_OBC1D;
+static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 0;      // Package Pin: W20
+static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 2;      // AA22
 
-static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5;
+/**************************************************************/
-static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;
+/** OBC1F B0                                                  */
-static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0;
+/**************************************************************/
-static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10;
+static constexpr char GPIO_FLEX_OBC1F_B0[] = "/amba_pl/gpio@42030000";
+static constexpr uint32_t GPIO_FLEX_OBC1F_B0_WIDTH = 20;
+static const char* const GPIO_ACS_BOARD_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
+static const char* const GPIO_RW_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
+static const char* const GPIO_RAD_SENSOR_LABEL = GPIO_FLEX_OBC1F_B0;
 
-static constexpr char 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 GPIO_RW_SPI_MUX_CHIP[] = "gpiochip11";
+static constexpr uint32_t GPIO_RW_0_CS = 7;             // B20
-static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 57;
+static constexpr uint32_t GPIO_RW_1_CS = 3;             // G22
+static constexpr uint32_t GPIO_RW_2_CS = 11;            // E18
+static constexpr uint32_t GPIO_RW_3_CS = 6;             // B19
 
-static constexpr char GPIO_HEATER_CHIP[] = "gpiochip7";
+static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 18;      // N22
+static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 1;       // M21
+static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5;       // C18
+static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;    // A16
+static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10;    // C17
+
+// Active low enable pin (needs to be driven low for regular operations)
+static constexpr uint32_t GPIO_GYRO_0_ENABLE = 2;       // H22
+
+// Active low reset pin (needs to be driven high for regular operations)
+static constexpr uint32_t GPIO_RESET_GNSS_0 = 9;        // C22
+static constexpr uint32_t GPIO_RESET_GNSS_1 = 12;       // B21
+
+static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19;      // R18
+
+/**************************************************************/
+/** OBC1F B1                                                  */
+/**************************************************************/
+static constexpr char GPIO_FLEX_OBC1F_B1[] = "/amba_pl/gpio@42030000";
+// Need to use chip name here for now because the label name is the name for
+// gpiochip 5 and gpiochip6
+static constexpr char GPIO_FLEX_OBC1F_B1_CHIP[] = "gpiochip6";
+static const char* const GPIO_MGM2_LIS3_LABEL = GPIO_FLEX_OBC1F_B1_CHIP;
+static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0;       // D18
+
+/**************************************************************/
+/** OBC1C                                                     */
+/**************************************************************/
+static constexpr char GPIO_3V3_OBC1C[] = "/amba_pl/gpio@42040000";
+static const char* const GPIO_HEATER_LABEL = GPIO_3V3_OBC1C;
+static const char* const GPIO_SOLAR_ARR_DEPL_LABEL = GPIO_3V3_OBC1C;
 static constexpr uint32_t GPIO_HEATER_0_PIN = 6;
 static constexpr uint32_t GPIO_HEATER_1_PIN = 12;
 static constexpr uint32_t GPIO_HEATER_2_PIN = 7;
@@ -44,13 +78,23 @@ static constexpr uint32_t GPIO_HEATER_4_PIN = 3;
 static constexpr uint32_t GPIO_HEATER_5_PIN = 0;
 static constexpr uint32_t GPIO_HEATER_6_PIN = 1;
 static constexpr uint32_t GPIO_HEATER_7_PIN = 11;
+static constexpr uint32_t GPIO_GYRO_2_ENABLE = 18;      // F22
 
-static constexpr 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 GPIO_RAD_SENSOR_CHIP[] = "gpiochip5";
+static constexpr char GPIO_RW_SPI_MUX_LABEL[] = "zynq_gpio";
-static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19;
+// Uses EMIO interface to PL, starts at 54
+static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 54;
+
+static constexpr uint32_t SPI_MUX_BIT_1 = 13;
+static constexpr uint32_t SPI_MUX_BIT_2 = 14;
+static constexpr uint32_t SPI_MUX_BIT_3 = 15;
+static constexpr uint32_t SPI_MUX_BIT_4 = 16;
+static constexpr uint32_t SPI_MUX_BIT_5 = 17;
+static constexpr uint32_t SPI_MUX_BIT_6 = 9;
+static constexpr uint32_t EN_RW_CS = 17;
+
 }
 
 #endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */

bsp_q7s/boardconfig/q7sConfig.h.in

@@ -5,6 +5,17 @@
 
 #cmakedefine01 Q7S_SIMPLE_MODE
 
+/*******************************************************************/
+/** All of the following flags should be enabled for mission code  */
+/*******************************************************************/
+
+//! Timers can mess up the code when debugging
+//! All of this should be enabled for mission code!
+
+/*******************************************************************/
+/** Other flags                                                    */
+/*******************************************************************/
+
 #define Q7S_SD_NONE                                 0
 #define Q7S_SD_COLD_REDUNDANT                       1
 #define Q7S_SD_HOT_REDUNDANT                        2
@@ -17,16 +28,6 @@
 
 // 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
-
-/* Only one of those 2 should be enabled! */
-/* Add code for ACS board */
-#define OBSW_ADD_ACS_BOARD              0
-#if OBSW_ADD_ACS_BOARD == 0
-#define Q7S_ADD_SPI_TEST                0
-#endif
-
-#define Q7S_ADD_SYRLINKS_HANDLER        1
 
 #define Q7S_SIMPLE_ADD_FILE_SYSTEM_TEST             0
 

bsp_q7s/callbacks/CMakeLists.txt

@@ -1,3 +1,4 @@
 target_sources(${TARGET_NAME} PRIVATE
 	rwSpiCallback.cpp
+	gnssCallback.cpp
 )

bsp_q7s/callbacks/gnssCallback.cpp

@@ -0,0 +1,26 @@
+#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_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.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/rwSpiCallback.cpp

@@ -1,9 +1,10 @@
-#include <bsp_q7s/spiCallbacks/rwSpiCallback.h>
+#include "rwSpiCallback.h"
-#include <fsfw/serviceinterface/ServiceInterface.h>
-#include <mission/devices/RwHandler.h>
-#include <fsfw_hal/linux/spi/SpiCookie.h>
-#include <fsfw_hal/linux/UnixFileGuard.h>
 #include "devices/gpioIds.h"
+#include "mission/devices/RwHandler.h"
+
+#include "fsfw_hal/linux/spi/SpiCookie.h"
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 namespace rwSpiCallback {
 
@@ -211,7 +212,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
         result = HasReturnvaluesIF::RETURN_OK;
     }
 
-    cookie->assignTransferSize(decodedFrameLen);
+    cookie->setTransferSize(decodedFrameLen);
 
     closeSpi(gpioId, gpioIF, mutex);
 

bsp_q7s/callbacks/rwSpiCallback.h

@@ -1,9 +1,9 @@
 #ifndef BSP_Q7S_RW_SPI_CALLBACK_H_
 #define BSP_Q7S_RW_SPI_CALLBACK_H_
 
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include "fsfw_hal/linux/spi/SpiComIF.h"
-#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include "fsfw_hal/common/gpio/GpioCookie.h"
 
 
 namespace rwSpiCallback {

bsp_q7s/core/InitMission.cpp

@@ -121,7 +121,7 @@ void initmission::initTasks() {
     std::vector<PeriodicTaskIF*> pstTasks;
     createPstTasks(*factory, missedDeadlineFunc, pstTasks);
 
-#if OBSW_ADD_TEST_TASK == 1
+#if OBSW_ADD_TEST_CODE == 1
     std::vector<PeriodicTaskIF*> testTasks;
     createTestTasks(*factory, missedDeadlineFunc, testTasks);
 #endif
@@ -147,7 +147,7 @@ void initmission::initTasks() {
 
     taskStarter(pstTasks, "PST task vector");
     taskStarter(pusTasks, "PUS task vector");
-#if OBSW_ADD_TEST_TASK == 1
+#if OBSW_ADD_TEST_CODE == 1
     taskStarter(testTasks, "Test task vector");
 #endif
 
@@ -167,7 +167,7 @@ void initmission::createPstTasks(TaskFactory& factory,
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 #if BOARD_TE0720 == 0
     /* Polling Sequence Table Default */
-#if Q7S_ADD_SPI_TEST == 0
+#if OBSW_ADD_SPI_TEST_CODE == 0
     FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
             "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
             missedDeadlineFunc);
@@ -289,15 +289,19 @@ void initmission::createPusTasks(TaskFactory &factory,
 
 void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
         std::vector<PeriodicTaskIF*>& taskVec) {
+#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+#endif
     PeriodicTaskIF* testTask = factory.createPeriodicTask(
             "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
+#if OBSW_ADD_TEST_TASK == 1
     result = testTask->addComponent(objects::TEST_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
     }
+#endif /* OBSW_ADD_TEST_TASK == 1 */
 
-#if Q7S_ADD_SPI_TEST == 1
+#if OBSW_ADD_SPI_TEST_CODE == 1
     result = testTask->addComponent(objects::SPI_TEST);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);

bsp_q7s/core/ObjectFactory.cpp

@@ -9,12 +9,13 @@
 #include "devices/powerSwitcherList.h"
 #include "bsp_q7s/gpio/gpioCallbacks.h"
 #include "bsp_q7s/core/CoreController.h"
-#include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/memory/FileSystemHandler.h"
 #include "bsp_q7s/devices/PlocSupervisorHandler.h"
 #include "bsp_q7s/devices/PlocUpdater.h"
 #include "bsp_q7s/devices/PlocMemoryDumper.h"
+#include "bsp_q7s/callbacks/rwSpiCallback.h"
+#include "bsp_q7s/callbacks/gnssCallback.h"
 
 #include "linux/devices/HeaterHandler.h"
 #include "linux/devices/SolarArrayDeploymentHandler.h"
@@ -32,10 +33,9 @@
 #include "mission/devices/P60DockHandler.h"
 #include "mission/devices/Tmp1075Handler.h"
 #include "mission/devices/Max31865PT1000Handler.h"
+#include "mission/devices/GyroADIS16507Handler.h"
 #include "mission/devices/IMTQHandler.h"
 #include "mission/devices/SyrlinksHkHandler.h"
-#include "mission/devices/MGMHandlerLIS3MDL.h"
-#include "mission/devices/MGMHandlerRM3100.h"
 #include "mission/devices/PlocMPSoCHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
@@ -52,7 +52,9 @@
 
 #include "fsfw_hal/linux/uart/UartComIF.h"
 #include "fsfw_hal/linux/uart/UartCookie.h"
+#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
+#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
 #include "fsfw_hal/linux/i2c/I2cCookie.h"
 #include "fsfw_hal/linux/i2c/I2cComIF.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
@@ -81,6 +83,9 @@
 #include "linux/boardtest/LibgpiodTest.h"
 #endif
 
+ResetArgs resetArgsGnss0;
+ResetArgs resetArgsGnss1;
+
 void ObjectFactory::setStatics() {
     Factory::setStaticFrameworkObjectIds();
 }
@@ -92,6 +97,8 @@ void Factory::setStaticFrameworkObjectIds() {
     CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
     CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
 
+    //DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
+    DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
     TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
     // No storage object for now.
     TmFunnel::storageDestination = objects::NO_OBJECT;
@@ -102,7 +109,7 @@ void Factory::setStaticFrameworkObjectIds() {
     TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }
 
-void ObjectFactory::produce(void* args){
+void ObjectFactory::produce(void* args) {
     ObjectFactory::setStatics();
     ObjectFactory::produceGenericObjects();
     LinuxLibgpioIF* gpioComIF = nullptr;
@@ -116,21 +123,22 @@ void ObjectFactory::produce(void* args){
     createPcduComponents();
     createRadSensorComponent(gpioComIF);
     createSunSensorComponents(gpioComIF, spiComIF);
+
 #if OBSW_ADD_ACS_BOARD == 1
     createAcsBoardComponents(gpioComIF, uartComIF);
 #endif /* OBSW_ADD_ACS_BOARD == 1 */
     createHeaterComponents();
     createSolarArrayDeploymentComponents();
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
+#if OBSW_ADD_SYRLINKS == 1
     createSyrlinksComponents();
-#endif /* Q7S_ADD_SYRLINKS_HANDLER == 1 */
+#endif /* OBSW_ADD_SYRLINKS == 1 */
 
-#if Q7S_ADD_RTD_DEVICES == 1
+#if OBSW_ADD_RTD_DEVICES == 1
     createRtdComponents();
-#endif /* Q7S_ADD_RTD_DEVICES == 1 */
+#endif /* OBSW_ADD_RTD_DEVICES == 1 */
 
-    I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ,
+    I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
-            IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
+            q7s::I2C_DEFAULT_DEV);
     new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
     createReactionWheelComponents(gpioComIF);
 
@@ -169,15 +177,16 @@ void ObjectFactory::produce(void* args){
     sif::info << "Created UDP server for TMTC commanding with listener port " <<
     udpBridge->getUdpPort() << std::endl;
 #else
-    new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
+    tmtcBridge->setMaxNumberOfPacketsStored(50);
     auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
-    sif::info << "Created TCP server for TMTC commanding with listener port " <<
+    sif::info << "Created TCP server for TMTC commanding with listener port "
-            tcpServer->getTcpPort() << std::endl;
+            << tcpServer->getTcpPort() << std::endl;
 #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
 
     /* Test Task */
 #if OBSW_ADD_TEST_CODE == 1
-    createTestComponents();
+    createTestComponents(gpioComIF);
 #endif /* OBSW_ADD_TEST_CODE == 1 */
 
     new PlocUpdater(objects::PLOC_UPDATER);
@@ -198,19 +207,17 @@ void ObjectFactory::createTmpComponents() {
 #endif
 
     /* Temperature sensors */
-    Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
+    Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(objects::TMP1075_HANDLER_1,
-            objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
+            objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
-            i2cCookieTmp1075tcs1);
     (void) tmp1075Handler_1;
-    Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(
+    Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(objects::TMP1075_HANDLER_2,
-            objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
+            objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
-            i2cCookieTmp1075tcs2);
     (void) tmp1075Handler_2;
 }
 
-void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
+void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF, UartComIF** uartComIF,
-        UartComIF** uartComIF, SpiComIF** spiComIF) {
+        SpiComIF** spiComIF) {
-    if(gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
+    if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
         sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                 << std::endl;
     }
@@ -220,9 +227,9 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
     new CspComIF(objects::CSP_COM_IF);
     new I2cComIF(objects::I2C_COM_IF);
     *uartComIF = new UartComIF(objects::UART_COM_IF);
-#if Q7S_ADD_SPI_TEST == 0
+#if OBSW_ADD_SPI_TEST_CODE == 0
     *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
-#endif /* Q7S_ADD_SPI_TEST == 0 */
+#endif /* Q7S_ADD_SPI_TEST_CODE == 0 */
 
 #if BOARD_TE0720 == 0
     /* Adding gpios for chip select decoding to the gpioComIf */
@@ -231,23 +238,19 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
 }
 
 void ObjectFactory::createPcduComponents() {
-    CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
+    CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
-            addresses::P60DOCK);
+    CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
-    CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
+    CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
-            addresses::PDU1);
+    CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
-    CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
-            addresses::PDU2);
-    CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
-            addresses::ACU);
     /* Device Handler */
     P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER,
             objects::CSP_COM_IF, p60DockCspCookie);
-    PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER,
+    PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
-            objects::CSP_COM_IF, pdu1CspCookie);
+            pdu1CspCookie);
-    PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER,
+    PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
-            objects::CSP_COM_IF, pdu2CspCookie);
+            pdu2CspCookie);
-    ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER,
+    ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
-            objects::CSP_COM_IF, acuCspCookie);
+            acuCspCookie);
     new PCDUHandler(objects::PCDU_HANDLER, 50);
 
     /**
@@ -262,8 +265,8 @@ void ObjectFactory::createPcduComponents() {
 
 void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
     GpioCookie* gpioCookieRadSensor = new GpioCookie;
-    GpiodRegular* chipSelectRadSensor = new GpiodRegular(q7s::GPIO_RAD_SENSOR_CHIP,
+    auto chipSelectRadSensor = new GpiodRegularByLabel(q7s::GPIO_RAD_SENSOR_LABEL,
-            q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, 1);
+            q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, gpio::HIGH);
     gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
     gpioComIF->addGpios(gpioCookieRadSensor);
 
@@ -273,8 +276,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
     new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
 }
 
-void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
+void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComIF* spiComIF) {
-        SpiComIF* spiComIF) {
     GpioCookie* gpioCookieSus = new GpioCookie();
     GpioCallback* susgpio = nullptr;
 
@@ -390,85 +392,149 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
 
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
     GpioCookie* gpioCookieAcsBoard = new GpioCookie();
-    GpiodRegular* gpio = nullptr;
+    GpiodRegularByLabel* gpio = nullptr;
-    // TODO: Determine new Gyro GPIO pins
+    gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, q7s::GPIO_GYRO_0_ADIS_CS,
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_0_ADIS_CS,
             "CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_1_L3G_CS,
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_1_L3G_CS,
             "CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_2_ADIS_CS,
+    gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, q7s::GPIO_GYRO_2_ADIS_CS,
             "CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_3_L3G_CS,
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_3_L3G_CS,
             "CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_0_LIS3_CS,
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_0_LIS3_CS,
             "CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_1_RM3100_CS,
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_1_RM3100_CS,
             "CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_MGM2_LIS3_CHIP, q7s::GPIO_MGM_2_LIS3_CS,
+    auto gpioChip = new GpiodRegularByChip(q7s::GPIO_MGM2_LIS3_LABEL, q7s::GPIO_MGM_2_LIS3_CS,
             "CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH);
-    gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
+    gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpioChip);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_3_RM3100_CS,
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_3_RM3100_CS,
             "CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
+    // GNSS reset pins are active low
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_0,
+            "GNSS_0_NRESET", gpio::OUT, gpio::HIGH);
+    gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_1,
+            "GNSS_1_NRESET", gpio::OUT, gpio::HIGH);
+    gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
+
+    // Enable pins must be pulled low for regular operations
+    gpio = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
+            "GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
+    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
+            "GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
+    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
+
+    // TODO: Add enable pins for GPS as soon as new interface board design is finished
     gpioComIF->addGpios(gpioCookieAcsBoard);
 
     std::string spiDev = q7s::SPI_DEFAULT_DEV;
     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 MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
+    auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiCookie);
+            spiCookie, spi::LIS3_TRANSITION_DELAY);
     mgmLis3Handler->setStartUpImmediately();
-
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-    spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
+    mgmLis3Handler->setToGoToNormalMode(true);
-            MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+#endif
-    auto mgmLis3Handler2 = new MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
-            objects::SPI_COM_IF, spiCookie);
-    mgmLis3Handler2->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,
+    auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiCookie);
+            spiCookie, spi::RM3100_TRANSITION_DELAY);
     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);
+    auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
+            spiCookie, spi::LIS3_TRANSITION_DELAY);
+    mgmLis3Handler2->setStartUpImmediately();
+#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
+    mgmLis3Handler2->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 MGMHandlerRM3100(objects::MGM_3_RM3100_HANDLER,
+    mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiCookie);
+            spiCookie, spi::RM3100_TRANSITION_DELAY);
     mgmRm3100Handler->setStartUpImmediately();
-
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
-    //TODO: Adis Gyro (Gyro 0 Side A)
+    mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
 
     // Commented until ACS board V2 in in clean room again
-    /* Gyro 1 Side A */
+    // Gyro 0 Side A
-//    spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
+    spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-//            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
-//    auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
+            spi::DEFAULT_ADIS16507_SPEED);
-//            spiCookie);
+    auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
-//    gyroL3gHandler->setStartUpImmediately();
+            spiCookie);
-//
+    adisHandler->setStartUpImmediately();
-//    /* Gyro 2 Side B */
+    // Gyro 1 Side A
-//    spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev,
+    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);
+            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-//    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
+    auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
-//            spiCookie);
+            spiCookie, spi::L3G_TRANSITION_DELAY);
-//    gyroL3gHandler->setStartUpImmediately();
+    gyroL3gHandler->setStartUpImmediately();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+    gyroL3gHandler->setToGoToNormalMode(true);
+#endif
+    // Gyro 2 Side B
+    spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
+            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+            spi::DEFAULT_ADIS16507_SPEED);
+    adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+            spiCookie);
+    adisHandler->setStartUpImmediately();
+    // Gyro 3 Side B
+    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, spi::L3G_TRANSITION_DELAY);
+    gyroL3gHandler->setStartUpImmediately();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+    gyroL3gHandler->setToGoToNormalMode(true);
+#endif
 
-    // TODO: Add GPS device handlers
+    bool debugGps = false;
-//    auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, deviceFile, uartMode, baudrate,
+#if OBSW_DEBUG_GPS == 1
-//            maxReplyLen);
+    debugGps = true;
-//    auto uartCookieGps1 = new UartCookie(objects::GPS0_HANDLER, deviceFile, uartMode, baudrate,
+#endif
-//            maxReplyLen);
+    resetArgsGnss1.gnss1 = true;
-//    new GPSHyperionHandler(objects::GPS0_HANDLER, uartComIF);
+    resetArgsGnss1.gpioComIF = gpioComIF;
-//    new GPSHyperionHandler(objects::GPS1_HANDLER, uartComIF);
+    resetArgsGnss1.waitPeriodMs = 100;
+    resetArgsGnss0.gnss1 = false;
+    resetArgsGnss0.gpioComIF = gpioComIF;
+    resetArgsGnss0.waitPeriodMs = 100;
+    auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV,
+            UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
+    uartCookieGps0->setToFlushInput(true);
+    uartCookieGps0->setReadCycles(6);
+    auto uartCookieGps1 = new UartCookie(objects::GPS1_HANDLER, q7s::UART_GNSS_1_DEV,
+            UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
+    uartCookieGps1->setToFlushInput(true);
+    uartCookieGps1->setReadCycles(6);
+    auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
+            uartCookieGps0, debugGps);
+    gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
+    gpsHandler0->setStartUpImmediately();
+    auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
+            uartCookieGps1, debugGps);
+    gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1);
+    gpsHandler1->setStartUpImmediately();
 }
 
 void ObjectFactory::createHeaterComponents() {
@@ -476,38 +542,37 @@ void ObjectFactory::createHeaterComponents() {
     GpioCookie* heaterGpiosCookie = new GpioCookie;
 
     /* Pin H2-11 on stack connector */
-    GpiodRegular* gpioConfigHeater0 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    auto gpioConfigHeater0 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_0_PIN,
-            q7s::GPIO_HEATER_0_PIN, "Heater0", gpio::OUT, 0);
+            "Heater0", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
-
     /* Pin H2-12 on stack connector */
-    GpiodRegular* gpioConfigHeater1 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    auto gpioConfigHeater1 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_1_PIN,
-            q7s::GPIO_HEATER_1_PIN, "Heater1", gpio::OUT, 0);
+            "Heater1", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
 
     /* Pin H2-13 on stack connector */
-    GpiodRegular* gpioConfigHeater2 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    auto gpioConfigHeater2 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_2_PIN,
-            q7s::GPIO_HEATER_2_PIN, "Heater2", gpio::OUT, 0);
+            "Heater2", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
 
-    GpiodRegular* gpioConfigHeater3 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    auto gpioConfigHeater3 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_3_PIN,
-            q7s::GPIO_HEATER_3_PIN, "Heater3", gpio::OUT, 0);
+            "Heater3", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
 
-    GpiodRegular* gpioConfigHeater4 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    auto gpioConfigHeater4 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_4_PIN,
-            q7s::GPIO_HEATER_4_PIN, "Heater4", gpio::OUT, 0);
+            "Heater4", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
 
-    GpiodRegular* gpioConfigHeater5 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    auto gpioConfigHeater5 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_5_PIN,
-            q7s::GPIO_HEATER_5_PIN, "Heater5", gpio::OUT, 0);
+            "Heater5", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
 
-    GpiodRegular* gpioConfigHeater6 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    auto gpioConfigHeater6 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_6_PIN,
-            q7s::GPIO_HEATER_6_PIN, "Heater6", gpio::OUT, 0);
+            "Heater6", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
 
-    GpiodRegular* gpioConfigHeater7 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    auto gpioConfigHeater7 = new GpiodRegularByLabel(q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_7_PIN,
-            q7s::GPIO_HEATER_7_PIN, "Heater7", gpio::OUT, 0);
+            "Heater7", gpio::OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
 
     new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@@ -517,11 +582,11 @@ void ObjectFactory::createHeaterComponents() {
 void ObjectFactory::createSolarArrayDeploymentComponents() {
     GpioCookie* solarArrayDeplCookie = new GpioCookie;
 
-    GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
+    auto gpioConfigDeplSA0 = new GpiodRegularByLabel(q7s::GPIO_SOLAR_ARR_DEPL_LABEL,
-            q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, 0);
+            q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, gpio::LOW);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
-    GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
+    auto gpioConfigDeplSA1 = new GpiodRegularByLabel(q7s::GPIO_SOLAR_ARR_DEPL_LABEL,
-            q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, 0);
+            q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, gpio::LOW);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);
 
     //TODO: Find out burn time. For now set to 1000 ms.
@@ -532,7 +597,8 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
 
 void ObjectFactory::createSyrlinksComponents() {
     UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER,
-            std::string("/dev/ttyUL5"), UartModes::NON_CANONICAL, 38400, SYRLINKS::MAX_REPLY_SIZE);
+            q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL, uart::SYRLINKS_BAUD,
+            SYRLINKS::MAX_REPLY_SIZE);
     syrlinksUartCookie->setParityEven();
 
     new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
@@ -592,69 +658,62 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
 
     gpioComIF->addGpios(rtdGpioCookie);
 
-    SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
+    SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3, q7s::SPI_DEFAULT_DEV,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+    SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4, q7s::SPI_DEFAULT_DEV,
-    SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+    SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5, q7s::SPI_DEFAULT_DEV,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
-    SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5,
+    SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6, q7s::SPI_DEFAULT_DEV,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+    SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7, q7s::SPI_DEFAULT_DEV,
-    SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6,
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+    SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8, q7s::SPI_DEFAULT_DEV,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
-    SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7,
+    SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9, q7s::SPI_DEFAULT_DEV,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
-    SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
-    SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16,
             std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            spi::RTD_SPEED);
 
-    Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3,
+    Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
+            spiRtdIc3, 0); // 0 is switchId
-    Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4,
+    Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiRtdIc4, 0);
+            spiRtdIc4, 0);
-    Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5,
+    Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiRtdIc5, 0);
+            spiRtdIc5, 0);
-    Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6,
+    Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiRtdIc6, 0);
+            spiRtdIc6, 0);
-    Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7,
+    Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiRtdIc7, 0);
+            spiRtdIc7, 0);
-    Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8,
+    Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiRtdIc8, 0);
+            spiRtdIc8, 0);
-    Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9,
+    Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiRtdIc9, 0);
+            spiRtdIc9, 0);
     Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10,
             objects::SPI_COM_IF, spiRtdIc10, 0);
     Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11,
@@ -694,30 +753,30 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
 
 void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
     GpioCookie* gpioCookieRw = new GpioCookie;
-    GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT,
+    GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT, gpio::HIGH,
-            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
-    GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT,
+    GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT, gpio::HIGH,
-            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
-    GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT,
+    GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT, gpio::HIGH,
-            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
-    GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT,
+    GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT, gpio::HIGH,
-            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
 
-    GpiodRegular* enRw1 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_0_CS,
+    auto enRw1 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS,
-            "Enable reaction wheel 1", gpio::OUT, 0);
+            "Enable reaction wheel 1", gpio::OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
-    GpiodRegular* enRw2 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_1_CS,
+    auto enRw2 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS,
-            "Enable reaction wheel 2", gpio::OUT, 0);
+            "Enable reaction wheel 2", gpio::OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
-    GpiodRegular* enRw3 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_2_CS,
+    auto enRw3 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS,
-            "Enable reaction wheel 3", gpio::OUT, 0);
+            "Enable reaction wheel 3", gpio::OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
-    GpiodRegular* enRw4 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_3_CS,
+    auto enRw4 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_3_CS,
-            "Enable reaction wheel 4", gpio::OUT, 0);
+            "Enable reaction wheel 4", gpio::OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
 
     /**
@@ -725,8 +784,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
      * the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
      * Per default the PS SPI is selected (EMIO = 0).
      */
-    GpiodRegular* spiMux = new GpiodRegular(q7s::GPIO_RW_SPI_MUX_CHIP, q7s::GPIO_RW_SPI_MUX_CS,
+    auto spiMux = new GpiodRegularByLabel(q7s::GPIO_RW_SPI_MUX_LABEL,
-            "EMIO 0 SPI Mux", gpio::OUT, 0);
+            q7s::GPIO_RW_SPI_MUX_CS, "EMIO 0 SPI Mux", gpio::OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
 
     gpioComIF->addGpios(gpioCookieRw);
@@ -746,33 +805,49 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
 
     auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
             gpioIds::EN_RW1);
+#if OBSW_DEBUG_RW == 1
+    rwHandler1->setStartUpImmediately();
+#endif
     rw1SpiCookie->setCallbackArgs(rwHandler1);
 
     auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
             gpioIds::EN_RW2);
+#if OBSW_DEBUG_RW == 1
+    rwHandler2->setStartUpImmediately();
+#endif
     rw2SpiCookie->setCallbackArgs(rwHandler2);
 
     auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
             gpioIds::EN_RW3);
+#if OBSW_DEBUG_RW == 1
+    rwHandler3->setStartUpImmediately();
+#endif
     rw3SpiCookie->setCallbackArgs(rwHandler3);
 
     auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
             gpioIds::EN_RW4);
+#if OBSW_DEBUG_RW == 1
+    rwHandler4->setStartUpImmediately();
+#endif
     rw4SpiCookie->setCallbackArgs(rwHandler4);
 }
 
-void ObjectFactory::createTestComponents() {
+void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 
 #if BOARD_TE0720 == 0
     new Q7STestTask(objects::TEST_TASK);
 #endif
 
 #if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
+#if OBSW_TEST_GPIO_LABEL == 1
     /* Configure MIO0 as input */
-    GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
+    GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::OUT, 0, "/amba_pl/gpio@41200000", 0);
-            std::string("MIO0"), gpio::IN, 0);
+#else
+    /* Configure MIO0 as input */
+    GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
+#endif /* OBSW_TEST_GPIO_LABEL == 1 */
     GpioCookie* gpioCookie = new GpioCookie;
-    gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
+    gpioCookie->addGpio(gpioIds::TEST_ID_0, testGpio);
     new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
 #endif
 
@@ -849,7 +924,7 @@ void ObjectFactory::createTestComponents() {
     plocSupervisor->setStartUpImmediately();
 #endif
 
-#if Q7S_ADD_SPI_TEST == 1
+#if OBSW_ADD_SPI_TEST_CODE == 1
     new SpiTestClass(objects::SPI_TEST, gpioComIF);
 #endif
 

bsp_q7s/core/ObjectFactory.h

@@ -22,7 +22,7 @@ void createSolarArrayDeploymentComponents();
 void createSyrlinksComponents();
 void createRtdComponents(LinuxLibgpioIF* gpioComIF);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
-void createTestComponents();
+void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
 };
 

bsp_q7s/gpio/gpioCallbacks.cpp

@@ -1,4 +1,5 @@
 #include "gpioCallbacks.h"
+#include "busConf.h"
 #include <devices/gpioIds.h>
 
 #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
@@ -23,30 +24,31 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
 
     GpioCookie* spiMuxGpios = new GpioCookie;
 
+    GpiodRegularByLabel* spiMuxBit = nullptr;
     /** Setting mux bit 1 to low will disable IC21 on the interface board */
-    GpiodRegular* spiMuxBit1 = new GpiodRegular(std::string("gpiochip7"), 13,
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_1,
-            std::string("SPI Mux Bit 1"), gpio::OUT, 0);
+            "SPI Mux Bit 1", gpio::OUT, gpio::LOW);
-    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit1);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
     /** Setting mux bit 2 to low disables IC1 on the TCS board */
-    GpiodRegular* spiMuxBit2 = new GpiodRegular(std::string("gpiochip7"), 14,
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_2,
-            std::string("SPI Mux Bit 2"), gpio::OUT, 0);
+            "SPI Mux Bit 2", gpio::OUT, gpio::LOW);
-    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit2);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
     /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
-    GpiodRegular* spiMuxBit3 = new GpiodRegular(std::string("gpiochip7"), 15,
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_3,
-            std::string("SPI Mux Bit 3"), gpio::OUT, 0);
+            "SPI Mux Bit 3", gpio::OUT, gpio::LOW);
-    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit3);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
     /** The following gpios can take arbitrary initial values */
-    GpiodRegular* spiMuxBit4 = new GpiodRegular(std::string("gpiochip7"), 16,
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_4,
-            std::string("SPI Mux Bit 4"), gpio::OUT, 0);
+            "SPI Mux Bit 4", gpio::OUT, gpio::LOW);
-    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit4);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
-    GpiodRegular* spiMuxBit5 = new GpiodRegular(std::string("gpiochip7"), 17,
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_5,
-            std::string("SPI Mux Bit 5"), gpio::OUT, 0);
+            "SPI Mux Bit 5", gpio::OUT, gpio::LOW);
-    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit5);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
-    GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("gpiochip7"), 9,
+    spiMuxBit = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_6,
-            std::string("SPI Mux Bit 6"), gpio::OUT, 0);
+            "SPI Mux Bit 6", gpio::OUT, gpio::LOW);
-    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6);
+    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
-    GpiodRegular* enRwDecoder = new GpiodRegular(std::string("gpiochip5"), 17,
+    GpiodRegularByLabel* enRwDecoder = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B1,
-            std::string("EN_RW_CS"), gpio::OUT, 1);
+            q7s::EN_RW_CS, "EN_RW_CS", gpio::OUT, gpio::HIGH);
     spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
 
     result = gpioComInterface->addGpios(spiMuxGpios);

bsp_q7s/simple/simple.cpp

@@ -11,6 +11,10 @@ int simple::simple() {
     {
         FileSystemTest fileSystemTest;
     }
+#endif
+
+#if TE0720_GPIO_TEST
+
 #endif
     return 0;
 }

cmake/HardwareOsPreConfig.cmake

@@ -53,9 +53,9 @@ endif()
 	
 
 if(TGT_BSP)
-	if (${TGT_BSP} MATCHES "arm/raspberrypi" OR ${TGT_BSP} MATCHES "arm/beagleboneblack")
+	if (TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
 		set(BSP_PATH "bsp_linux_board")
-	elseif(${TGT_BSP} MATCHES "arm/q7s")
+	elseif(TGT_BSP MATCHES "arm/q7s")
 		set(BSP_PATH "bsp_q7s")
 	else() 
 		message(WARNING "CMake not configured for this target!")

cmake/Q7SCrossCompileConfig.cmake

@@ -1,5 +1,8 @@
+if(DEFINED ENV{Q7S_SYSROOT})
+	set(ENV{Q7S_ROOTFS} $ENV{Q7S_SYSROOT})
+endif()
 # CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
-if(NOT DEFINED ENV{Q7S_SYSROOT})
+if(NOT DEFINED ENV{Q7S_ROOTFS})
     # Sysroot has not been cached yet and was not set in environment either
     if(NOT DEFINED SYSROOT_PATH)
         message(FATAL_ERROR 
@@ -7,7 +10,7 @@ if(NOT DEFINED ENV{Q7S_SYSROOT})
         )
     endif()
 else()
-	set(SYSROOT_PATH "$ENV{Q7S_SYSROOT}" CACHE PATH "Q7S root filesystem path")
+	set(SYSROOT_PATH "$ENV{Q7S_ROOTFS}" CACHE PATH "Q7S root filesystem path")
 endif()
 
 if(NOT DEFINED ENV{CROSS_COMPILE})

common/config/OBSWVersion.h

@@ -4,7 +4,7 @@
 const char* const SW_NAME = "eive";
 
 #define SW_VERSION 1
-#define SW_SUBVERSION 6
+#define SW_SUBVERSION 7
-#define SW_REVISION 1
+#define SW_REVISION 0
 
 #endif /* COMMON_CONFIG_OBSWVERSION_H_ */

common/config/devConf.h

@@ -10,14 +10,17 @@
  */
 namespace spi {
 
-/* Default values, changing them is not supported for now */
+// Default values, changing them is not supported for now
-static constexpr uint32_t DEFAULT_LIS3_SPEED = 3'900'000;
+static constexpr uint32_t DEFAULT_LIS3_SPEED = 976'000;
+static constexpr uint32_t LIS3_TRANSITION_DELAY = 10000;
 static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3;
 
 static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000;
+static constexpr uint32_t RM3100_TRANSITION_DELAY = 10000;
 static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3;
 
-static constexpr uint32_t DEFAULT_L3G_SPEED = 3'900'000;
+static constexpr uint32_t DEFAULT_L3G_SPEED = 976'000;
+static constexpr uint32_t L3G_TRANSITION_DELAY = 10000;
 static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
 
 static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;
@@ -26,15 +29,18 @@ 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;
 
 }
 
 namespace uart {
 
+static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024;
+static constexpr uint32_t SYRLINKS_BAUD = 38400;
+static constexpr uint32_t GNSS_BAUD = 9600;
 static constexpr uint32_t PLOC_MPSOC_BAUD = 115200;
 static constexpr uint32_t PLOC_SUPERVISOR_BAUD = 115200;
 static constexpr uint32_t STAR_TRACKER_BAUD = 115200;

fsfw

@@ -1 +1 @@
-Subproject commit 882da68a2f0c1301d433d517c449c9c31f3cb35e
+Subproject commit e1a85b47c5018590e58b9b1130b1754b0079450f

generators/.gitignore

@@ -0,0 +1 @@
+.~lock*

linux/archive/gpio/LinuxLibgpioIF.cpp

@@ -10,6 +10,9 @@
 
 
 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() {

linux/archive/gpio/LinuxLibgpioIF.h

@@ -47,9 +47,9 @@ private:
 	 * @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, GpiodRegular* regularGpio, unsigned int logiclevel);
+	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio, unsigned int logiclevel);
 
-	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
+	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio);
 
 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether

linux/boardtest/LibgpiodTest.cpp

@@ -15,7 +15,7 @@ LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
         sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
     }
     gpioInterface->addGpios(gpioCookie);
-    testCase = TestCases::LOOPBACK;
+    testCase = TestCases::BLINK;
 }
 
 LibgpiodTest::~LibgpiodTest() {
@@ -29,7 +29,7 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
     case(TestCases::READ): {
         result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
         if (result != RETURN_OK) {
-            sif::debug << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
+            sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
                     << std::endl;
             return RETURN_FAILED;
         }
@@ -42,6 +42,38 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
     case(TestCases::LOOPBACK): {
         break;
     }
+    case(TestCases::BLINK): {
+        result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
+                    << std::endl;
+            return RETURN_FAILED;
+        }
+        if (gpioState == 1) {
+            result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO low!"
+                        << std::endl;
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+        }
+        else if (gpioState == 0) {
+            result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO high!"
+                        << std::endl;
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+        }
+        else {
+            sif::warning << "LibgpiodTest::performPeriodicAction: Invalid GPIO state" << std::endl;
+        }
+
+        break;
+    }
+    default:
+        sif::debug << "LibgpiodTest::performPeriodicAction: Invalid test case" << std::endl;
+        break;
     }
 
 
@@ -56,6 +88,9 @@ ReturnValue_t LibgpiodTest::performOneShotAction() {
     case(TestCases::READ): {
         break;
     }
+    case(TestCases::BLINK): {
+        break;
+    }
     case(TestCases::LOOPBACK): {
         result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
         if(result == HasReturnvaluesIF::RETURN_OK) {

linux/boardtest/LibgpiodTest.h

@@ -14,7 +14,8 @@ class LibgpiodTest: public TestTask {
 public:
     enum TestCases {
         READ = 0,
-        LOOPBACK = 1
+        LOOPBACK = 1,
+        BLINK
     };
 
     TestCases testCase;

linux/boardtest/SpiTestClass.cpp

@@ -1,5 +1,4 @@
 #include "SpiTestClass.h"
-#include "OBSWConfig.h"
 
 #include "devices/gpioIds.h"
 
@@ -20,13 +19,12 @@
 #include <sys/ioctl.h>
 #include <bitset>
 
-
 SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId),
 gpioIF(gpioIF) {
     if(gpioIF == nullptr) {
         sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
     }
-    testMode = TestModes::GYRO_L3GD20H;
+    testMode = TestModes::MGM_LIS3MDL;
     spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
     spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
 }
@@ -37,11 +35,11 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
         break;
     }
     case(TestModes::MGM_LIS3MDL): {
-        performLis3MdlTest(mgm2Lis3mdlChipSelect);
+        performLis3MdlTest(mgm0Lis3mdlChipSelect);
         break;
     }
     case(TestModes::MGM_RM3100): {
-        performRm3100Test(mgm3Rm3100ChipSelect);
+        performRm3100Test(mgm1Rm3100ChipSelect);
         break;
     }
     case(TestModes::GYRO_L3GD20H): {
@@ -115,7 +113,7 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
     sif::info << "Cycle count Y: " << cycleCountY << std::endl;
     sif::info << "Cycle count z: " << cycleCountZ << std::endl;
 
-    writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x95);
+    writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x96);
     uint8_t tmrcReg = readRm3100Register(fileDescriptor, currentGpioId, 0x0B);
     sif::info << "SpiTestClass::performRm3100Test: TMRC register value: " <<
             std::hex << "0x" << static_cast<int>(tmrcReg) << std::dec << std::endl;
@@ -150,10 +148,10 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
     float fieldStrengthY = rawY * scaleFactor;
     float fieldStrengthZ = rawZ * scaleFactor;
 
-    sif::info << "RM3100 measured field strenghts in microtesla:" << std::endl;
+    sif::info << "RM3100 measured field strengths in microtesla:" << std::endl;
-    sif::info << "Field Strength X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
+    sif::info << "Field Strength X: " << fieldStrengthX << " uT" << std::endl;
-    sif::info << "Field Strength Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
+    sif::info << "Field Strength Y: " << fieldStrengthY << " uT" << std::endl;
-    sif::info << "Field Strength Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
+    sif::info << "Field Strength Z: " << fieldStrengthZ << " uT" << std::endl;
 }
 
 void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
@@ -174,8 +172,8 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
     else {
         currentGpioId = gpioIds::MGM_2_LIS3_CS;
     }
-    uint32_t spiSpeed = 3'900'000;
+    uint32_t spiSpeed = 10'000'000;
-    spi::SpiModes spiMode = spi::SpiModes::MODE_3;
+    spi::SpiModes spiMode = spi::SpiModes::MODE_0;
 #ifdef RASPBERRY_PI
     std::string deviceName = "/dev/spidev0.0";
 #else
@@ -208,10 +206,10 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
     /* Configure all SPI chip selects and pull them high */
     acsInit();
 
-    l3gId = gyro2L3gd20ChipSelect;
+    l3gId = gyro1L3gd20ChipSelect;
 
     /* Adapt accordingly */
-    if(l3gId != gyro1L3gd20ChipSelect and l3gId != gyro2L3gd20ChipSelect) {
+    if(l3gId != gyro1L3gd20ChipSelect and l3gId != gyro3L3gd20ChipSelect) {
         sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
     }
     gpioId_t currentGpioId = 0;
@@ -300,69 +298,74 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
 
 void SpiTestClass::acsInit() {
     GpioCookie* gpioCookie = new GpioCookie();
-    GpiodRegular* gpio = nullptr;
+
 #ifdef RASPBERRY_PI
+    GpiodRegularByChip* gpio = nullptr;
     std::string rpiGpioName = "gpiochip0";
-    gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
+    gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
 
-    gpio = new GpiodRegular(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
+    gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
 
-    gpio = new GpiodRegular(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
+    gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
 
-    gpio = new GpiodRegular(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
+    gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
 
-    gpio = new GpiodRegular(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
+    gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G",
             gpio::Direction::OUT, 1);
-    gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
+    gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
-    gpio = new GpiodRegular(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
+    gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
 
-    gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
+    gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 #elif defined(XIPHOS_Q7S)
-    std::string q7sGpioName5 = "gpiochip5";
+    GpiodRegularByLabel* gpio = nullptr;
-    std::string q7sGpioName6 = "gpiochip6";
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm0Lis3mdlChipSelect,
-
+            "MGM_0_LIS3", gpio::Direction::OUT, gpio::HIGH);
-    gpio = new GpiodRegular(q7sGpioName5, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
-            gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm1Rm3100ChipSelect,
-    gpio = new GpiodRegular(q7sGpioName5, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
+            "MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH);
-            gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_MGM2_LIS3_LABEL, mgm2Lis3mdlChipSelect,
+            "MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH);
+    gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm3Rm3100ChipSelect,
+            "MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH);
+    gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
-    gpio = new GpiodRegular(q7sGpioName5, gyro0AdisChipSelect, "GYRO_0_ADIS",
+    gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, gyro0AdisChipSelect,
-            gpio::Direction::OUT, gpio::HIGH);
+            "GYRO_0_ADIS", gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
-
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro1L3gd20ChipSelect,
-    gpio = new GpiodRegular(q7sGpioName5, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
+            "GYRO_1_L3G", gpio::Direction::OUT, gpio::HIGH);
-            gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
-
+    gpio = new GpiodRegularByLabel(q7s::GPIO_GYRO_ADIS_LABEL, gyro2AdisChipSelect, "GYRO_2_ADIS",
-    gpio = new GpiodRegular(q7sGpioName5, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
             gpio::Direction::OUT, gpio::HIGH);
+    gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro3L3gd20ChipSelect,
+            "GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
-    gpio = new GpiodRegular(q7sGpioName6, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
+    // Enable pins must be pulled low for regular operations
-            gpio::Direction::OUT, gpio::HIGH);
+    gpio = new GpiodRegularByLabel(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
-    gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
+            "GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
-
+    gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
-    gpio = new GpiodRegular(q7sGpioName5, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
+    gpio = new GpiodRegularByLabel(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
-            gpio::Direction::OUT, gpio::HIGH);
+            "GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
-    gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
+    gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
 #endif
-    if(gpioIF != nullptr) {
+    if (gpioIF != nullptr) {
         gpioIF->addGpios(gpioCookie);
     }
 }

linux/boardtest/SpiTestClass.h

@@ -1,6 +1,12 @@
 #ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
 #define LINUX_BOARDTEST_SPITESTCLASS_H_
 
+#include "OBSWConfig.h"
+
+#if defined(XIPHOS_Q7S)
+#include "busConf.h"
+#endif
+
 #include <fsfw_hal/common/gpio/GpioIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <test/testtasks/TestTask.h>
@@ -39,22 +45,24 @@ private:
 
     /* ACS board specific variables */
 #ifdef RASPBERRY_PI
-    uint8_t mgm0Lis3mdlChipSelect = 0;
+    uint8_t mgm0Lis3mdlChipSelect = gpio::MGM_0_BCM_PIN;
-    uint8_t mgm1Rm3100ChipSelect = 1;
+    uint8_t mgm1Rm3100ChipSelect = gpio::MGM_1_BCM_PIN;
-    uint8_t gyro0AdisChipSelect = 5;
+    uint8_t mgm2Lis3mdlChipSelect = gpio::MGM_2_BCM_PIN;
-    uint8_t gyro1L3gd20ChipSelect = 6;
+    uint8_t mgm3Rm3100ChipSelect = gpio::MGM_3_BCM_PIN;
-    uint8_t gyro2L3gd20ChipSelect = 4;
+
-    uint8_t mgm2Lis3mdlChipSelect = 17;
+    uint8_t gyro0AdisChipSelect = gpio::GYRO_0_BCM_PIN;
-    uint8_t mgm3Rm3100ChipSelect = 27;
+    uint8_t gyro1L3gd20ChipSelect = gpio::GYRO_1_BCM_PIN;
+    uint8_t gyro2AdisChipSelect = gpio::GYRO_2_BCM_PIN;
+    uint8_t gyro3L3gd20ChipSelect = gpio::GYRO_3_BCM_PIN;
 #elif defined(XIPHOS_Q7S)
-    uint8_t mgm0Lis3mdlChipSelect = 5;
+    uint8_t mgm0Lis3mdlChipSelect = q7s::GPIO_MGM_0_LIS3_CS;
-    uint8_t mgm1Rm3100ChipSelect = 17;
+    uint8_t mgm1Rm3100ChipSelect = q7s::GPIO_MGM_1_RM3100_CS;
-    uint8_t gyro0AdisResetLine = 20;
+    uint8_t gyro0AdisChipSelect = q7s::GPIO_GYRO_0_ADIS_CS;
-    uint8_t gyro0AdisChipSelect = 21;
+    uint8_t gyro2AdisChipSelect = q7s::GPIO_GYRO_2_ADIS_CS;
-    uint8_t gyro1L3gd20ChipSelect = 10;
+    uint8_t gyro1L3gd20ChipSelect = q7s::GPIO_GYRO_1_L3G_CS;
-    uint8_t gyro2L3gd20ChipSelect = 3;
+    uint8_t gyro3L3gd20ChipSelect = q7s::GPIO_GYRO_3_L3G_CS;
-    uint8_t mgm2Lis3mdlChipSelect = 0;
+    uint8_t mgm2Lis3mdlChipSelect = q7s::GPIO_MGM_2_LIS3_CS;
-    uint8_t mgm3Rm3100ChipSelect = 23;
+    uint8_t mgm3Rm3100ChipSelect = q7s::GPIO_MGM_3_RM3100_CS;
 #else
     uint8_t mgm0Lis3mdlChipSelect = 0;
     uint8_t mgm1Rm3100ChipSelect = 0;

linux/fsfwconfig/FSFWConfig.h.in

@@ -73,5 +73,11 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 }
 
 #define FSFW_HAL_LINUX_SPI_WIRETAPPING          0
+#define FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV   0
+
+#define FSFW_HAL_L3GD20_GYRO_DEBUG              0
+#define FSFW_HAL_RM3100_MGM_DEBUG               0
+#define FSFW_HAL_LIS3MDL_MGM_DEBUG              0
+#define FSFW_HAL_ADIS16507_GYRO_DEBUG           0
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

linux/fsfwconfig/OBSWConfig.h.in

@@ -6,9 +6,9 @@
 #ifndef FSFWCONFIG_OBSWCONFIG_H_
 #define FSFWCONFIG_OBSWCONFIG_H_
 
-/* #undef RASPBERRY_PI */
+#cmakedefine RASPBERRY_PI
-#define XIPHOS_Q7S
+#cmakedefine XIPHOS_Q7S
-/* #undef BEAGLEBONEBLACK */
+#cmakedefine BEAGLEBONEBLACK
 
 #ifdef RASPBERRY_PI
 #include "rpiConfig.h"
@@ -31,11 +31,39 @@ debugging. */
 
 //! Timers can mess up the code when debugging
 //! All of this should be enabled for mission code!
+#if defined XIPHOS_Q7S
+
 #define OBSW_ENABLE_TIMERS                          1
-#define OBSW_ADD_GPS                                0
 #define OBSW_ADD_STAR_TRACKER                       0
 #define OBSW_ADD_PLOC_SUPERVISOR                    0
 #define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_GPS_0                              0
+#define OBSW_ADD_GPS_1                              0
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_RAD_SENSORS                        0
+#define OBSW_ADD_SYRLINKS                           0
+
+#elif defined RASPBERRY_PI
+
+#define OBSW_ENABLE_TIMERS                          1
+#define OBSW_ADD_STAR_TRACKER                       0
+#define OBSW_ADD_PLOC_SUPERVISOR                    0
+#define OBSW_ADD_PLOC_MPSOC                         0
+#define OBSW_ADD_SUN_SENSORS                        0
+#define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_GPS_0                              0
+#define OBSW_ADD_GPS_1                              0
+#define OBSW_ADD_RW                                 0
+#define OBSW_ADD_RTD_DEVICES                        0
+#define OBSW_ADD_TMP_DEVICES                        0
+#define OBSW_ADD_RAD_SENSORS                        0
+#define OBSW_ADD_SYRLINKS                           0
+
+#endif
 
 /*******************************************************************/
 /** All of the following flags should be disabled for mission code */
@@ -44,7 +72,9 @@ debugging. */
 //! /* Can be used to switch device to NORMAL mode immediately */
 #define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
 #define OBSW_PRINT_MISSED_DEADLINES                 1
+// If this is enabled, all other SPI code should be disabled
 #define OBSW_ADD_TEST_CODE                          0
+#define OBSW_ADD_SPI_TEST_CODE                      0
 #define OBSW_ADD_TEST_PST                           0
 #define OBSW_ADD_TEST_TASK                          0
 #define OBSW_TEST_LIBGPIOD                          0
@@ -54,15 +84,16 @@ debugging. */
 #define OBSW_TEST_CCSDS_BRIDGE                      0
 #define OBSW_TEST_CCSDS_PTME                        0
 #define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_LABEL                        0
 
 #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
 #define OBSW_DEBUG_ADIS16507                        0
-#define OBSW_DEBUG_L3GD20_GYRO                      0
 #define OBSW_DEBUG_RAD_SENSOR                       0
 #define OBSW_DEBUG_SUS                              0
 #define OBSW_DEBUG_RTD                              0

linux/fsfwconfig/devices/gpioIds.h

@@ -25,6 +25,12 @@ enum gpioId_t {
     MGM_2_LIS3_CS,
     MGM_3_RM3100_CS,
 
+    GNSS_0_NRESET,
+    GNSS_1_NRESET,
+
+    GYRO_0_ENABLE,
+    GYRO_2_ENABLE,
+
     TEST_ID_0,
     TEST_ID_1,
 

linux/fsfwconfig/devices/powerSwitcherList.h

@@ -5,7 +5,7 @@
 
 namespace pcduSwitches {
 	/* Switches are uint8_t datatype and go from 0 to 255 */
-	enum switcherList {
+	enum SwitcherList: uint8_t {
 	    Q7S,
         PAYLOAD_PCDU_CH1,
         RW,
@@ -22,7 +22,7 @@ namespace pcduSwitches {
         SUS_NOMINAL,
         SOLAR_CELL_EXP,
         PLOC,
-        ACS_BORAD_SIDE_A,
+        ACS_BOARD_SIDE_A,
         NUMBER_OF_SWITCHES
 	};
 

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -28,12 +28,14 @@ ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence)
 
 ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     uint32_t length = thisSequence->getPeriodMs();
-
+    static_cast<void>(length);
+#if OBSW_ADD_TMP_DEVICES == 1
     thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
     thisSequence->addSlot(objects::RTD_IC3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RTD_IC4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RTD_IC5, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -50,11 +52,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RTD_IC16, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RTD_IC17, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RTD_IC18, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
 
+#if OBSW_ADD_TMP_DEVICES == 1
     thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
     thisSequence->addSlot(objects::RTD_IC3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RTD_IC4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RTD_IC5, length * 0.2, DeviceHandlerIF::SEND_WRITE);
@@ -71,11 +75,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RTD_IC16, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RTD_IC17, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RTD_IC18, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
 
+#if OBSW_ADD_TMP_DEVICES == 1
     thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
     thisSequence->addSlot(objects::RTD_IC3, length * 0.4, DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::RTD_IC4, length * 0.4, DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::RTD_IC5, length * 0.4, DeviceHandlerIF::GET_WRITE);
@@ -92,11 +98,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RTD_IC16, length * 0.4, DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::RTD_IC17, length * 0.4, DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::RTD_IC18, length * 0.4, DeviceHandlerIF::GET_WRITE);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
 
+#if OBSW_ADD_TMP_DEVICES == 1
     thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
     thisSequence->addSlot(objects::RTD_IC3, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RTD_IC4, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RTD_IC5, length * 0.6, DeviceHandlerIF::SEND_READ);
@@ -113,11 +121,13 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RTD_IC16, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RTD_IC17, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RTD_IC18, length * 0.6, DeviceHandlerIF::SEND_READ);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
 
+#if OBSW_ADD_TMP_DEVICES == 1
     thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
-#if Q7S_ADD_RTD_DEVICES == 1
+#endif
+#if OBSW_ADD_RTD_DEVICES == 1
     thisSequence->addSlot(objects::RTD_IC3, length * 0.8, DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::RTD_IC4, length * 0.8, DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::RTD_IC5, length * 0.8, DeviceHandlerIF::GET_READ);
@@ -134,15 +144,18 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RTD_IC16, length * 0.8, DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::RTD_IC17, length * 0.8, DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::RTD_IC18, length * 0.8, DeviceHandlerIF::GET_READ);
-#endif /* Q7S_ADD_RTD_DEVICES */
+#endif /* OBSW_ADD_RTD_DEVICES */
 
+#if OBSW_ADD_RAD_SENSORS == 1
     /* Radiation sensor */
     thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
+#endif
 
+#if OBSW_ADD_SUN_SENSORS == 1
     /**
      * The sun sensor will be shutdown as soon as the chip select is pulled high. Thus all
      * requests to a sun sensor must be performed consecutively. Another reason for calling multiple
@@ -151,254 +164,255 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
      * One sun sensor communication sequence also blocks the SPI bus. So other devices can not be
      * inserted between the device handler cycles of one SUS.
      */
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ);
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ);
 
     /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ);
-    //    /* Write setup */
+    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ);
-    //    /* Write setup */
+    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ);
 
     /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ);
-    //    /* Write setup */
+    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ);
-    //    /* Write setup */
+    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ);
 
     /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ);
-    //    /* Write setup */
+    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ);
-    //    /* Write setup */
+    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ);
-    //
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ);
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ);
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ);
-    //
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ);
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ);
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ);
-    //
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ);
-    //    /* Start ADC conversions */
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ);
-    //    /* Read ADC conversions from inernal FIFO */
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ);
-    //
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ);
-    //    /* Start ADC conversions */
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ);
-    //    /* Read ADC conversions from inernal FIFO */
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ);
-    //
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ);
-    //    /* Start ADC conversions */
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ);
-    //    /* Read ADC conversions from inernal FIFO */
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ);
-    //
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ);
-    //    /* Start ADC conversions */
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ);
-    //    /* Read ADC conversions */
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ);
-    //
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ);
-    //    /* Start ADC conversions */
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ);
-    //    /* Read ADC conversions */
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ);
-    //
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ);
-    //    /* Start ADC conversions */
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ);
-    //    /* Read ADC conversions */
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ);
-    //
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ);
-    //    /* Start ADC conversions */
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ);
-    //    /* Read ADC conversions */
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ);
-    //
-    //    /* Write setup */
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE);
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ);
-    //    /* Start ADC conversions */
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ);
-    //    /* Read ADC conversions */
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION);
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE);
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE);
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ);
-    //    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
 
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ);
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ);
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ);
+
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ);
+    /* Start ADC conversions */
+    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ);
+    /* Read ADC conversions from inernal FIFO */
+    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ);
+
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ);
+    /* Start ADC conversions */
+    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ);
+    /* Read ADC conversions from inernal FIFO */
+    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ);
+
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ);
+    /* Start ADC conversions */
+    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ);
+    /* Read ADC conversions from inernal FIFO */
+    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ);
+
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ);
+    /* Start ADC conversions */
+    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ);
+    /* Read ADC conversions */
+    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ);
+
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ);
+    /* Start ADC conversions */
+    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ);
+    /* Read ADC conversions */
+    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ);
+
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ);
+    /* Start ADC conversions */
+    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ);
+    /* Read ADC conversions */
+    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ);
+
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ);
+    /* Start ADC conversions */
+    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ);
+    /* Read ADC conversions */
+    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ);
+
+    /* Write setup */
+    thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE);
+    thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ);
+    /* Start ADC conversions */
+    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ);
+    /* Read ADC conversions */
+    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
+#endif
+
+#if OBSW_ADD_RW == 1
     thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::RW1, length * 0.4, DeviceHandlerIF::GET_WRITE);
@@ -407,92 +421,120 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 
     thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW2, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW2, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW2, length * 0.85, DeviceHandlerIF::GET_READ);
 
     thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW3, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW3, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW3, length * 0.85, DeviceHandlerIF::GET_READ);
 
     thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW4, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW4, length * 0.7, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::RW4, length * 0.85, DeviceHandlerIF::GET_READ);
+#endif
 
 #if OBSW_ADD_ACS_BOARD == 1
+    bool enableAside = true;
+    bool enableBside = false;
+    if(enableAside) {
+        // A side
         thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
         thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
                 DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
         thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7,
                 DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85,
                 DeviceHandlerIF::GET_READ);
 
         thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
                 DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
         thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.75,
                 DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85,
                 DeviceHandlerIF::GET_READ);
 
+//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
+//                DeviceHandlerIF::PERFORM_OPERATION);
+//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3,
+//                DeviceHandlerIF::SEND_WRITE);
+//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
+//                DeviceHandlerIF::GET_WRITE);
+//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75,
+//                DeviceHandlerIF::SEND_READ);
+//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85,
+//                DeviceHandlerIF::GET_READ);
+
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+                DeviceHandlerIF::PERFORM_OPERATION);
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.35,
+                DeviceHandlerIF::SEND_WRITE);
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.75,
+                DeviceHandlerIF::SEND_READ);
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85,
+                DeviceHandlerIF::GET_READ);
+    }
+
+    if(enableBside) {
+        // B side
         thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
         thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
                 DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
         thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-
-
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
                 DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7,
                 DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85,
                 DeviceHandlerIF::GET_READ);
 
-
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-
-
         thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
                 DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
         thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.75,
                 DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85,
                 DeviceHandlerIF::GET_READ);
-#endif
+
+//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
+//                DeviceHandlerIF::PERFORM_OPERATION);
+//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.3,
+//                DeviceHandlerIF::SEND_WRITE);
+//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
+//                DeviceHandlerIF::GET_WRITE);
+//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.75,
+//                DeviceHandlerIF::SEND_READ);
+//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85,
+//                DeviceHandlerIF::GET_READ);
+
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
+                DeviceHandlerIF::PERFORM_OPERATION);
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.35,
+                DeviceHandlerIF::SEND_WRITE);
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
+                DeviceHandlerIF::GET_WRITE);
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75,
+                DeviceHandlerIF::SEND_READ);
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85,
+                DeviceHandlerIF::GET_READ);
+    }
+#endif /* OBSW_ADD_ACS_BOARD == 1 */
 
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "SPI PST initialization failed" << std::endl;
@@ -519,8 +561,11 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
 ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
     // Length of a communication cycle
     uint32_t length = thisSequence->getPeriodMs();
+    static_cast<void>(length);
+    bool uartPstEmpty = true;
 
 #if OBSW_ADD_PLOC_MPSOC == 1
+    uartPstEmpty = false;
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2,
@@ -549,61 +594,54 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
             DeviceHandlerIF::GET_READ);
 #endif
 
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
+#if OBSW_ADD_SYRLINKS == 1
+    uartPstEmpty = false;
     thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
-    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-#endif
-
     thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2,
             DeviceHandlerIF::SEND_WRITE);
-
-#if OBSW_ADD_ACS_BOARD == 1
-    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-#endif
-
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
     thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4,
             DeviceHandlerIF::GET_WRITE);
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
-    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-#endif
-
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
     thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6,
             DeviceHandlerIF::SEND_READ);
-#endif
-#if OBSW_ADD_ACS_BOARD == 1
-    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-#endif
-
-#if Q7S_ADD_SYRLINKS_HANDLER == 1
     thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
 #endif
+
 #if OBSW_ADD_ACS_BOARD == 1
+
+#if OBSW_ADD_GPS_0 == 1
+    uartPstEmpty = false;
+    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
+#endif /* OBSW_ADD_GPS_0 == 1 */
+
+#if OBSW_ADD_GPS_1 == 1
+    uartPstEmpty = false;
+    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
-#endif
+#endif /* OBSW_ADD_GPS_1 == 1 */
+
+#endif /* OBSW_ADD_ACS_BOARD == 1 */
 
 #if OBSW_ADD_STAR_TRACKER == 1
+    uartPstEmpty = false;
     thisSequence->addSlot(objects::START_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::START_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::START_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
@@ -611,6 +649,9 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::START_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
 #endif
 
+    if(uartPstEmpty) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "UART PST initialization failed" << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -681,77 +722,6 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF* thisSequence) {
     /* Length of a communication cycle */
     uint32_t length = thisSequence->getPeriodMs();
     bool notEmpty = false;
-#if OBSW_ADD_ACS_BOARD == 1
-    notEmpty = true;
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-
-
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-
-
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-
-
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
-#endif
 
 #if RPI_TEST_ADIS16507 == 1
     notEmpty = true;

mission/core/GenericFactory.cpp

@@ -36,22 +36,22 @@ void ObjectFactory::produceGenericObjects() {
 
     {
         PoolManager::LocalPoolConfig poolCfg = {
-                {100, 16}, {50, 32}, {25, 64}, {15, 128}, {10, 1024}, {5, 2048}
+                {300, 16}, {300, 32}, {200, 64}, {200, 128}, {100, 1024}, {10, 2048}
         };
         new PoolManager(objects::TC_STORE, poolCfg);
     }
 
     {
         PoolManager::LocalPoolConfig poolCfg = {
-                {100, 16}, {50, 32}, {25, 64}, {15, 128}, {10, 1024}, {5, 2048}
+                {300, 16}, {300, 32}, {100, 64}, {100, 128}, {100, 1024}, {10, 2048}
         };
         new PoolManager(objects::TM_STORE, poolCfg);
     }
 
     {
         PoolManager::LocalPoolConfig poolCfg = {
-                { 100, 16 }, { 100, 32 }, { 100, 64 },
+                { 300, 16 }, { 200, 32 }, { 150, 64 },
-                { 100, 128 }, { 50, 256 }, { 50, 512 }, { 50, 1024 }, { 10, 2048 }
+                { 150, 128 }, { 100, 256 }, { 50, 512 }, { 50, 1024 }, { 10, 2048 }
         };
         new PoolManager(objects::IPC_STORE, poolCfg);
     }

mission/devices/CMakeLists.txt

@@ -1,7 +1,5 @@
 target_sources(${TARGET_NAME} PUBLIC
 	GPSHyperionHandler.cpp
-	MGMHandlerLIS3MDL.cpp
-	MGMHandlerRM3100.cpp
 	GomspaceDeviceHandler.cpp
 	Tmp1075Handler.cpp
 	PCDUHandler.cpp

mission/devices/GPSHyperionHandler.cpp

@@ -6,6 +6,11 @@
 
 #include "lwgps/lwgps.h"
 
+#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
+#include <filesystem>
+#include <fstream>
+#endif
+
 GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
         CookieIF *comCookie, bool debugHyperionGps):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this),
@@ -37,16 +42,30 @@ void GPSHyperionHandler::doShutDown() {
 }
 
 ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-    return HasReturnvaluesIF::RETURN_OK;
+    return NOTHING_TO_SEND;
 }
 
 ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-    return HasReturnvaluesIF::RETURN_OK;
+    return NOTHING_TO_SEND;
 }
 
 ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
         DeviceCommandId_t deviceCommand, const uint8_t *commandData,
         size_t commandDataLen) {
+    // By default, send nothing
+    rawPacketLen = 0;
+    switch(deviceCommand) {
+    case(GpsHyperion::TRIGGER_RESET_PIN): {
+        if(resetCallback != nullptr) {
+            PoolReadGuard pg(&gpsSet);
+            // Set HK entries invalid
+            gpsSet.setValidity(false, true);
+            resetCallback(resetCallbackArgs);
+            return HasActionsIF::EXECUTION_FINISHED;
+        }
+        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+    }
+    }
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -54,9 +73,9 @@ 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::info << "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 chcking whether NMEA start string is valid
+            // TODO: Check whether data is valid by checking whether NMEA start string is valid?
             commandExecuted = true;
         }
         int result = lwgps_process(&gpsData, start, len);
@@ -82,7 +101,14 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
             // Negative latitude -> South direction
             gpsSet.latitude.value = gpsData.latitude;
             // Negative longitude -> West direction
-            gpsSet.longitude.value = gpsData.latitude;
+            gpsSet.longitude.value = gpsData.longitude;
+            if(gpsData.altitude > 600000.0 or gpsData.altitude < 400000.0) {
+                gpsSet.altitude.setValid(false);
+            }
+            else {
+                gpsSet.altitude.setValid(true);
+                gpsSet.altitude.value = gpsData.altitude;
+            }
             gpsSet.fixMode.value = gpsData.fix_mode;
             gpsSet.satInUse.value = gpsData.sats_in_use;
             Clock::TimeOfDay_t timeStruct = {};
@@ -101,6 +127,7 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
             gpsSet.hours = gpsData.hours;
             gpsSet.minutes = gpsData.minutes;
             gpsSet.seconds = gpsData.seconds;
+            gpsSet.unixSeconds = timeval.tv_sec;
             if(debugHyperionGps) {
                 sif::info << "GPS Data" << std::endl;
                 printf("Valid status: %d\n", gpsData.is_valid);
@@ -108,8 +135,19 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
                 printf("Longitude: %f degrees\n", gpsData.longitude);
                 printf("Altitude: %f meters\n", gpsData.altitude);
             }
+#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
+            std::string filename = "/mnt/sd0/gps_log.txt";
+            std::ofstream gpsFile;
+            if(not std::filesystem::exists(filename)) {
+                gpsFile.open(filename, std::ofstream::out);
+            }
+            gpsFile.open(filename, std::ofstream::out | std::ofstream::app);
+            gpsFile.write("\n", 1);
+            gpsFile.write(reinterpret_cast<const char*>(start), len);
+#endif
         }
         *foundLen = len;
+        *foundId = GpsHyperion::GPS_REPLY;
     }
     return HasReturnvaluesIF::RETURN_OK;
 
@@ -145,8 +183,32 @@ ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
 void GPSHyperionHandler::fillCommandAndReplyMap() {
     // Reply length does not matter, packets should always arrive periodically
     insertInReplyMap(GpsHyperion::GPS_REPLY, 4, &gpsSet, 0, true);
+    insertInCommandMap(GpsHyperion::TRIGGER_RESET_PIN);
 }
 
 void GPSHyperionHandler::modeChanged() {
     internalState = InternalStates::NONE;
 }
+
+void GPSHyperionHandler::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
+        void *args) {
+    this->resetCallback = resetCallback;
+    resetCallbackArgs = args;
+}
+
+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);
+}
+
+ReturnValue_t GPSHyperionHandler::acceptExternalDeviceCommands() {
+    return DeviceHandlerBase::acceptExternalDeviceCommands();
+}

mission/devices/GPSHyperionHandler.h

@@ -6,7 +6,6 @@
 #include "devicedefinitions/GPSDefinitions.h"
 #include "lwgps/lwgps.h"
 
-
 /**
  * @brief   Device handler for the Hyperion HT-GPS200 device
  * @details
@@ -15,12 +14,22 @@
  */
 class GPSHyperionHandler: public DeviceHandlerBase {
 public:
+
 	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 acceptExternalDeviceCommands() override;
+
+	ReturnValue_t initialize() override;
 protected:
 
+	gpioResetFunction_t resetCallback = nullptr;
+	void* resetCallbackArgs = nullptr;
+
 	enum class InternalStates {
 	    NONE,
 	    WAIT_FIRST_MESSAGE,
@@ -49,7 +58,8 @@ protected:
 	uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
 	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
 			LocalDataPoolManager &poolManager) override;
-
+    virtual void debugInterface(uint8_t positionTracker = 0,
+            object_id_t objectId = 0, uint32_t parameter = 0) override;
 private:
 	lwgps_t gpsData = {};
 	GpsPrimaryDataset gpsSet;

mission/devices/GomspaceDeviceHandler.cpp

@@ -7,11 +7,11 @@ GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t c
         DeviceHandlerBase(objectId, comIF, comCookie), maxConfigTableAddress(maxConfigTableAddress),
         maxHkTableAddress(maxHkTableAddress), hkTableReplySize(hkTableReplySize),
         hkTableDataset(hkTableDataset) {
-    if (comCookie == NULL) {
+    if (comCookie == nullptr) {
         sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid com cookie"
                 << std::endl;
     }
-    if (hkTableDataset == NULL) {
+    if (hkTableDataset == nullptr) {
         sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid hk table data set"
                 << std::endl;
     }
@@ -75,6 +75,10 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
         }
         break;
     }
+    case(GOMSPACE::PRINT_SWITCH_V_I): {
+        result = printStatus(deviceCommand);
+        break;
+    }
     case(GOMSPACE::REQUEST_HK_TABLE): {
         result = generateRequestFullHkTableCmd(hkTableReplySize);
         if(result != HasReturnvaluesIF::RETURN_OK){
@@ -95,6 +99,7 @@ void GomspaceDeviceHandler::fillCommandAndReplyMap(){
     this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3);
     this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3);
     this->insertInCommandMap(GOMSPACE::GNDWDT_RESET);
+    this->insertInCommandMap(GOMSPACE::PRINT_SWITCH_V_I);
 }
 
 ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t *start,
@@ -396,3 +401,8 @@ LocalPoolDataSetBase* GomspaceDeviceHandler::getDataSetHandle(sid_t sid) {
 void GomspaceDeviceHandler::setModeNormal() {
     mode = MODE_NORMAL;
 }
+
+ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) {
+    sif::info << "No printHkTable implementation given.." << std::endl;
+    return HasReturnvaluesIF::RETURN_OK;
+}

mission/devices/GomspaceDeviceHandler.h

@@ -88,6 +88,13 @@ protected:
      */
     virtual ReturnValue_t generateRequestFullHkTableCmd(uint16_t hkTableSize);
 
+    /**
+     * This command handles printing the HK table to the console. This is useful for debugging
+     * purposes
+     * @return
+     */
+    virtual ReturnValue_t printStatus(DeviceCommandId_t cmd);
+
     /**
      * @brief	Because housekeeping tables are device specific the handling of the reply is
      * 			given to the child class.

mission/devices/GyroADIS16507Handler.cpp

@@ -1,8 +1,7 @@
+#include "GyroADIS16507Handler.h"
 #include <fsfw/action/HasActionsIF.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 
-#include "GyroADIS16507Handler.h"
-
 #if OBSW_ADIS16507_LINUX_COM_IF == 1
 #include "fsfw_hal/linux/utility.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
@@ -16,7 +15,7 @@ GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
         object_id_t deviceCommunication, CookieIF * comCookie):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
         configDataset(this), breakCountdown() {
-#if OBSW_DEBUG_ADIS16507 == 1
+#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
     debugDivider = new PeriodicOperationDivider(5);
 #endif
 
@@ -73,6 +72,7 @@ ReturnValue_t GyroADIS16507Handler::buildTransitionDeviceCommand(DeviceCommandId
         break;
     }
     case(InternalState::STARTUP): {
+        return NOTHING_TO_SEND;
         break;
     }
     default: {
@@ -200,7 +200,7 @@ ReturnValue_t GyroADIS16507Handler::interpretDeviceReply(DeviceCommandId_t id,
         uint16_t readProdId = packet[10] << 8 | packet[11];
         if (readProdId != ADIS16507::PROD_ID) {
 #if OBSW_VERBOSE_LEVEL >= 1
-            sif::debug << "GyroADIS16507Handler::interpretDeviceReply: Invalid product ID!"
+            sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Invalid product ID!"
                     << std::endl;
 #endif
             return HasReturnvaluesIF::RETURN_FAILED;
@@ -284,7 +284,7 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
             primaryDataset.setValidity(true, true);
         }
 
-#if OBSW_DEBUG_ADIS16507 == 1
+#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
         if(debugDivider->checkAndIncrement()) {
             sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
             sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
@@ -402,7 +402,7 @@ ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *
         cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
         comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
         cookie->assignWriteBuffer(sendData);
-        cookie->assignTransferSize(2);
+        cookie->setTransferSize(2);
 
         gpioId_t gpioId = cookie->getChipSelectPin();
         GpioIF* gpioIF =  comIf->getGpioInterface();

mission/devices/GyroADIS16507Handler.h

@@ -1,11 +1,13 @@
 #ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
 #define MISSION_DEVICES_GYROADIS16507HANDLER_H_
 
-#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include "OBSWConfig.h"
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "FSFWConfig.h"
 #include "devicedefinitions/GyroADIS16507Definitions.h"
 
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+
 #if OBSW_ADIS16507_LINUX_COM_IF == 1
 class SpiComIF;
 class SpiCookie;
@@ -69,7 +71,7 @@ private:
             const uint8_t *sendData, size_t sendLen, void* args);
 #endif
 
-#if OBSW_DEBUG_ADIS16507 == 1
+#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
     PeriodicOperationDivider* debugDivider;
 #endif
     Countdown breakCountdown;

mission/devices/MGMHandlerLIS3MDL.cpp

@@ -1,486 +0,0 @@
-#include "MGMHandlerLIS3MDL.h"
-
-#include "fsfw/datapool/PoolReadGuard.h"
-#if OBSW_VERBOSE_LEVEL >= 1
-#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
-
-MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
-        object_id_t deviceCommunication, CookieIF* comCookie):
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        dataset(this) {
-#if OBSW_VERBOSE_LEVEL >= 1
-    debugDivider = new PeriodicOperationDivider(5);
-#endif
-    /* Set to default values right away. */
-    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
-    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
-    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
-    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
-    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-
-}
-
-MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
-}
-
-
-void MGMHandlerLIS3MDL::doStartUp() {
-    switch (internalState) {
-    case(InternalState::STATE_NONE): {
-        internalState = InternalState::STATE_FIRST_CONTACT;
-        break;
-    }
-    case(InternalState::STATE_FIRST_CONTACT): {
-        /* Will be set by checking device ID (WHO AM I register) */
-        if(commandExecuted) {
-            commandExecuted = false;
-            internalState = InternalState::STATE_SETUP;
-        }
-        break;
-    }
-    case(InternalState::STATE_SETUP): {
-        internalState = InternalState::STATE_CHECK_REGISTERS;
-        break;
-    }
-    case(InternalState::STATE_CHECK_REGISTERS): {
-        /* Set up cached registers which will be used to configure the MGM. */
-        if(commandExecuted) {
-            commandExecuted = false;
-#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
-            setMode(MODE_NORMAL);
-#else
-            setMode(_MODE_TO_ON);
-#endif
-        }
-        break;
-    }
-    default:
-        break;
-    }
-
-}
-
-void MGMHandlerLIS3MDL::doShutDown() {
-    setMode(_MODE_POWER_DOWN);
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
-        DeviceCommandId_t *id) {
-    switch (internalState) {
-    case(InternalState::STATE_NONE):
-    case(InternalState::STATE_NORMAL): {
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    case(InternalState::STATE_FIRST_CONTACT): {
-        *id = MGMLIS3MDL::IDENTIFY_DEVICE;
-        break;
-    }
-    case(InternalState::STATE_SETUP): {
-        *id = MGMLIS3MDL::SETUP_MGM;
-        break;
-    }
-    case(InternalState::STATE_CHECK_REGISTERS): {
-        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        break;
-    }
-    default: {
-        /* might be a configuration error. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
-                std::endl;
-#else
-        sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    }
-    return buildCommandFromCommand(*id, NULL, 0);
-}
-
-uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) {
-    command |= (1 << MGMLIS3MDL::RW_BIT);
-    if (continuousCom == true) {
-        command |= (1 << MGMLIS3MDL::MS_BIT);
-    }
-    return command;
-}
-
-uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
-    command &= ~(1 << MGMLIS3MDL::RW_BIT);
-    if (continuousCom == true) {
-        command |= (1 << MGMLIS3MDL::MS_BIT);
-    }
-    return command;
-}
-
-void MGMHandlerLIS3MDL::setupMgm() {
-
-    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
-    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
-    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
-    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
-    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
-
-    prepareCtrlRegisterWrite();
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
-        DeviceCommandId_t *id) {
-    // Data/config register will be read in an alternating manner.
-    if(communicationStep == CommunicationStep::DATA) {
-        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        communicationStep = CommunicationStep::TEMPERATURE;
-        return buildCommandFromCommand(*id, NULL, 0);
-    }
-    else {
-        *id = MGMLIS3MDL::READ_TEMPERATURE;
-        communicationStep = CommunicationStep::DATA;
-        return buildCommandFromCommand(*id, NULL, 0);
-    }
-
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
-        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-        size_t commandDataLen) {
-    switch(deviceCommand) {
-    case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
-        std::memset(commandBuffer, 0, sizeof(commandBuffer));
-        commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
-
-        rawPacket = commandBuffer;
-        rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
-        return RETURN_OK;
-    }
-    case(MGMLIS3MDL::READ_TEMPERATURE): {
-        std::memset(commandBuffer, 0, 3);
-        commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
-
-        rawPacket = commandBuffer;
-        rawPacketLen = 3;
-        return RETURN_OK;
-    }
-    case(MGMLIS3MDL::IDENTIFY_DEVICE): {
-        return identifyDevice();
-    }
-    case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
-        return enableTemperatureSensor(commandData, commandDataLen);
-    }
-    case(MGMLIS3MDL::SETUP_MGM): {
-        setupMgm();
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
-        return setOperatingMode(commandData, commandDataLen);
-    }
-    default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
-    return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
-    uint32_t size = 2;
-    commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
-    commandBuffer[1] = 0x00;
-
-    rawPacket = commandBuffer;
-    rawPacketLen = size;
-
-    return RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
-        size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
-    *foundLen = len;
-    if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
-        *foundLen = len;
-        *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
-        // Check validity by checking config registers
-        if (start[1] != registers[0] or start[2] != registers[1] or
-                start[3] != registers[2] or start[4] != registers[3] or
-                start[5] != registers[4]) {
-#if OBSW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
-#else
-            sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
-#endif
-#endif
-            return DeviceHandlerIF::INVALID_DATA;
-        }
-        if(mode == _MODE_START_UP) {
-            commandExecuted = true;
-        }
-
-    }
-    else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
-        *foundLen = len;
-        *foundId = MGMLIS3MDL::READ_TEMPERATURE;
-    }
-    else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
-        *foundLen = len;
-        *foundId = MGMLIS3MDL::SETUP_MGM;
-    }
-    else if (len == SINGLE_COMMAND_ANSWER_LEN) {
-        *foundLen = len;
-        *foundId = getPendingCommand();
-        if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
-            if(start[1] != MGMLIS3MDL::DEVICE_ID) {
-#if OBSW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-                sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
-#else
-                sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
-#endif
-#endif
-                return DeviceHandlerIF::INVALID_DATA;
-            }
-
-            if(mode == _MODE_START_UP) {
-                commandExecuted = true;
-            }
-        }
-    }
-    else {
-        return DeviceHandlerIF::INVALID_DATA;
-    }
-
-    /* Data with SPI Interface always has this answer */
-    if (start[0] == 0b11111111) {
-        return RETURN_OK;
-    }
-    else {
-        return DeviceHandlerIF::INVALID_DATA;
-    }
-
-}
-ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
-        const uint8_t *packet) {
-
-    switch (id) {
-    case MGMLIS3MDL::IDENTIFY_DEVICE: {
-        break;
-    }
-    case MGMLIS3MDL::SETUP_MGM: {
-        break;
-    }
-    case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
-        // TODO: Store configuration in new local datasets.
-
-        uint8_t scale = getFullScale(registers[2]);
-        float sensitivityFactor = getSensitivityFactor(scale);
-
-        int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
-                | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
-        int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
-                | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
-        int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
-                | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
-
-        /* Target value in microtesla */
-        float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-        float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-        float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
-                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
-
-#if OBSW_VERBOSE_LEVEL >= 1
-        if(debugDivider->checkAndIncrement()) {
-            /* Set terminal to utf-8 if there is an issue with micro printout. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "MGMHandlerLIS3: Magnetic field strength in"
-                    " microtesla:" << std::endl;
-            sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl;
-            sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl;
-            sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl;
-#else
-            sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
-            sif::printInfo("X: %f " "\xC2\xB5" "T\n", mgmX);
-            sif::printInfo("Y: %f " "\xC2\xB5" "T\n", mgmY);
-            sif::printInfo("Z: %f " "\xC2\xB5" "T\n", mgmZ);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
-        }
-#endif /* OBSW_VERBOSE_LEVEL >= 1 */
-        PoolReadGuard readHelper(&dataset);
-        if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            dataset.fieldStrengthX = mgmX;
-            dataset.fieldStrengthY = mgmY;
-            dataset.fieldStrengthZ = mgmZ;
-            dataset.setValidity(true, true);
-        }
-        break;
-    }
-
-    case MGMLIS3MDL::READ_TEMPERATURE: {
-        int16_t tempValueRaw = packet[2] << 8 | packet[1];
-        float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
-#if OBSW_VERBOSE_LEVEL >= 1
-        if(debugDivider->check()) {
-            /* Set terminal to utf-8 if there is an issue with micro printout. */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " \xC2\xB0" << "C" <<
-                    std::endl;
-#else
-            sif::printInfo("MGMHandlerLIS3: Temperature: %f" "\xC2\xB0" "C\n");
-#endif
-        }
-#endif
-        ReturnValue_t result = dataset.read();
-        if(result == HasReturnvaluesIF::RETURN_OK) {
-            dataset.temperature = tempValue;
-            dataset.commit();
-        }
-        break;
-    }
-
-    default: {
-        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
-    }
-
-    }
-    return RETURN_OK;
-}
-
-uint8_t MGMHandlerLIS3MDL::getFullScale(uint8_t ctrlRegister2) {
-    bool FS0 = false;
-    bool FS1 = false;
-    if ((ctrlRegister2 >> 5) == 1)
-        FS0 = true;
-    if ((ctrlRegister2 >> 6) == 1)
-        FS1 = true;
-    if ((FS0 == true) && (FS1 == true))
-        return 16;
-    else if ((FS0 == false) && (FS1 == true))
-        return 12;
-    else if ((FS0 == true) && (FS1 == false))
-        return 8;
-    else
-        return 4;
-}
-
-float MGMHandlerLIS3MDL::getSensitivityFactor(uint8_t scale) {
-    return (float) scale / (INT16_MAX);
-}
-
-
-ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
-        const uint8_t *commandData, size_t commandDataLen) {
-    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
-    uint32_t size = 2;
-    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
-    if (commandDataLen > 1) {
-        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
-    }
-    switch (*commandData) {
-    case (MGMLIS3MDL::ON): {
-        commandBuffer[1] = registers[0] | (1 << 7);
-        break;
-    }
-    case (MGMLIS3MDL::OFF): {
-        commandBuffer[1] = registers[0] & ~(1 << 7);
-        break;
-    }
-    default:
-        return INVALID_COMMAND_PARAMETER;
-    }
-    registers[0] = commandBuffer[1];
-
-    rawPacket = commandBuffer;
-    rawPacketLen = size;
-
-    return RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
-        size_t commandDataLen) {
-    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
-    if (commandDataLen != 1) {
-        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
-    }
-
-    switch (commandData[0]) {
-    case MGMLIS3MDL::LOW:
-        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
-        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
-        break;
-    case MGMLIS3MDL::MEDIUM:
-        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
-        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
-        break;
-
-    case MGMLIS3MDL::HIGH:
-        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
-        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
-        break;
-
-    case MGMLIS3MDL::ULTRA:
-        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
-        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
-        break;
-    default:
-        break;
-    }
-
-    return prepareCtrlRegisterWrite();
-}
-
-void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
-    /*
-     * Regarding ArduinoBoard:
-     * Actually SPI answers directly, but as commanding ArduinoBoard the
-     * communication could be delayed
-     * SPI always has to be triggered, so there could be no periodic answer of
-     * the device, the device has to asked with a command, so periodic is zero.
-     *
-     * We dont read single registers, we just expect special
-     * reply from he Readall_MGM
-     */
-    insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
-    insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
-    insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
-    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
-
-    for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
-        commandBuffer[i + 1] = registers[i];
-    }
-    rawPacket = commandBuffer;
-    rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
-
-    /* We dont have to check if this is working because we just did it */
-    return RETURN_OK;
-}
-
-void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
-
-}
-
-uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return 20000;
-}
-
-void MGMHandlerLIS3MDL::modeChanged(void) {
-    internalState = InternalState::STATE_NONE;
-}
-
-ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
-            new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
-            new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
-            new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
-            new PoolEntry<float>({0.0}));
-    return HasReturnvaluesIF::RETURN_OK;
-}

mission/devices/MGMHandlerLIS3MDL.h

@@ -1,167 +0,0 @@
-#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
-#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
-
-#include "OBSWConfig.h"
-#include "devicedefinitions/MGMHandlerLIS3Definitions.h"
-#include "events/subsystemIdRanges.h"
-
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
-
-class PeriodicOperationDivider;
-
-/**
- * @brief   Device handler object for the LIS3MDL 3-axis magnetometer
- *          by STMicroeletronics
- * @details
- * Datasheet can be found online by googling LIS3MDL.
- * Flight manual:
- * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
- * @author  L. Loidold, R. Mueller
- */
-class MGMHandlerLIS3MDL: public DeviceHandlerBase {
-public:
-    enum class CommunicationStep {
-        DATA,
-        TEMPERATURE
-    };
-
-    static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
-    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
-    //Notifies a command to change the setup parameters
-    static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
-
-    MGMHandlerLIS3MDL(uint32_t objectId, object_id_t deviceCommunication,
-            CookieIF* comCookie);
-    virtual ~MGMHandlerLIS3MDL();
-
-protected:
-
-    /** DeviceHandlerBase overrides */
-    void doShutDown() override;
-    void doStartUp() override;
-    void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
-    uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
-    ReturnValue_t buildCommandFromCommand(
-            DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-            size_t commandDataLen) override;
-    ReturnValue_t buildTransitionDeviceCommand(
-            DeviceCommandId_t *id) override;
-    ReturnValue_t buildNormalDeviceCommand(
-            DeviceCommandId_t *id) override;
-    ReturnValue_t scanForReply(const uint8_t *start, size_t len,
-            DeviceCommandId_t *foundId, size_t *foundLen) override;
-    ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-            const uint8_t *packet) override;
-    void fillCommandAndReplyMap() override;
-    void modeChanged(void) override;
-    ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-            LocalDataPoolManager &poolManager) override;
-
-private:
-    MGMLIS3MDL::MgmPrimaryDataset dataset;
-
-    /*------------------------------------------------------------------------*/
-    /* Device specific commands and variables */
-    /*------------------------------------------------------------------------*/
-    /**
-     * Sets the read bit for the command
-     * @param single command to set the read-bit at
-     * @param boolean to select a continuous read bit, default = false
-     */
-    uint8_t readCommand(uint8_t command, bool continuousCom = false);
-
-    /**
-     * Sets the write bit for the command
-     * @param single command to set the write-bit at
-     * @param boolean to select a continuous write bit, default = false
-     */
-    uint8_t writeCommand(uint8_t command, bool continuousCom = false);
-
-    /**
-     * This Method gets the full scale for the measurement range
-     * e.g.: +- 4 gauss. See p.25 datasheet.
-     *  @return The ReturnValue does not contain the sign of the value
-     */
-    uint8_t getFullScale(uint8_t ctrlReg2);
-
-    /**
-     * The 16 bit value needs to be divided by the full range of a 16bit value
-     * and then multiplied with the current scale of the MGM.
-     * This factor returns the factor required to achieve this with
-     * one multiplication.
-     *
-     * @param scale is the return value of the getFulscale Method
-     * @return Multiplication factor to get the sensor value from raw data.
-     */
-    float getSensitivityFactor(uint8_t scale);
-
-    /**
-     * This Command detects the device ID
-     */
-    ReturnValue_t identifyDevice();
-
-    virtual void setupMgm();
-
-    /*------------------------------------------------------------------------*/
-    /* Non normal commands */
-    /*------------------------------------------------------------------------*/
-    /**
-     * Enables/Disables the integrated Temperaturesensor
-     * @param commandData On or Off
-     * @param length of the commandData: has to be 1
-     */
-    virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
-            size_t commandDataLen);
-
-    /**
-     * Sets the accuracy of the measurement of the axis. The noise is changing.
-     * @param commandData LOW, MEDIUM, HIGH, ULTRA
-     * @param length of the command, has to be 1
-     */
-    virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
-            size_t commandDataLen);
-
-
-    //Length a sindgle command SPI answer
-    static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
-
-    //Single SPIcommand has 2 bytes, first for adress, second for content
-    size_t singleComandSize = 2;
-    //has the size for all adresses of the lis3mdl + the continous write bit
-    uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
-
-    /**
-     * We want to save the registers we set, so we dont have to read the
-     * registers when we want to change something.
-     * --> everytime we change set a register we have to save it
-     */
-    uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
-
-    uint8_t statusRegister = 0;
-
-    /**
-     * We always update all registers together, so this method updates
-     * the rawpacket and rawpacketLen, so we just manipulate the local
-     * saved register
-     *
-     */
-    ReturnValue_t prepareCtrlRegisterWrite();
-
-    enum class InternalState {
-        STATE_NONE,
-        STATE_FIRST_CONTACT,
-        STATE_SETUP,
-        STATE_CHECK_REGISTERS,
-        STATE_NORMAL
-    };
-
-    InternalState internalState = InternalState::STATE_NONE;
-    CommunicationStep communicationStep = CommunicationStep::DATA;
-    bool commandExecuted = false;
-
-#if OBSW_VERBOSE_LEVEL >= 1
-    PeriodicOperationDivider* debugDivider;
-#endif
-};
-
-#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

mission/devices/MGMHandlerRM3100.cpp

@@ -1,363 +0,0 @@
-#include "MGMHandlerRM3100.h"
-
-#include "fsfw/datapool/PoolReadGuard.h"
-#include "fsfw/globalfunctions/bitutility.h"
-#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
-#include "fsfw/objectmanager/SystemObjectIF.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
-
-
-MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
-        object_id_t deviceCommunication, CookieIF* comCookie):
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        primaryDataset(this) {
-#if OBSW_VERBOSE_LEVEL >= 1
-    debugDivider = new PeriodicOperationDivider(5);
-#endif
-}
-
-MGMHandlerRM3100::~MGMHandlerRM3100() {}
-
-void MGMHandlerRM3100::doStartUp() {
-    switch(internalState) {
-    case(InternalState::NONE): {
-        internalState = InternalState::CONFIGURE_CMM;
-        break;
-    }
-    case(InternalState::CONFIGURE_CMM): {
-        internalState = InternalState::READ_CMM;
-        break;
-    }
-    case(InternalState::READ_CMM): {
-        if(commandExecuted) {
-            internalState = InternalState::STATE_CONFIGURE_TMRC;
-        }
-        break;
-    }
-    case(InternalState::STATE_CONFIGURE_TMRC): {
-        if(commandExecuted) {
-            internalState = InternalState::STATE_READ_TMRC;
-        }
-        break;
-    }
-    case(InternalState::STATE_READ_TMRC): {
-        if(commandExecuted) {
-            internalState = InternalState::NORMAL;
-#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
-            setMode(MODE_NORMAL);
-#else
-            setMode(_MODE_TO_ON);
-#endif
-        }
-        break;
-    }
-    default: {
-        break;
-    }
-    }
-}
-
-void MGMHandlerRM3100::doShutDown() {
-    setMode(_MODE_POWER_DOWN);
-}
-
-ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
-        DeviceCommandId_t *id) {
-    switch(internalState) {
-    case(InternalState::NONE):
-    case(InternalState::NORMAL): {
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    case(InternalState::CONFIGURE_CMM): {
-        *id = RM3100::CONFIGURE_CMM;
-        break;
-    }
-    case(InternalState::READ_CMM): {
-        *id = RM3100::READ_CMM;
-        break;
-    }
-    case(InternalState::STATE_CONFIGURE_TMRC): {
-        *id = RM3100::CONFIGURE_TMRC;
-        break;
-    }
-    case(InternalState::STATE_READ_TMRC): {
-        *id = RM3100::READ_TMRC;
-        break;
-    }
-    default:
-        /* Might be a configuration error. */
-        sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
-                std::endl;
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    return buildCommandFromCommand(*id, nullptr, 0);
-}
-
-ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand(
-        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-        size_t commandDataLen) {
-    switch(deviceCommand) {
-    case(RM3100::CONFIGURE_CMM): {
-        commandBuffer[0] = RM3100::CMM_REGISTER;
-        commandBuffer[1] = RM3100::CMM_VALUE;
-        rawPacket = commandBuffer;
-        rawPacketLen = 2;
-        break;
-    }
-    case(RM3100::READ_CMM): {
-        commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
-        commandBuffer[1] = 0;
-        rawPacket = commandBuffer;
-        rawPacketLen = 2;
-        break;
-    }
-    case(RM3100::CONFIGURE_TMRC): {
-        return handleTmrcConfigCommand(deviceCommand, commandData,
-                commandDataLen);
-    }
-    case(RM3100::READ_TMRC): {
-        commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
-        commandBuffer[1] = 0;
-        rawPacket = commandBuffer;
-        rawPacketLen = 2;
-        break;
-    }
-    case(RM3100::CONFIGURE_CYCLE_COUNT): {
-        return handleCycleCountConfigCommand(deviceCommand, commandData,
-                commandDataLen);
-    }
-    case(RM3100::READ_CYCLE_COUNT): {
-        commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
-        std::memset(commandBuffer + 1, 0, 6);
-        rawPacket = commandBuffer;
-        rawPacketLen = 7;
-        break;
-    }
-    case(RM3100::READ_DATA): {
-        commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
-        std::memset(commandBuffer + 1, 0,  9);
-        rawPacketLen = 10;
-        break;
-    }
-    default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
-    return RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
-        DeviceCommandId_t *id) {
-    *id = RM3100::READ_DATA;
-    return buildCommandFromCommand(*id, nullptr, 0);
-}
-
-ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
-        size_t len, DeviceCommandId_t *foundId,
-        size_t *foundLen) {
-
-    /* For SPI, ID will always be the one of the last sent command. */
-    *foundId = this->getPendingCommand();
-    *foundLen = len;
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
-        DeviceCommandId_t id, const uint8_t *packet) {
-    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    switch(id) {
-    case(RM3100::CONFIGURE_CMM):
-    case(RM3100::CONFIGURE_CYCLE_COUNT):
-    case(RM3100::CONFIGURE_TMRC): {
-        /* We can only check whether write was successful with read operation. */
-        if(mode == _MODE_START_UP) {
-            commandExecuted = true;
-        }
-        break;
-    }
-    case(RM3100::READ_CMM): {
-        uint8_t cmmValue = packet[1];
-        /* We clear the seventh bit in any case
-         * because this one is zero sometimes for some reason */
-        bitutil::bitClear(&cmmValue, 6);
-        if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
-            commandExecuted = true;
-        }
-        else {
-            /* Attempt reconfiguration. */
-            internalState = InternalState::CONFIGURE_CMM;
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
-        break;
-    }
-    case(RM3100::READ_TMRC): {
-        if(packet[1] == tmrcRegValue) {
-            commandExecuted = true;
-            /* Reading TMRC was commanded. Trigger event to inform ground. */
-            if(mode != _MODE_START_UP) {
-                triggerEvent(tmrcSet, tmrcRegValue, 0);
-            }
-        }
-        else {
-            /* Attempt reconfiguration. */
-            internalState = InternalState::STATE_CONFIGURE_TMRC;
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
-        break;
-    }
-    case(RM3100::READ_CYCLE_COUNT): {
-        uint16_t cycleCountX = packet[1] << 8 | packet[2];
-        uint16_t cycleCountY = packet[3] << 8 | packet[4];
-        uint16_t cycleCountZ = packet[5] << 8 | packet[6];
-        if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
-                cycleCountZ != cycleCountRegValueZ) {
-            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
-        }
-        /* Reading TMRC was commanded. Trigger event to inform ground. */
-        if(mode != _MODE_START_UP) {
-            uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
-            triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
-        }
-        break;
-    }
-    case(RM3100::READ_DATA): {
-        result = handleDataReadout(packet);
-        break;
-    }
-    default:
-        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
-    }
-
-    return result;
-}
-
-ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
-        const uint8_t *commandData, size_t commandDataLen) {
-    if(commandData == nullptr) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-
-    // Set cycle count
-    if(commandDataLen == 2) {
-        handleCycleCommand(true, commandData, commandDataLen);
-    }
-    else if(commandDataLen == 6) {
-        handleCycleCommand(false, commandData, commandDataLen);
-    }
-    else {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-
-    commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
-    std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
-    std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
-    std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
-    rawPacketLen = 7;
-    rawPacket = commandBuffer;
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue,
-        const uint8_t *commandData, size_t commandDataLen) {
-    RM3100::CycleCountCommand command(oneCycleValue);
-    ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
-            SerializeIF::Endianness::BIG);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-
-    /* Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts." */
-    if(command.cycleCountX > 450 ) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-
-    if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-
-    cycleCountRegValueX = command.cycleCountX;
-    cycleCountRegValueY = command.cycleCountY;
-    cycleCountRegValueZ = command.cycleCountZ;
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(
-        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-        size_t commandDataLen) {
-    if(commandData == nullptr) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-
-    if(commandDataLen != 1) {
-        return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
-    }
-
-    commandBuffer[0] = RM3100::TMRC_REGISTER;
-    commandBuffer[1] = commandData[1];
-    rawPacketLen = 2;
-    rawPacket = commandBuffer;
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-void MGMHandlerRM3100::fillCommandAndReplyMap() {
-    insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
-    insertInCommandAndReplyMap(RM3100::READ_CMM, 1);
-
-    insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1);
-    insertInCommandAndReplyMap(RM3100::READ_TMRC, 1);
-
-    insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1);
-    insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1);
-
-    insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset);
-}
-
-void MGMHandlerRM3100::modeChanged(void) {
-    internalState = InternalState::NONE;
-}
-
-ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
-    localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return 10000;
-}
-
-ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
-    /* Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
-     * trickery here to calculate the raw values first */
-    int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
-    int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
-    int32_t fieldStrengthRawZ  = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
-
-    /* Now scale to physical value in microtesla */
-    float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
-    float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
-    float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
-
-#if OBSW_VERBOSE_LEVEL >= 1
-    if(debugDivider->checkAndIncrement()) {
-        sif::info << "MGMHandlerRM3100: Magnetic field strength in"
-                " microtesla:" << std::endl;
-        /* Set terminal to utf-8 if there is an issue with micro printout. */
-        sif::info << "X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
-        sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
-        sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
-    }
-#endif
-
-    /* TODO: Sanity check on values */
-    PoolReadGuard readGuard(&primaryDataset);
-    if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-        primaryDataset.fieldStrengthX = fieldStrengthX;
-        primaryDataset.fieldStrengthY = fieldStrengthY;
-        primaryDataset.fieldStrengthZ = fieldStrengthZ;
-        primaryDataset.setValidity(true, true);
-    }
-    return RETURN_OK;
-}

mission/devices/MGMHandlerRM3100.h

@@ -1,104 +0,0 @@
-#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
-#define MISSION_DEVICES_MGMRM3100HANDLER_H_
-
-#include "OBSWConfig.h"
-#include "devicedefinitions/MGMHandlerRM3100Definitions.h"
-#include "fsfw/devicehandlers/DeviceHandlerBase.h"
-
-#if OBSW_VERBOSE_LEVEL >= 1
-#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
-#endif
-
-/**
- * @brief 	Device Handler for the RM3100 geomagnetic magnetometer sensor
- *          (https://www.pnicorp.com/rm3100/)
- * @details
- * Flight manual:
- * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
- */
-class MGMHandlerRM3100: public DeviceHandlerBase {
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
-
-	//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
-	static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
-			0x00, severity::INFO);
-
-	//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
-	//! P1: Second two bytes new Cycle Count Y
-	//! P2: New cycle count Z
-	static constexpr Event cycleCountersSet = event::makeEvent(
-			SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
-
-	MGMHandlerRM3100(object_id_t objectId, object_id_t deviceCommunication,
-	        CookieIF* comCookie);
-	virtual ~MGMHandlerRM3100();
-
-protected:
-
-	/* DeviceHandlerBase overrides */
-	ReturnValue_t buildTransitionDeviceCommand(
-	        DeviceCommandId_t *id) override;
-	void doStartUp() override;
-	void doShutDown() override;
-	ReturnValue_t buildNormalDeviceCommand(
-	        DeviceCommandId_t *id) override;
-	ReturnValue_t buildCommandFromCommand(
-	        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-			size_t commandDataLen) override;
-	ReturnValue_t scanForReply(const uint8_t *start, size_t len,
-			DeviceCommandId_t *foundId, size_t *foundLen) override;
-	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-	        const uint8_t *packet) override;
-
-	void fillCommandAndReplyMap() override;
-	void modeChanged(void) override;
-	uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
-	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-			LocalDataPoolManager &poolManager) override;
-
-private:
-
-	enum class InternalState {
-	    NONE,
-		CONFIGURE_CMM,
-		READ_CMM,
-		// The cycle count states are propably not going to be used because
-		// the default cycle count will be used.
-		STATE_CONFIGURE_CYCLE_COUNT,
-		STATE_READ_CYCLE_COUNT,
-		STATE_CONFIGURE_TMRC,
-		STATE_READ_TMRC,
-		NORMAL
-	};
-	InternalState internalState = InternalState::NONE;
-	bool commandExecuted = false;
-	RM3100::Rm3100PrimaryDataset primaryDataset;
-
-	uint8_t commandBuffer[10];
-	uint8_t commandBufferLen = 0;
-
-	uint8_t cmmRegValue = RM3100::CMM_VALUE;
-	uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
-	uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
-	uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
-	uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
-	float scaleFactorX = 1 / RM3100::DEFAULT_GAIN;
-	float scaleFactorY = 1 / RM3100::DEFAULT_GAIN;
-	float scaleFactorZ = 1 / RM3100::DEFAULT_GAIN;
-
-	ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
-			const uint8_t *commandData,size_t commandDataLen);
-	ReturnValue_t handleCycleCommand(bool oneCycleValue,
-			const uint8_t *commandData, size_t commandDataLen);
-
-	ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
-			const uint8_t *commandData,size_t commandDataLen);
-
-	ReturnValue_t handleDataReadout(const uint8_t* packet);
-#if OBSW_VERBOSE_LEVEL >= 1
-	PeriodicOperationDivider* debugDivider;
-#endif
-};
-
-#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */

mission/devices/P60DockHandler.cpp

@@ -1,3 +1,4 @@
+#include <fsfw/datapool/PoolReadGuard.h>
 #include "P60DockHandler.h"
 #include "OBSWConfig.h"
 
@@ -27,15 +28,24 @@ void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *
 
 #if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_P60DOCK == 1
     p60dockHkTableDataset.read();
-    sif::info << "P60 Dock: ACU VCC switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVcc.value) << std::endl;
+    sif::info << "P60 Dock: ACU VCC switch: " <<
-    sif::info << "P60 Dock: PDU1 VCC switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value) << std::endl;
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVcc.value) << std::endl;
-    sif::info << "P60 Dock: PDU2 VCC switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value) << std::endl;
+    sif::info << "P60 Dock: PDU1 VCC switch: " <<
-    sif::info << "P60 Dock: ACU VBAT switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVbat.value) << std::endl;
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value) << std::endl;
-    sif::info << "P60 Dock: PDU1 VBAT switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value) << std::endl;
+    sif::info << "P60 Dock: PDU2 VCC switch: " <<
-    sif::info << "P60 Dock: PDU2 VBAT switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value) << std::endl;
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value) << std::endl;
-    sif::info << "P60 Dock: Stack VBAT switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStackVbat.value) << std::endl;
+    sif::info << "P60 Dock: ACU VBAT switch: " <<
-    sif::info << "P60 Dock: Stack 3V3 switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack3V3.value) << std::endl;
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateAcuVbat.value) << std::endl;
-    sif::info << "P60 Dock: Stack 5V switch: " << static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack5V.value) << std::endl;
+    sif::info << "P60 Dock: PDU1 VBAT switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value) << std::endl;
+    sif::info << "P60 Dock: PDU2 VBAT switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value) << std::endl;
+    sif::info << "P60 Dock: Stack VBAT switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStackVbat.value) << std::endl;
+    sif::info << "P60 Dock: Stack 3V3 switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack3V3.value) << std::endl;
+    sif::info << "P60 Dock: Stack 5V switch: " <<
+            static_cast<unsigned int>(p60dockHkTableDataset.outputEnableStateStack5V.value) << std::endl;
 
     float temperatureC = p60dockHkTableDataset.temperature1.value * 0.1;
     sif::info << "P60 Dock: Temperature 1: " << temperatureC << " °C" << std::endl;
@@ -395,3 +405,76 @@ ReturnValue_t P60DockHandler::initializeLocalDataPool(
 
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+
+ReturnValue_t P60DockHandler::printStatus(DeviceCommandId_t cmd) {
+    switch(cmd) {
+    case(GOMSPACE::PRINT_SWITCH_V_I): {
+        PoolReadGuard pg(&p60dockHkTableDataset);
+        ReturnValue_t readResult = pg.getReadResult();
+        if(readResult != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "Reading PDU1 HK table failed!" << std::endl;
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        printHkTable();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+}
+
+void P60DockHandler::printHkTable() {
+    sif::info << "P60 Dock Info: SwitchState, Currents [mA], Voltages [mV]" << std::endl;
+
+    sif::info << std::setw(30) << std::left << "ACU VCC" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStateAcuVcc.value)  << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentAcuVcc.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltageAcuVcc.value  << std::endl;
+    sif::info << std::setw(30) << std::left << "ACU VBAT" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStateAcuVbat.value)  << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentAcuVbat.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltageAcuVbat.value  << std::endl;
+
+    sif::info << std::setw(30) << std::left << "PDU1 VCC" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStatePdu1Vcc.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentPdu1Vcc.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltagePdu1Vcc.value << std::endl;
+    sif::info << std::setw(30) << std::left << "PDU1 VBAT" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStatePdu1Vbat.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentPdu1Vbat.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltagePdu1Vbat.value << std::endl;
+
+    sif::info << std::setw(30) << std::left << "PDU2 VCC" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStatePdu2Vcc.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentPdu2Vcc.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltagePdu2Vcc.value << std::endl;
+    sif::info << std::setw(30) << std::left << "PDU2 VBAT" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStatePdu2Vbat.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentPdu2Vbat.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltagePdu2Vbat.value << std::endl;
+
+    sif::info << std::setw(30) << std::left << "Stack VBAT" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStateStackVbat.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentStackVbat.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltageStackVbat.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Stack 3V3" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStateStack3V3.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentStack3V3.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltageStack3V3.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Stack 5V" << std::dec << "| " <<
+            unsigned(p60dockHkTableDataset.outputEnableStateStack5V.value) << ", " <<
+            std::setw(4) << std::right <<
+            p60dockHkTableDataset.currentStack5V.value << ", " << std::setw(5) <<
+            p60dockHkTableDataset.voltageStack5V.value << std::endl;
+}
+

mission/devices/P60DockHandler.h

@@ -26,6 +26,14 @@ protected:
 
     virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
 
+    /**
+     * This command handles printing the HK table to the console. This is useful for debugging
+     * purposes
+     * @return
+     */
+    ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
+
+    void printHkTable();
 private:
     P60Dock::HkTableDataset p60dockHkTableDataset;
 

mission/devices/PCDUHandler.cpp

@@ -93,7 +93,7 @@ void PCDUHandler::initializeSwitchStates() {
     switchStates[pcduSwitches::SUS_NOMINAL] = pcduSwitches::INIT_STATE_SUS_NOMINAL;
     switchStates[pcduSwitches::SOLAR_CELL_EXP] = pcduSwitches::INIT_STATE_SOLAR_CELL_EXP;
     switchStates[pcduSwitches::PLOC] = pcduSwitches::INIT_STATE_PLOC;
-    switchStates[pcduSwitches::ACS_BORAD_SIDE_A] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_A;
+    switchStates[pcduSwitches::ACS_BOARD_SIDE_A] = pcduSwitches::INIT_STATE_ACS_BOARD_SIDE_A;
 }
 
 void PCDUHandler::readCommandQueue() {
@@ -186,7 +186,7 @@ void PCDUHandler::updatePdu1SwitchStates() {
         switchStates[pcduSwitches::SUS_NOMINAL] = pdu1HkTableDataset.voltageOutSUSNominal.value;
         switchStates[pcduSwitches::SOLAR_CELL_EXP] = pdu1HkTableDataset.voltageOutSolarCellExp.value;
         switchStates[pcduSwitches::PLOC] = pdu1HkTableDataset.voltageOutPLOC.value;
-        switchStates[pcduSwitches::ACS_BORAD_SIDE_A] = pdu1HkTableDataset.voltageOutACSBoardSideA.value;
+        switchStates[pcduSwitches::ACS_BOARD_SIDE_A] = pdu1HkTableDataset.voltageOutACSBoardSideA.value;
     }
     else {
         sif::debug << "PCDUHandler::updatePdu1SwitchStates: Failed to read dataset" << std::endl;

mission/devices/PDU1Handler.cpp

@@ -1,11 +1,12 @@
+#include "OBSWConfig.h"
 #include "PDU1Handler.h"
-#include <mission/devices/devicedefinitions/GomSpacePackets.h>
+
-#include <OBSWConfig.h>
+#include <fsfw/datapool/PoolReadGuard.h>
 
 PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
         GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
-                PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu1HkTableDataset), pdu1HkTableDataset(
+                PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu1HkTableDataset),
-                this) {
+        pdu1HkTableDataset(this) {
 }
 
 PDU1Handler::~PDU1Handler() {
@@ -55,25 +56,9 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
             << std::endl;
     sif::info << "PDU1 channel 8 current: " << pdu1HkTableDataset.currentOutChannel8
             << std::endl;
-    sif::info << "PDU1 TCS Board switch: "
+    printOutputSwitchStates();
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledTCSBoard3V3.value) << std::endl;
+    sif::info << "PDU1 battery mode: " <<
-    sif::info << "PDU1 Syrlinks switch: "
+            static_cast<unsigned int>(pdu1HkTableDataset.battMode.value) << std::endl;
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSyrlinks.value) << std::endl;
-    sif::info << "PDU1 star tracker switch: "
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledStarTracker.value) << std::endl;
-    sif::info << "PDU1 MGT switch: "
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledMGT.value) << std::endl;
-    sif::info << "PDU1 SUS nominal switch: "
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSUSNominal.value) << std::endl;
-    sif::info << "PDU1 solar cell experiment switch: "
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSolarCellExp.value) << std::endl;
-    sif::info << "PDU1 PLOC switch: "
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledPLOC.value) << std::endl;
-    sif::info << "PDU1 ACS Side A switch: "
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledAcsBoardSideA.value) << std::endl;
-    sif::info << "PDU1 channel 8 switch: "
-            << static_cast<unsigned int>(pdu1HkTableDataset.outEnabledChannel8.value) << std::endl;
-    sif::info << "PDU1 battery mode: " << static_cast<unsigned int>(pdu1HkTableDataset.battMode.value) << std::endl;
     sif::info << "PDU1 VCC: " << pdu1HkTableDataset.vcc << " mV" << std::endl;
     float vbat = pdu1HkTableDataset.vbat.value * 0.001;
     sif::info << "PDU1 VBAT: " << vbat << "V" << std::endl;
@@ -89,7 +74,12 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
 
 void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
     uint16_t dataOffset = 0;
-    pdu1HkTableDataset.read();
+    PoolReadGuard pg(&pdu1HkTableDataset);
+    ReturnValue_t readResult = pg.getReadResult();
+    if(readResult != HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "Reading PDU1 HK table failed!" << std::endl;
+        return;
+    }
     /* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
      * address. */
     dataOffset += 12;
@@ -249,8 +239,10 @@ void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
     dataOffset += 3;
     pdu1HkTableDataset.csp2WatchdogPingsLeft = *(packet + dataOffset);
 
-    pdu1HkTableDataset.commit();
     pdu1HkTableDataset.setChanged(true);
+    if(not pdu1HkTableDataset.isValid()) {
+        pdu1HkTableDataset.setValidity(true, true);
+    }
 }
 
 ReturnValue_t PDU1Handler::initializeLocalDataPool(
@@ -341,3 +333,70 @@ ReturnValue_t PDU1Handler::initializeLocalDataPool(
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
+    switch(cmd) {
+    case(GOMSPACE::PRINT_SWITCH_V_I): {
+        PoolReadGuard pg(&pdu1HkTableDataset);
+        ReturnValue_t readResult = pg.getReadResult();
+        if(readResult != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "Reading PDU1 HK table failed!" << std::endl;
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        printHkTable();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+}
+
+void PDU1Handler::printHkTable() {
+    sif::info << "PDU1 Info: SwitchState, Currents [mA], Voltages [mV]" << std::endl;
+    sif::info << std::setw(30) << std::left << "TCS Board" << std::dec << "| " <<
+            unsigned(pdu1HkTableDataset.outEnabledTCSBoard3V3.value)  << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutTCSBoard3V3.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutTCSBoard3V3.value  << std::endl;
+    sif::info << std::setw(30) << std::left << "Syrlinks" << std::dec << "| " <<
+            unsigned(pdu1HkTableDataset.outEnabledSyrlinks.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutSyrlinks.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutSyrlinks.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Star Tracker" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledStarTracker.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutStarTracker.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutStarTracker.value << std::endl;
+    sif::info << std::setw(30) << std::left << "MGT" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledMGT.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutMGT.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutMGT.value << std::endl;
+    sif::info << std::setw(30) << std::left << "SuS nominal" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSUSNominal.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutSUSNominal.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutSUSNominal.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Solar Cell Experiment" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSolarCellExp.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutSolarCellExp.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutSolarCellExp.value << std::endl;
+    sif::info << std::setw(30) << std::left << "PLOC" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledPLOC.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutPLOC.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutPLOC.value << std::endl;
+    sif::info << std::setw(30) << std::left << "ACS Side A" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledAcsBoardSideA.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutACSBoardSideA.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutACSBoardSideA.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Channel 8" << std::dec << "| " <<
+            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledChannel8.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu1HkTableDataset.currentOutChannel8.value << ", " << std::setw(4) <<
+            pdu1HkTableDataset.voltageOutChannel8.value << std::right << std::endl;
+}
+

mission/devices/PDU1Handler.h

@@ -2,7 +2,7 @@
 #define MISSION_DEVICES_PDU1Handler_H_
 
 #include "GomspaceDeviceHandler.h"
-#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include "devicedefinitions/GomspaceDefinitions.h"
 
 /**
  * @brief	This is the device handler for the PDU1.
@@ -32,11 +32,13 @@ protected:
      */
     virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
     virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
+    ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
 
 private:
     /** Dataset for the housekeeping table of the PDU1 */
     PDU1::PDU1HkTableDataset pdu1HkTableDataset;
 
+    void printHkTable();
     void parseHkTableReply(const uint8_t *packet);
 };
 

mission/devices/PDU2Handler.cpp

@@ -1,11 +1,13 @@
+#include "OBSWConfig.h"
 #include "PDU2Handler.h"
+
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
-#include <OBSWConfig.h>
+#include <fsfw/datapool/PoolReadGuard.h>
 
 PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
     GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
-                PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu2HkTableDataset), pdu2HkTableDataset(
+        PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu2HkTableDataset),
-                this) {
+    pdu2HkTableDataset(this) {
 }
 
 PDU2Handler::~PDU2Handler() {
@@ -34,23 +36,7 @@ void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
     sif::info << "PDU2 VBAT: " << vbat << std::endl;
     float temperatureC = pdu2HkTableDataset.temperature.value * 0.1;
     sif::info << "PDU2 Temperature: " << temperatureC << " °C" << std::endl;
-    sif::info << "PDU2 Q7S enable state: " << unsigned(pdu2HkTableDataset.outEnabledQ7S.value) << std::endl;
+    printOutputSwitchStates();
-    sif::info << "PDU2 Payload PCDU channel 1 enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << std::endl;
-    sif::info << "PDU2 reaction wheels enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << std::endl;
-    sif::info << "PDU2 TCS Board 8V heater input enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << std::endl;
-    sif::info << "PDU2 redundant SUS group enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << std::endl;
-    sif::info << "PDU2 deployment mechanism enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << std::endl;
-    sif::info << "PDU2 PCDU channel 6 enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << std::endl;
-    sif::info << "PDU2 ACS board side B enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << std::endl;
-    sif::info << "PDU2 payload camera enable state: "
-            << unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << std::endl;
     sif::info << "PDU2 uptime: " << pdu2HkTableDataset.uptime << " seconds" << std::endl;
     sif::info << "PDU2 battery mode: " << unsigned(pdu2HkTableDataset.battMode.value) << std::endl;
     sif::info << "PDU2 ground watchdog reboots: " << pdu2HkTableDataset.gndWdtReboots << std::endl;
@@ -323,3 +309,70 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(
 
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
+    switch(cmd) {
+    case(GOMSPACE::PRINT_SWITCH_V_I): {
+        PoolReadGuard pg(&pdu2HkTableDataset);
+        ReturnValue_t readResult = pg.getReadResult();
+        if(readResult != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "Reading PDU1 HK table failed!" << std::endl;
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        printHkTable();
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    default: {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    }
+}
+
+void PDU2Handler::printHkTable() {
+    sif::info << "PDU2 Info: SwitchState, Currents [mA], Voltages [mV]" << std::endl;
+    sif::info << std::setw(30) << std::left << "Q7S" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledQ7S.value)  << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutQ7S.value << ", " << std::setw(4) <<
+            pdu2HkTableDataset.voltageOutQ7S.value  << std::endl;
+    sif::info << std::setw(30) << std::left << "Payload PCDU Channel 1" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutPayloadPCDUCh1.value << ", " << std::setw(4) <<
+            pdu2HkTableDataset.voltageOutPayloadPCDUCh1.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Reaction Wheels" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutReactionWheels.value << ", " << std::setw(4) <<
+            pdu2HkTableDataset.voltageOutReactionWheels.value << std::endl;
+    sif::info << std::setw(30) << std::left << "TCS Board 8V heater input" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutTCSBoardHeaterIn.value << ", " << std::setw(4) <<
+            pdu2HkTableDataset.voltageOutTCSBoardHeaterIn.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Redundant SUS group" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutSUSRedundant.value << ", " << std::setw(4) <<
+            pdu2HkTableDataset.voltageOutSUSRedundant.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Deployment mechanism" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutDeplMechanism.value << ", " << std::setw(4) <<
+            pdu2HkTableDataset.voltageOutDeplMechanism.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Payload PCDU Channel 6" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutPayloadPCDUCh6.value << ", " << std::setw(4) <<
+            pdu2HkTableDataset.voltageOutPayloadPCDUCh6.value<< std::endl;
+    sif::info << std::setw(30) << std::left << "ACS Board Side B" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutACSBoardSideB.value << ", " << std::setw(4) <<
+            pdu2HkTableDataset.voltageOutACSBoardSideB.value << std::endl;
+    sif::info << std::setw(30) << std::left << "Payload Camera enable state" << std::dec << "| " <<
+            unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << ", " <<
+            std::setw(4) << std::right <<
+            pdu2HkTableDataset.currentOutPayloadCamera.value << ", " << std::setw(4) <<
+            pdu2HkTableDataset.voltageOutPayloadCamera.value <<  std::right << std::endl;
+}

mission/devices/PDU2Handler.h

@@ -32,12 +32,15 @@ protected:
      */
     virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
     virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
+    ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
 
 private:
 
     /** Dataset for the housekeeping table of the PDU2 */
     PDU2::PDU2HkTableDataset pdu2HkTableDataset;
 
+    void printHkTable();
+
     void parseHkTableReply(const uint8_t *packet);
 };
 

mission/devices/RwHandler.cpp

@@ -144,47 +144,48 @@ void RwHandler::fillCommandAndReplyMap() {
 
 ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize,
         DeviceCommandId_t *foundId, size_t *foundLen) {
-
+    uint8_t replyByte = *start;
-    switch (*(start)) {
+    switch (replyByte) {
-    case (static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS)): {
+    case (RwDefinitions::GET_LAST_RESET_STATUS): {
         *foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
         *foundId = RwDefinitions::GET_LAST_RESET_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS)): {
+    case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
         *foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
         *foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS)): {
+    case (RwDefinitions::GET_RW_STATUS): {
         *foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
         *foundId = RwDefinitions::GET_RW_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER)): {
+    case (RwDefinitions::INIT_RW_CONTROLLER): {
         *foundLen = RwDefinitions::SIZE_INIT_RW;
         *foundId = RwDefinitions::INIT_RW_CONTROLLER;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::SET_SPEED)): {
+    case (RwDefinitions::SET_SPEED): {
         *foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
         *foundId = RwDefinitions::SET_SPEED;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE)): {
+    case (RwDefinitions::GET_TEMPERATURE): {
         *foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
         *foundId = RwDefinitions::GET_TEMPERATURE;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_TM)): {
+    case (RwDefinitions::GET_TM): {
         *foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
         *foundId = RwDefinitions::GET_TM;
         break;
     }
     default: {
-        sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
+        sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" <<
+                std::endl;
+        *foundLen = remainingSize;
         return RETURN_FAILED;
-        break;
     }
     }
 

mission/devices/devicedefinitions/GPSDefinitions.h

@@ -7,6 +7,7 @@
 namespace GpsHyperion {
 
 static constexpr DeviceCommandId_t GPS_REPLY = 0;
+static constexpr DeviceCommandId_t TRIGGER_RESET_PIN = 5;
 
 static constexpr uint32_t DATASET_ID = 0;
 

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -9,34 +9,38 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_
 
-#include <stdint.h>
+#include <cstdint>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
 
 namespace GOMSPACE{
-    static const uint16_t IGNORE_CHECKSUM = 0xbb0;
+static const uint16_t IGNORE_CHECKSUM = 0xbb0;
-    /** The size of the header of a gomspace CSP packet. */
+/** The size of the header of a gomspace CSP packet. */
-    static const uint8_t GS_HDR_LENGTH = 12;
+static const uint8_t GS_HDR_LENGTH = 12;
-    /** CSP port to ping gomspace devices. */
+/** CSP port to ping gomspace devices. */
-    static const uint8_t PING_PORT = 1;
+static const uint8_t PING_PORT = 1;
-    static const uint8_t REBOOT_PORT = 4;
+static const uint8_t REBOOT_PORT = 4;
-    /** CSP port of gomspace devices to request or set parameters */
+/** CSP port of gomspace devices to request or set parameters */
-    static const uint8_t PARAM_PORT = 7;
+static const uint8_t PARAM_PORT = 7;
-    static const uint8_t P60_PORT_GNDWDT_RESET = 9;
+static const uint8_t P60_PORT_GNDWDT_RESET = 9;
+
+/* Device commands are derived from the rparam.h of the gomspace lib */
+static const DeviceCommandId_t PING = 1; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t NONE = 2; // Set when no command is pending
+static const DeviceCommandId_t REBOOT = 4; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t GNDWDT_RESET = 9; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t PARAM_GET = 0; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t PARAM_SET = 255; //!< [EXPORT] : [COMMAND]
+static const DeviceCommandId_t REQUEST_HK_TABLE = 16; //!< [EXPORT] : [COMMAND]
+//!< [EXPORT] : [COMMAND] Print switch states, voltages and currents to the console
+static const DeviceCommandId_t PRINT_SWITCH_V_I = 32;
+
 
-    /* Device commands are derived from the rparam.h of the gomspace lib */
-    static const DeviceCommandId_t PING = 0x1; //!< [EXPORT] : [COMMAND]
-    static const DeviceCommandId_t NONE = 0x2; // Set when no command is pending
-    static const DeviceCommandId_t REBOOT = 0x4; //!< [EXPORT] : [COMMAND]
-    static const DeviceCommandId_t GNDWDT_RESET = 0x9; //!< [EXPORT] : [COMMAND]
-    static const DeviceCommandId_t PARAM_GET = 0x00; //!< [EXPORT] : [COMMAND]
-    static const DeviceCommandId_t PARAM_SET = 0xFF; //!< [EXPORT] : [COMMAND]
-    static const DeviceCommandId_t REQUEST_HK_TABLE = 0x10; //!< [EXPORT] : [COMMAND]
 }
 
 namespace P60System {
-    enum P60SytemPoolIds: lp_id_t {
+enum P60SytemPoolIds: lp_id_t {
     P60DOCK_CURRENT_ACU_VCC,
     P60DOCK_CURRENT_PDU1_VCC,
     P60DOCK_CURRENT_X3_IDLE_VCC,
@@ -351,32 +355,35 @@ namespace P60System {
     ACU_DEVICE_7_STATUS,
     ACU_WDT_CNT_GND,
     ACU_WDT_GND_LEFT
-    };
+};
 }
 
 
 namespace P60Dock {
 
-    /** Max reply size reached when requesting full hk table */
+/** Max reply size reached when requesting full hk table */
-	static const uint16_t MAX_REPLY_LENGTH = 407;
+static const uint16_t MAX_REPLY_LENGTH = 407;
 
-	static const uint16_t MAX_CONFIGTABLE_ADDRESS = 408;
+static const uint16_t MAX_CONFIGTABLE_ADDRESS = 408;
-	static const uint16_t MAX_HKTABLE_ADDRESS = 187;
+static const uint16_t MAX_HKTABLE_ADDRESS = 187;
-	static const uint16_t HK_TABLE_SIZE = 188;
+static const uint16_t HK_TABLE_SIZE = 188;
 
-    static const uint8_t HK_TABLE_DATA_SET_ID = 0x3;
+static const uint8_t HK_TABLE_DATA_SET_ID = 0x3;
-    static const uint8_t HK_TABLE_ENTRIES = 100;
+static const uint8_t HK_TABLE_ENTRIES = 100;
 
-    /**
+/**
  * Requesting the full housekeeping table from the P60 dock will generate a reply comprising
  * 402 bytes of data.
  */
-    static const uint16_t HK_TABLE_REPLY_SIZE = 407;
+static const uint16_t HK_TABLE_REPLY_SIZE = 407;
 
-    /**
+/**
  * @brief   This class defines a dataset for the hk table of the P60 Dock.
+ * @details
+ * The GS port and X3 are not required for EIVE. X3 is another slot on the P60 dock and
+ * GS is required for a module from Gomspace which is not used.
  */
-    class HkTableDataset:
+class HkTableDataset:
         public StaticLocalDataSet<HK_TABLE_ENTRIES> {
         public:
 
@@ -602,7 +609,7 @@ namespace P60Dock {
             P60System::P60DOCK_ANT6_DEPL, this);
     lp_var_t<int8_t> ar6Depl = lp_var_t<int8_t>(sid.objectId,
             P60System::P60DOCK_AR6_DEPL, this);
-    };
+};
 }
 
 
@@ -610,36 +617,36 @@ namespace P60Dock {
  * @brief   Constants common for both PDU1 and PDU2.
  */
 namespace PDU{
-	/** When retrieving full configuration parameter table */
+/** When retrieving full configuration parameter table */
-	static const uint16_t MAX_REPLY_LENGTH = 318;
+static const uint16_t MAX_REPLY_LENGTH = 318;
-	static const uint16_t MAX_CONFIGTABLE_ADDRESS = 316;
+static const uint16_t MAX_CONFIGTABLE_ADDRESS = 316;
-	static const uint16_t MAX_HKTABLE_ADDRESS = 141;
+static const uint16_t MAX_HKTABLE_ADDRESS = 141;
-	/** The size of the csp reply containing the housekeeping table data */
+/** The size of the csp reply containing the housekeeping table data */
-	static const uint16_t HK_TABLE_REPLY_SIZE = 303;
+static const uint16_t HK_TABLE_REPLY_SIZE = 303;
-	static const uint8_t HK_TABLE_ENTRIES = 73;
+static const uint8_t HK_TABLE_ENTRIES = 73;
 }
 
 
 namespace PDU1 {
-    static const uint32_t HK_TABLE_DATA_SET_ID = 0x1; // hk table has table id 4
+static const uint32_t HK_TABLE_DATA_SET_ID = 0x1; // hk table has table id 4
-    /**
+/**
  * Addresses within configuration table to enable or disable output channels. Refer also to
  * gs-man-nanopower-p60-pdu-200.pdf on page 16.
  */
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3 = 0x48;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_3V3 = 0x48;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_SYRLINKS = 0x49;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_SYRLINKS = 0x49;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_STAR_TRACKER = 0x50;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_STAR_TRACKER = 0x50;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_MGT = 0x51;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_MGT = 0x51;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL = 0x52;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_NOMINAL = 0x52;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP = 0x53;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_SOLAR_CELL_EXP = 0x53;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x54;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_PLOC = 0x54;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x55;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_A = 0x55;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x56;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_CHANNEL8 = 0x56;
 
-    /**
+/**
  * @brief   This class defines a dataset for the hk table of the PDU1.
  */
-    class PDU1HkTableDataset :
+class PDU1HkTableDataset :
         public StaticLocalDataSet<PDU::HK_TABLE_ENTRIES> {
         public:
 
@@ -824,30 +831,30 @@ namespace PDU1 {
             P60System::PDU1_WDT_CSP_LEFT1, this);
     lp_var_t<uint8_t> csp1WatchdogPingsLeft = lp_var_t<uint8_t>(sid.objectId,
             P60System::PDU1_WDT_CSP_LEFT2, this);
-    };
+};
 }
 
 
 namespace PDU2 {
-    static const uint32_t HK_TABLE_DATA_SET_ID = 0x2;
+static const uint32_t HK_TABLE_DATA_SET_ID = 0x2;
-    /**
+/**
  * Addresses within configuration table to enable or disable output channels. Refer also to
  * gs-man-nanopower-p60-pdu-200.pdf on page 16.
  */
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_Q7S = 0x48;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_Q7S = 0x48;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1 = 0x49;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1 = 0x49;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_RW = 0x4A;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_RW = 0x4A;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN = 0x4B;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN = 0x4B;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT = 0x4C;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT = 0x4C;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM = 0x4D;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM = 0x4D;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6PLOC = 0x4E;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6PLOC = 0x4E;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B = 0x4F;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B = 0x4F;
-    static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA = 0x50;
+static const uint16_t CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA = 0x50;
 
-    /**
+/**
  * @brief   This class defines a dataset for the hk table of the PDU2.
  */
-    class PDU2HkTableDataset:
+class PDU2HkTableDataset:
         public StaticLocalDataSet<PDU::HK_TABLE_ENTRIES> {
         public:
 
@@ -1032,25 +1039,25 @@ namespace PDU2 {
             P60System::PDU2_WDT_CSP_LEFT1, this);
     lp_var_t<uint8_t> csp2WatchdogPingsLeft = lp_var_t<uint8_t>(sid.objectId,
             P60System::PDU2_WDT_CSP_LEFT2, this);
-    };
+};
 }
 
 
 namespace ACU {
 
-    static const uint32_t HK_TABLE_DATA_SET_ID = 0x4;
+static const uint32_t HK_TABLE_DATA_SET_ID = 0x4;
 
-	/* When receiving full housekeeping (telemetry) table */
+/* When receiving full housekeeping (telemetry) table */
-	static const uint16_t MAX_REPLY_LENGTH = 262;
+static const uint16_t MAX_REPLY_LENGTH = 262;
-	static const uint16_t MAX_CONFIGTABLE_ADDRESS = 26;
+static const uint16_t MAX_CONFIGTABLE_ADDRESS = 26;
-	static const uint16_t MAX_HKTABLE_ADDRESS = 120;
+static const uint16_t MAX_HKTABLE_ADDRESS = 120;
-	static const uint8_t HK_TABLE_ENTRIES = 64;
+static const uint8_t HK_TABLE_ENTRIES = 64;
-	static const uint16_t HK_TABLE_REPLY_SIZE = 262;
+static const uint16_t HK_TABLE_REPLY_SIZE = 262;
 
-	/**
+/**
  * @brief   This class defines a dataset for the hk table of the ACU.
  */
-    class HkTableDataset:
+class HkTableDataset:
         public StaticLocalDataSet<HK_TABLE_ENTRIES> {
         public:
 
@@ -1200,7 +1207,7 @@ namespace ACU {
             P60System::ACU_WDT_CNT_GND, this);
     lp_var_t<uint32_t> wdtGndLeft = lp_var_t<uint32_t>(sid.objectId,
             P60System::ACU_WDT_GND_LEFT, this);
-    };
+};
 }
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEDEFINITIONS_H_ */

mission/devices/devicedefinitions/GyroADIS16507Definitions.h

@@ -1,6 +1,7 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
 
+#include "fsfw/devicehandlers/DeviceHandlerIF.h"
 #include "fsfw/datapoollocal/StaticLocalDataSet.h"
 
 #include <cstddef>

mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h

@@ -1,166 +0,0 @@
-#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
-#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_
-
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
-#include <fsfw/datapoollocal/LocalPoolVariable.h>
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
-#include <cstdint>
-
-namespace MGMLIS3MDL {
-
-enum set {
-    ON, OFF
-};
-enum opMode {
-    LOW, MEDIUM, HIGH, ULTRA
-};
-
-/* Actually 15, we just round up a bit */
-static constexpr size_t MAX_BUFFER_SIZE = 16;
-
-static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
-
-static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00;
-static const DeviceCommandId_t SETUP_MGM = 0x01;
-static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
-static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
-static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
-static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
-
-/* Number of all control registers */
-static const uint8_t NR_OF_CTRL_REGISTERS = 5;
-/* Number of registers in the MGM */
-static const uint8_t NR_OF_REGISTERS = 19;
-/* Total number of adresses for all registers */
-static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
-static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
-static const uint8_t TEMPERATURE_REPLY_LEN = 3;
-static const uint8_t SETUP_REPLY_LEN = 6;
-
-/*------------------------------------------------------------------------*/
-/* Register adresses */
-/*------------------------------------------------------------------------*/
-/* Register adress returns identifier of device with default 0b00111101 */
-static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
-static const uint8_t DEVICE_ID = 0b00111101;            // Identifier for Device
-
-/* Register adress to access register 1 */
-static const uint8_t CTRL_REG1 = 0b00100000;
-/* Register adress to access register 2 */
-static const uint8_t CTRL_REG2 = 0b00100001;
-/* Register adress to access register 3 */
-static const uint8_t CTRL_REG3 = 0b00100010;
-/* Register adress to access register 4 */
-static const uint8_t CTRL_REG4 = 0b00100011;
-/* Register adress to access register 5 */
-static const uint8_t CTRL_REG5 = 0b00100100;
-
-/* Register adress to access status register */
-static const uint8_t STATUS_REG_IDX = 8;
-static const uint8_t STATUS_REG = 0b00100111;
-
-/* Register adress to access low byte of x-axis */
-static const uint8_t X_LOWBYTE_IDX = 9;
-static const uint8_t X_LOWBYTE = 0b00101000;
-/* Register adress to access high byte of x-axis */
-static const uint8_t X_HIGHBYTE_IDX = 10;
-static const uint8_t X_HIGHBYTE = 0b00101001;
-/* Register adress to access low byte of y-axis */
-static const uint8_t Y_LOWBYTE_IDX = 11;
-static const uint8_t Y_LOWBYTE = 0b00101010;
-/* Register adress to access high byte of y-axis */
-static const uint8_t Y_HIGHBYTE_IDX = 12;
-static const uint8_t Y_HIGHBYTE = 0b00101011;
-/* Register adress to access low byte of z-axis */
-static const uint8_t Z_LOWBYTE_IDX = 13;
-static const uint8_t Z_LOWBYTE = 0b00101100;
-/* Register adress to access high byte of z-axis */
-static const uint8_t Z_HIGHBYTE_IDX = 14;
-static const uint8_t Z_HIGHBYTE = 0b00101101;
-
-/* Register adress to access low byte of temperature sensor */
-static const uint8_t TEMP_LOWBYTE = 0b00101110;
-/* Register adress to access high byte of temperature sensor */
-static const uint8_t TEMP_HIGHBYTE = 0b00101111;
-
-/*------------------------------------------------------------------------*/
-/* Initialize Setup Register set bits                                     */
-/*------------------------------------------------------------------------*/
-/* General transfer bits */
-// Read=1 / Write=0 Bit
-static const uint8_t RW_BIT = 7;
-// Continous Read/Write Bit, increment adress
-static const uint8_t MS_BIT = 6;
-
-/* CTRL_REG1 bits */
-static const uint8_t ST = 0;        // Self test enable bit, enabled = 1
-// Enable rates higher than 80 Hz enabled = 1
-static const uint8_t FAST_ODR = 1;
-static const uint8_t DO0 = 2;       // Output data rate bit 2
-static const uint8_t DO1 = 3;       // Output data rate bit 3
-static const uint8_t DO2 = 4;       // Output data rate bit 4
-static const uint8_t OM0 = 5;       // XY operating mode bit 5
-static const uint8_t OM1 = 6;       // XY operating mode bit 6
-static const uint8_t TEMP_EN = 7;   // Temperature sensor enable enabled = 1
-static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
-        (1 << DO0) | (1 << DO1) | (1 << DO2);
-
-/* CTRL_REG2 bits */
-//reset configuration registers and user registers
-static const uint8_t SOFT_RST = 2;
-static const uint8_t REBOOT = 3;    //reboot memory content
-static const uint8_t FSO = 5;       //full-scale selection bit 5
-static const uint8_t FS1 = 6;       //full-scale selection bit 6
-static const uint8_t CTRL_REG2_DEFAULT = 0;
-
-/* CTRL_REG3 bits */
-static const uint8_t MD0 = 0;       //Operating mode bit 0
-static const uint8_t MD1 = 1;       //Operating mode bit 1
-//SPI serial interface mode selection enabled = 3-wire-mode
-static const uint8_t SIM = 2;
-static const uint8_t LP = 5;        //low-power mode
-static const uint8_t CTRL_REG3_DEFAULT = 0;
-
-/* CTRL_REG4 bits */
-//big/little endian data selection enabled = MSb at lower adress
-static const uint8_t BLE = 1;
-static const uint8_t OMZ0 = 2;      //Z operating mode bit 2
-static const uint8_t OMZ1 = 3;      //Z operating mode bit 3
-static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
-
-/* CTRL_REG5 bits */
-static const uint8_t BDU = 6;       //Block data update
-static const uint8_t FAST_READ = 7; //Fast read enabled = 1
-static const uint8_t CTRL_REG5_DEFAULT = 0;
-
-static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
-
-enum MgmPoolIds: lp_id_t {
-    FIELD_STRENGTH_X,
-    FIELD_STRENGTH_Y,
-    FIELD_STRENGTH_Z,
-    TEMPERATURE_CELCIUS
-};
-
-class MgmPrimaryDataset: public StaticLocalDataSet<5> {
-public:
-    MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
-        StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
-
-    MgmPrimaryDataset(object_id_t mgmId):
-        StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
-
-    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
-            FIELD_STRENGTH_X, this);
-    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
-            FIELD_STRENGTH_Y, this);
-    lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
-            FIELD_STRENGTH_Z, this);
-    lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
-            TEMPERATURE_CELCIUS, this);
-};
-
-}
-
-
-#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERLIS3DEFINITIONS_H_ */

mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h

@@ -1,132 +0,0 @@
-#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
-#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
-
-#include <fsfw/datapoollocal/StaticLocalDataSet.h>
-#include <fsfw/datapoollocal/LocalPoolVariable.h>
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
-#include <fsfw/serialize/SerialLinkedListAdapter.h>
-#include <cstdint>
-
-namespace RM3100 {
-
-/* Actually 10, we round up a little bit */
-static constexpr size_t MAX_BUFFER_SIZE = 12;
-
-static constexpr uint8_t READ_MASK = 0x80;
-
-/*----------------------------------------------------------------------------*/
-/* CMM Register */
-/*----------------------------------------------------------------------------*/
-static constexpr uint8_t SET_CMM_CMZ = 1 << 6;
-static constexpr uint8_t SET_CMM_CMY = 1 << 5;
-static constexpr uint8_t SET_CMM_CMX = 1 << 4;
-static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
-static constexpr uint8_t SET_CMM_START = 1;
-static constexpr uint8_t CMM_REGISTER = 0x01;
-
-static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
-		SET_CMM_DRDM | SET_CMM_START;
-
-/*----------------------------------------------------------------------------*/
-/* Cycle count register */
-/*----------------------------------------------------------------------------*/
-// Default value (200)
-static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
-
-static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
-		100 * 38;
-static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
-
-/*----------------------------------------------------------------------------*/
-/* TMRC register */
-/*----------------------------------------------------------------------------*/
-static constexpr uint8_t TMRC_150HZ_VALUE = 0x94;
-static constexpr uint8_t TMRC_75HZ_VALUE = 0x95;
-static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96;
-
-static constexpr uint8_t TMRC_REGISTER = 0x0B;
-static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_DEFAULT_37HZ_VALUE;
-
-static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
-static constexpr uint8_t BIST_REGISTER = 0x33;
-static constexpr uint8_t DATA_READY_VAL = 0b1000'0000;
-static constexpr uint8_t STATUS_REGISTER = 0x34;
-static constexpr uint8_t REVID_REGISTER = 0x36;
-
-// Range in Microtesla. 1 T equals 10000 Gauss (for comparison with LIS3 MGM)
-static constexpr uint16_t RANGE = 800;
-
-static constexpr DeviceCommandId_t READ_DATA = 0;
-
-static constexpr DeviceCommandId_t CONFIGURE_CMM = 1;
-static constexpr DeviceCommandId_t READ_CMM = 2;
-
-static constexpr DeviceCommandId_t CONFIGURE_TMRC = 3;
-static constexpr DeviceCommandId_t READ_TMRC = 4;
-
-static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
-static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;
-
-class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> {
-public:
-	CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
-		setLinks(oneCycleCount);
-	}
-
-	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) override {
-		ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
-				size, streamEndianness);
-		if(oneCycleCount) {
-			cycleCountY = cycleCountX;
-			cycleCountZ = cycleCountX;
-		}
-		return result;
-	}
-
-	SerializeElement<uint16_t> cycleCountX;
-	SerializeElement<uint16_t> cycleCountY;
-	SerializeElement<uint16_t> cycleCountZ;
-
-private:
-	void setLinks(bool oneCycleCount) {
-		setStart(&cycleCountX);
-		if(not oneCycleCount) {
-			cycleCountX.setNext(&cycleCountY);
-			cycleCountY.setNext(&cycleCountZ);
-		}
-	}
-
-	bool oneCycleCount;
-};
-
-static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
-
-enum MgmPoolIds: lp_id_t {
-    FIELD_STRENGTH_X,
-    FIELD_STRENGTH_Y,
-    FIELD_STRENGTH_Z,
-};
-
-class Rm3100PrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
-public:
-	Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
-        StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
-
-	Rm3100PrimaryDataset(object_id_t mgmId):
-        StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
-
-	// Field strengths in micro Tesla.
-    lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
-            FIELD_STRENGTH_X, this);
-    lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
-            FIELD_STRENGTH_Y, this);
-    lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
-            FIELD_STRENGTH_Z, this);
-};
-
-}
-
-
-
-#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */

thirdparty/arcsec_star_tracker

@@ -1 +1 @@
-Subproject commit 657c06e4a6e4c460e897c4a5b4eaefe7c6d1085e
+Subproject commit 2d10c6b85ea4cab4f4baf1918c51d54eee4202c2

thirdparty/lwgps

@@ -1 +1 @@
-Subproject commit 3dbfe390a6784ebc723d3907062cf883c8cf85cd
+Subproject commit 52999ddfe5177493b96b55871961a8a97131596d

tmtc

@@ -1 +1 @@
-Subproject commit 9b176aebfaba51f4d045881a125d42b123f4eeb3
+Subproject commit 53bf65083889af10f77c3899972b1153ea835f3c