bsp_q7s/boardconfig/busConf.h

@@ -26,7 +26,7 @@ namespace uiomapids {
 static const int PTME_VC2 = 2;
 static const int PTME_VC3 = 3;
 static const int PTME_CONFIG = 4;
-}
+}  // namespace uiomapids
 
 namespace gpioNames {
 static constexpr char GYRO_0_ADIS_CS[] = "gyro_0_adis_chip_select";

bsp_q7s/core/InitMission.cpp

@@ -117,7 +117,7 @@ void initmission::initTasks() {
 
 #if OBSW_ADD_ACS_HANDLERS == 1
   PeriodicTaskIF* acsCtrl = factory->createPeriodicTask(
-      "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
+      "ACS_CTRL", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   result = acsCtrl->addComponent(objects::GPS_CONTROLLER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("ACS_CTRL", objects::GPS_CONTROLLER);
@@ -136,10 +136,10 @@ void initmission::initTasks() {
 
 #if OBSW_ADD_STAR_TRACKER == 1
   PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask(
-      "FILE_SYSTEM_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
   result = strImgLoaderTask->addComponent(objects::STR_HELPER);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::STR_HELPER);
+    initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
   }
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
@@ -208,7 +208,9 @@ void initmission::initTasks() {
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 #endif
 
-  // acsCtrl->startTask();
+#if OBSW_ADD_ACS_HANDLERS == 1
+  acsCtrl->startTask();
+#endif
 
   sif::info << "Tasks started.." << std::endl;
 }

bsp_q7s/core/ObjectFactory.cpp

@@ -45,7 +45,7 @@
 #include "linux/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/ACUHandler.h"
-#include "mission/devices/GPSHyperionHandler.h"
+#include "mission/devices/GPSHyperionLinuxController.h"
 #include "mission/devices/GyroADIS1650XHandler.h"
 #include "mission/devices/HeaterHandler.h"
 #include "mission/devices/IMTQHandler.h"
@@ -78,10 +78,10 @@
 #include <linux/obc/PapbVcInterface.h>
 #include <linux/obc/PdecHandler.h>
 #include <linux/obc/Ptme.h>
+#include <linux/obc/PtmeAxiConfig.h>
 #include <linux/obc/PtmeConfig.h>
 #include <linux/obc/PtmeRateSetter.h>
 #include <linux/obc/TxRateSetterIF.h>
-#include <linux/obc/PtmeAxiConfig.h>
 
 ResetArgs resetArgsGnss0;
 ResetArgs resetArgsGnss1;
@@ -527,6 +527,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
                                               spiCookie, ADIS1650X::Type::ADIS16505);
   adisHandler->setStartUpImmediately();
+#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
+  adisHandler->setToGoToNormalModeImmediately();
+#endif
+
   // Gyro 1 Side A
   spiCookie =
       new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
@@ -544,6 +548,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
                                          spiCookie, ADIS1650X::Type::ADIS16505);
   adisHandler->setStartUpImmediately();
+#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
+  adisHandler->setToGoToNormalModeImmediately();
+#endif
   // Gyro 3 Side B
   spiCookie =
       new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,

bsp_q7s/core/obsw.cpp

@@ -29,7 +29,7 @@ int obsw::obsw() {
   if (std::filesystem::exists(watchdog::RUNNING_FILE_NAME)) {
     sif::warning << "File " << watchdog::RUNNING_FILE_NAME
                  << " exists so the software might "
-                    "already be running. Aborting.."
+                    "already be running. Check if obsw systemd service has been stopped."
                  << std::endl;
     return OBSW_ALREADY_RUNNING;
   }

fsfw

@@ -1 +1 @@
-Subproject commit faf7da2743dcd30d83c3ab2f7b4d85277878e636
+Subproject commit cc7a3a5a342aa274ba85805ebdfef65224bbe80c

linux/obc/PapbVcInterface.cpp

@@ -1,5 +1,6 @@
 #include <fsfw_hal/linux/uio/UioMapper.h>
 #include <linux/obc/PapbVcInterface.h>
+
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 PapbVcInterface::PapbVcInterface(LinuxLibgpioIF* gpioComIF, gpioId_t papbBusyId,

linux/obc/PapbVcInterface.h

@@ -3,6 +3,7 @@
 
 #include <fsfw_hal/common/gpio/gpioDefinitions.h>
 #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+
 #include "OBSWConfig.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "linux/obc/VcInterfaceIF.h"

linux/obc/PdecHandler.cpp

@@ -1,9 +1,12 @@
+#include "PdecHandler.h"
+
 #include <fcntl.h>
 #include <sys/mman.h>
+
 #include <cstring>
 #include <sstream>
+
 #include "OBSWConfig.h"
-#include "PdecHandler.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"

linux/obc/Ptme.cpp

@@ -2,6 +2,7 @@
 #include <linux/obc/Ptme.h>
 #include <sys/mman.h>
 #include <unistd.h>
+
 #include "PtmeConfig.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 

linux/obc/PtmeAxiConfig.cpp

@@ -1,17 +1,17 @@
 #include "PtmeAxiConfig.h"
+
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw_hal/linux/uio/UioMapper.h"
 
-PtmeAxiConfig::PtmeAxiConfig(object_id_t objectId, std::string configAxiUio, int mapNum) :
+PtmeAxiConfig::PtmeAxiConfig(object_id_t objectId, std::string configAxiUio, int mapNum)
-        SystemObject(objectId), configAxiUio(configAxiUio), mapNum(mapNum) {
+    : SystemObject(objectId), configAxiUio(configAxiUio), mapNum(mapNum) {
   mutex = MutexFactory::instance()->createMutex();
   if (mutex == nullptr) {
     sif::warning << "Failed to create mutex" << std::endl;
   }
 }
 
-PtmeAxiConfig::~PtmeAxiConfig() {
+PtmeAxiConfig::~PtmeAxiConfig() {}
-}
 
 ReturnValue_t PtmeAxiConfig::initialize() {
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
@@ -38,4 +38,3 @@ ReturnValue_t PtmeAxiConfig::writeCaduRateReg(uint8_t rateVal) {
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
-

linux/obc/PtmeAxiConfig.h

@@ -2,9 +2,10 @@
 #define LINUX_OBC_PTMEAXICONFIG_H_
 
 #include <string>
+
 #include "fsfw/ipc/MutexIF.h"
-#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
  * @brief   Class providing low level access to the configuration interface of the PTME.
@@ -36,7 +37,6 @@ private:
   uint32_t mutexTimeout = 20;
 
   uint32_t* baseAddress = nullptr;
-
 };
 
 #endif /* LINUX_OBC_PTMEAXICONFIG_H_ */

linux/obc/PtmeRateSetter.h

@@ -2,10 +2,10 @@
 #define LINUX_OBC_PTMERATESETTER_H_
 
 #include "TxRateSetterIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
 #include "linux/obc/PtmeAxiConfig.h"
 #include "linux/obc/PtmeConfig.h"
-#include "fsfw/objectmanager/SystemObject.h"
 
 /**
  * @brief   Class to set the downlink bit rate by writing to the AXI configuration interface of the
@@ -31,7 +31,6 @@ class PtmeRateSetter : public TxRateSetterIF, public SystemObject, public HasRet
   virtual ReturnValue_t setRate(uint32_t bitRate);
 
  private:
-
   static const uint8_t INTERFACE_ID = CLASS_ID::RATE_SETTER;
 
   //! [EXPORT] : [COMMENT] The commanded rate is not supported by the current FPGA design

mission/devices/CMakeLists.txt

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

mission/devices/GPSHyperionHandler.cpp

@@ -3,43 +3,58 @@
 #include "devicedefinitions/GPSDefinitions.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/timemanager/Clock.h"
-
+#include "lwgps/lwgps.h"
-#ifdef FSFW_OSAL_LINUX
-#include <gps.h>
-#include <libgpsmm.h>
-#endif
-
-#include <cmath>
 
 #if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
 #include <filesystem>
 #include <fstream>
 #endif
 
-GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t parentId,
+GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
-                                       bool debugHyperionGps)
+                                       CookieIF *comCookie, bool debugHyperionGps)
-    : ExtendedControllerBase(objectId, objects::NO_OBJECT),
+    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
       gpsSet(this),
-      debugHyperionGps(debugHyperionGps) {}
+      debugHyperionGps(debugHyperionGps) {
+  lwgps_init(&gpsData);
+}
 
 GPSHyperionHandler::~GPSHyperionHandler() {}
 
-void GPSHyperionHandler::performControlOperation() {
+void GPSHyperionHandler::doStartUp() {
-#ifdef FSFW_OSAL_LINUX
+  if (internalState == InternalStates::NONE) {
-  readGpsDataFromGpsd();
+    commandExecuted = false;
-#endif
+    internalState = InternalStates::WAIT_FIRST_MESSAGE;
   }
 
-LocalPoolDataSetBase *GPSHyperionHandler::getDataSetHandle(sid_t sid) { return nullptr; }
+  if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
-
+    if (commandExecuted) {
-ReturnValue_t GPSHyperionHandler::checkModeCommand(Mode_t mode, Submode_t submode,
+      internalState = InternalStates::IDLE;
-                                                   uint32_t *msToReachTheMode) {
+      setMode(MODE_ON);
-  return HasReturnvaluesIF::RETURN_OK;
+      commandExecuted = false;
+    }
+  }
 }
 
-ReturnValue_t GPSHyperionHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+void GPSHyperionHandler::doShutDown() {
-                                                const uint8_t *data, size_t size) {
+  internalState = InternalStates::NONE;
-  switch (actionId) {
+  commandExecuted = false;
+  setMode(_MODE_POWER_DOWN);
+}
+
+ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  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);
@@ -54,6 +69,92 @@ ReturnValue_t GPSHyperionHandler::executeAction(ActionId_t actionId, MessageQueu
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
+                                               DeviceCommandId_t *foundId, size_t *foundLen) {
+  // Pass data to GPS library
+  if (len > 0) {
+    // sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
+    if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
+      // TODO: Check whether data is valid by checking whether NMEA start string is valid?
+      commandExecuted = true;
+    }
+    int result = lwgps_process(&gpsData, start, len);
+    if (result != 1) {
+      sif::warning << "GPSHandler::scanForReply: Issue processing GPS data with lwgps" << std::endl;
+    } else {
+      // The data from the device will generally be read all at once. Therefore, we
+      // can set all field here
+      PoolReadGuard pg(&gpsSet);
+      if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+        sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed" << std::endl;
+#endif
+      }
+      // Print messages
+      if (gpsData.is_valid) {
+        // Set all entries valid now, set invalid on case basis if values are sanitized
+        gpsSet.setValidity(true, true);
+      }
+      // Negative latitude -> South direction
+      gpsSet.latitude.value = gpsData.latitude;
+      // Negative longitude -> West direction
+      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 = {};
+      timeStruct.day = gpsData.date;
+      timeStruct.hour = gpsData.hours;
+      timeStruct.minute = gpsData.minutes;
+      timeStruct.month = gpsData.month;
+      timeStruct.second = gpsData.seconds;
+      // Convert two-digit year to full year (AD)
+      timeStruct.year = gpsData.year + 2000;
+      timeval timeval = {};
+      Clock::convertTimeOfDayToTimeval(&timeStruct, &timeval);
+      gpsSet.year = timeStruct.year;
+      gpsSet.month = gpsData.month;
+      gpsSet.day = gpsData.date;
+      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);
+        printf("Latitude: %f degrees\n", gpsData.latitude);
+        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;
+}
+
+ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id,
+                                                       const uint8_t *packet) {
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return 5000; }
+
 ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                           LocalDataPoolManager &poolManager) {
   localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
@@ -72,105 +173,31 @@ ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(localpool::DataPool &l
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+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 = ExtendedControllerBase::initialize();
+  ReturnValue_t result = DeviceHandlerBase::initialize();
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  return result;
+  // Enable reply immediately for now
+  return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
 }
 
-ReturnValue_t GPSHyperionHandler::handleCommandMessage(CommandMessage *message) {
+ReturnValue_t GPSHyperionHandler::acceptExternalDeviceCommands() {
-  return ExtendedControllerBase::handleCommandMessage(message);
+  return DeviceHandlerBase::acceptExternalDeviceCommands();
 }
-
-#ifdef FSFW_OSAL_LINUX
-void GPSHyperionHandler::readGpsDataFromGpsd() {
-  // The data from the device will generally be read all at once. Therefore, we
-  // can set all field here
-  gpsmm gpsmm(GPSD_SHARED_MEMORY, 0);
-  gps_data_t *gps;
-  gps = gpsmm.read();
-  if (gps == nullptr) {
-    sif::warning << "Q7STestTask: Reading GPS data failed" << std::endl;
-  }
-  PoolReadGuard pg(&gpsSet);
-  if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
-    sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed" << std::endl;
-#endif
-  }
-  // Print messages
-  if ((gps->set & MODE_SET) != MODE_SET) {
-    // Could not even set mode
-    gpsSet.setValidity(false, true);
-    return;
-  }
-
-  if (gps->satellites_used > 0) {
-    gpsSet.setValidity(true, true);
-  }
-
-  gpsSet.satInUse.value = gps->satellites_used;
-  gpsSet.satInView.value = gps->satellites_visible;
-
-  // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
-  gpsSet.fixMode = gps->fix.mode;
-  if (std::isfinite(gps->fix.latitude)) {
-    // Negative latitude -> South direction
-    gpsSet.latitude.value = gps->fix.latitude;
-  } else {
-    gpsSet.latitude.setValid(false);
-  }
-
-  if (std::isfinite(gps->fix.longitude)) {
-    // Negative longitude -> West direction
-    gpsSet.longitude.value = gps->fix.longitude;
-  } else {
-    gpsSet.longitude.setValid(false);
-  }
-
-  if (std::isfinite(gps->fix.altitude)) {
-    gpsSet.altitude.value = gps->fix.altitude;
-  } else {
-    gpsSet.altitude.setValid(false);
-  }
-
-  if (std::isfinite(gps->fix.speed)) {
-    gpsSet.speed.value = gps->fix.speed;
-  } else {
-    gpsSet.speed.setValid(false);
-  }
-
-  gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
-  timeval time = {};
-  time.tv_sec = gpsSet.unixSeconds.value;
-  time.tv_usec = gps->fix.time.tv_nsec / 1000;
-  Clock::TimeOfDay_t timeOfDay = {};
-  Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
-  gpsSet.year = timeOfDay.year;
-  gpsSet.month = timeOfDay.month;
-  gpsSet.day = timeOfDay.day;
-  gpsSet.hours = timeOfDay.hour;
-  gpsSet.minutes = timeOfDay.minute;
-  gpsSet.seconds = timeOfDay.second;
-  if (debugHyperionGps) {
-    sif::info << "-- Hyperion GPS Data --" << std::endl;
-    time_t timeRaw = gps->fix.time.tv_sec;
-    std::tm *time = gmtime(&timeRaw);
-    std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
-    std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
-    std::cout << "Satellites used: " << gps->satellites_used << std::endl;
-    std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
-    std::cout << "Latitude: " << gps->fix.latitude << std::endl;
-    std::cout << "Longitude: " << gps->fix.longitude << std::endl;
-    std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
-    std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
-  }
-}
-#endif

mission/devices/GPSHyperionHandler.h

@@ -3,8 +3,8 @@
 
 #include "devicedefinitions/GPSDefinitions.h"
 #include "fsfw/FSFW.h"
-#include "fsfw/controller/ExtendedControllerBase.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "lwgps/lwgps.h"
 
 /**
  * @brief   Device handler for the Hyperion HT-GPS200 device
@@ -12,35 +12,50 @@
  * Flight manual:
  * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
  */
-class GPSHyperionHandler : public ExtendedControllerBase {
+class GPSHyperionHandler : public DeviceHandlerBase {
  public:
-  GPSHyperionHandler(object_id_t objectId, object_id_t parentId, bool debugHyperionGps = false);
+  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 handleCommandMessage(CommandMessage* message) override;
+  ReturnValue_t acceptExternalDeviceCommands() override;
-  void performControlOperation() override;
+
-  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
-  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                 uint32_t* msToReachTheMode) override;
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                              const uint8_t* data, size_t size) override;
   ReturnValue_t initialize() override;
 
  protected:
   gpioResetFunction_t resetCallback = nullptr;
   void *resetCallbackArgs = nullptr;
 
+  enum class InternalStates { NONE, WAIT_FIRST_MESSAGE, IDLE };
+  InternalStates internalState = InternalStates::NONE;
+  bool commandExecuted = false;
+
+  /* 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() override;
+  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;
   bool debugHyperionGps = false;
-
-  void readGpsDataFromGpsd();
 };
 
 #endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

mission/devices/GPSHyperionLinuxController.cpp

@@ -0,0 +1,178 @@
+#include "GPSHyperionLinuxController.h"
+
+#include <cmath>
+
+#include "devicedefinitions/GPSDefinitions.h"
+#include "fsfw/datapool/PoolReadGuard.h"
+#include "fsfw/timemanager/Clock.h"
+
+#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
+#include <filesystem>
+#include <fstream>
+#endif
+
+GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
+                                                       bool debugHyperionGps)
+    : ExtendedControllerBase(objectId, objects::NO_OBJECT),
+      gpsSet(this),
+      myGpsmm(GPSD_SHARED_MEMORY, nullptr),
+      debugHyperionGps(debugHyperionGps) {}
+
+GPSHyperionLinuxController::~GPSHyperionLinuxController() {}
+
+void GPSHyperionLinuxController::performControlOperation() {
+#ifdef FSFW_OSAL_LINUX
+  readGpsDataFromGpsd();
+#endif
+}
+
+LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
+
+ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
+                                                           uint32_t *msToReachTheMode) {
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
+                                                        MessageQueueId_t commandedBy,
+                                                        const uint8_t *data, size_t size) {
+  switch (actionId) {
+    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;
+}
+
+ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
+    localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(GpsHyperion::SPEED, new PoolEntry<double>({0.0}));
+  localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry<uint16_t>());
+  localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry<uint32_t>());
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
+  localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
+  poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void GPSHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
+                                                            void *args) {
+  this->resetCallback = resetCallback;
+  resetCallbackArgs = args;
+}
+
+ReturnValue_t GPSHyperionLinuxController::initialize() {
+  ReturnValue_t result = ExtendedControllerBase::initialize();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
+  return ExtendedControllerBase::handleCommandMessage(message);
+}
+
+#ifdef FSFW_OSAL_LINUX
+void GPSHyperionLinuxController::readGpsDataFromGpsd() {
+  // The data from the device will generally be read all at once. Therefore, we
+  // can set all field here
+  if (not myGpsmm.is_open()) {
+    // Opening failed
+#if FSFW_VERBOSE_LEVEL >= 1
+    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Opening GPSMM failed" << std::endl;
+#endif
+  }
+  gps_data_t *gps = nullptr;
+  gps = myGpsmm.read();
+  if (gps == nullptr) {
+    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed" << std::endl;
+  }
+  PoolReadGuard pg(&gpsSet);
+  if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+    sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading dataset failed" << std::endl;
+#endif
+  }
+
+  // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
+  gpsSet.fixMode.value = gps->fix.mode;
+  if (gps->fix.mode == 0 or gps->fix.mode == 1) {
+    gpsSet.setValidity(false, true);
+  } else if (gps->satellites_used > 0) {
+    gpsSet.setValidity(true, true);
+  }
+
+  gpsSet.satInUse.value = gps->satellites_used;
+  gpsSet.satInView.value = gps->satellites_visible;
+
+  if (std::isfinite(gps->fix.latitude)) {
+    // Negative latitude -> South direction
+    gpsSet.latitude.value = gps->fix.latitude;
+  } else {
+    gpsSet.latitude.setValid(false);
+  }
+
+  if (std::isfinite(gps->fix.longitude)) {
+    // Negative longitude -> West direction
+    gpsSet.longitude.value = gps->fix.longitude;
+  } else {
+    gpsSet.longitude.setValid(false);
+  }
+
+  if (std::isfinite(gps->fix.altitude)) {
+    gpsSet.altitude.value = gps->fix.altitude;
+  } else {
+    gpsSet.altitude.setValid(false);
+  }
+
+  if (std::isfinite(gps->fix.speed)) {
+    gpsSet.speed.value = gps->fix.speed;
+  } else {
+    gpsSet.speed.setValid(false);
+  }
+
+  gpsSet.unixSeconds.value = gps->fix.time.tv_sec;
+  timeval time = {};
+  time.tv_sec = gpsSet.unixSeconds.value;
+  time.tv_usec = gps->fix.time.tv_nsec / 1000;
+  Clock::TimeOfDay_t timeOfDay = {};
+  Clock::convertTimevalToTimeOfDay(&time, &timeOfDay);
+  gpsSet.year = timeOfDay.year;
+  gpsSet.month = timeOfDay.month;
+  gpsSet.day = timeOfDay.day;
+  gpsSet.hours = timeOfDay.hour;
+  gpsSet.minutes = timeOfDay.minute;
+  gpsSet.seconds = timeOfDay.second;
+  debugHyperionGps = true;
+  if (debugHyperionGps) {
+    sif::info << "-- Hyperion GPS Data --" << std::endl;
+    time_t timeRaw = gps->fix.time.tv_sec;
+    std::tm *time = gmtime(&timeRaw);
+    std::cout << "Time: " << std::put_time(time, "%c %Z") << std::endl;
+    std::cout << "Visible satellites: " << gps->satellites_visible << std::endl;
+    std::cout << "Satellites used: " << gps->satellites_used << std::endl;
+    std::cout << "Fix (0:Not Seen|1:No Fix|2:2D|3:3D): " << gps->fix.mode << std::endl;
+    std::cout << "Latitude: " << gps->fix.latitude << std::endl;
+    std::cout << "Longitude: " << gps->fix.longitude << std::endl;
+    std::cout << "Altitude(MSL): " << gps->fix.altMSL << std::endl;
+    std::cout << "Speed(m/s): " << gps->fix.speed << std::endl;
+  }
+}
+#endif

mission/devices/GPSHyperionLinuxController.h

@@ -0,0 +1,55 @@
+#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
+#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
+
+#include "devicedefinitions/GPSDefinitions.h"
+#include "fsfw/FSFW.h"
+#include "fsfw/controller/ExtendedControllerBase.h"
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+
+#ifdef FSFW_OSAL_LINUX
+#include <gps.h>
+#include <libgpsmm.h>
+#endif
+
+/**
+ * @brief   Device handler for the Hyperion HT-GPS200 device
+ * @details
+ * Flight manual:
+ * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
+ * This device handler can only be used on Linux system where the gpsd daemon with shared memory
+ * export is running.
+ */
+class GPSHyperionLinuxController : public ExtendedControllerBase {
+ public:
+  GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
+                             bool debugHyperionGps = false);
+  virtual ~GPSHyperionLinuxController();
+
+  using gpioResetFunction_t = ReturnValue_t (*)(void* args);
+
+  void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
+  void performControlOperation() override;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
+  ReturnValue_t initialize() override;
+
+ protected:
+  gpioResetFunction_t resetCallback = nullptr;
+  void* resetCallbackArgs = nullptr;
+
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override;
+
+ private:
+  GpsPrimaryDataset gpsSet;
+  gpsmm myGpsmm;
+  bool debugHyperionGps = false;
+
+  void readGpsDataFromGpsd();
+};
+
+#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */

mission/devices/GomspaceDeviceHandler.cpp

@@ -187,8 +187,8 @@ void GomspaceDeviceHandler::setNormalDatapoolEntriesInvalid() {}
 
 ReturnValue_t GomspaceDeviceHandler::generateSetParamCommand(const uint8_t* commandData,
                                                              size_t commandDataLen) {
-  ReturnValue_t result = setParamCacher.deSerialize(&commandData, &commandDataLen,
+  ReturnValue_t result =
-                                                             SerializeIF::Endianness::BIG);
+      setParamCacher.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "GomspaceDeviceHandler: Failed to deserialize set parameter "
                   "message"

mission/devices/GyroADIS1650XHandler.cpp

@@ -36,6 +36,7 @@ void GyroADIS1650XHandler::doStartUp() {
   // Initial 310 ms start up time after power-up
   if (internalState == InternalState::STARTUP) {
     if (not commandExecuted) {
+      warningSwitch = true;
       breakCountdown.setTimeout(ADIS1650X::START_UP_TIME);
       commandExecuted = true;
     }
@@ -54,8 +55,11 @@ void GyroADIS1650XHandler::doStartUp() {
   }
 
   if (internalState == InternalState::IDLE) {
+    if (goToNormalMode) {
       setMode(MODE_NORMAL);
-    // setMode(MODE_ON);
+    } else {
+      setMode(MODE_ON);
+    }
   }
 }
 
@@ -81,7 +85,7 @@ ReturnValue_t GyroADIS1650XHandler::buildTransitionDeviceCommand(DeviceCommandId
       break;
     }
     default: {
-      /* Might be a configuration error. */
+      // Might be a configuration error
       sif::debug << "GyroADIS16507Handler::buildTransitionDeviceCommand: "
                     "Unknown internal state!"
                  << std::endl;
@@ -207,8 +211,11 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
       if (((adisType == ADIS1650X::Type::ADIS16507) and (readProdId != ADIS1650X::PROD_ID_16507)) or
           ((adisType == ADIS1650X::Type::ADIS16505) and (readProdId != ADIS1650X::PROD_ID_16505))) {
 #if OBSW_VERBOSE_LEVEL >= 1
+        if (warningSwitch) {
           sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
                        << readProdId << std::endl;
+        }
+        warningSwitch = false;
 #endif
         return HasReturnvaluesIF::RETURN_FAILED;
       }
@@ -320,9 +327,7 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-uint32_t GyroADIS1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+uint32_t GyroADIS1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 6000; }
-  return 10000;
-}
 
 void GyroADIS1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
                                                uint8_t valueTwo) {
@@ -479,4 +484,6 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+void GyroADIS1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }
+
 #endif /* OBSW_ADIS1650X_LINUX_COM_IF == 1 */

mission/devices/GyroADIS1650XHandler.h

@@ -23,6 +23,8 @@ class GyroADIS1650XHandler : public DeviceHandlerBase {
   GyroADIS1650XHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
                        ADIS1650X::Type type);
 
+  void setToGoToNormalModeImmediately();
+
   // DeviceHandlerBase abstract function implementation
   void doStartUp() override;
   void doShutDown() override;
@@ -43,6 +45,8 @@ class GyroADIS1650XHandler : public DeviceHandlerBase {
   ADIS1650X::Type adisType;
   AdisGyroPrimaryDataset primaryDataset;
   AdisGyroConfigDataset configDataset;
+  bool goToNormalMode = false;
+  bool warningSwitch = true;
 
   enum class InternalState { STARTUP, CONFIG, IDLE };
 

mission/devices/PDU1Handler.cpp

@@ -73,7 +73,8 @@ void PDU1Handler::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, vo
   this->hookArgs = args;
 }
 
-ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker, bool afterExecution) {
+ReturnValue_t PDU1Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
+                                            bool afterExecution) {
   using namespace PDU1;
   GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU1;
   if (not afterExecution) {

mission/devices/PDU2Handler.cpp

@@ -427,7 +427,8 @@ void PDU2Handler::printHkTable() {
             << std::endl;
 }
 
-ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker, bool afterExecution) {
+ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
+                                            bool afterExecution) {
   using namespace PDU2;
   GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
   if (not afterExecution) {

mission/devices/devicedefinitions/GPSDefinitions.h

@@ -55,7 +55,7 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
       lp_var_t<uint32_t>(sid.objectId, GpsHyperion::UNIX_SECONDS, this);
 
  private:
-  friend class GPSHyperionHandler;
+  friend class GPSHyperionLinuxController;
   GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
       : StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
 };

tmtc

@@ -1 +1 @@
-Subproject commit 598635ee4fb1eb246980564ae9f3a0feb1f4da30
+Subproject commit 57398383ae81d7cc851fc36a6332d4946d3e17ce