bsp_q7s/core/ObjectFactory.cpp

@@ -44,8 +44,8 @@
 #include "linux/csp/CspComIF.h"
 #include "linux/csp/CspCookie.h"
 #include "linux/devices/SolarArrayDeploymentHandler.h"
-#include "linux/devices/SusHandler.h"
+#include "mission/devices/SusHandler.h"
-#include "linux/devices/devicedefinitions/SusDefinitions.h"
+#include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/ACUHandler.h"
 #include "mission/devices/BpxBatteryHandler.h"
@@ -351,61 +351,57 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComI
 
   SpiCookie* spiCookieSus1 =
       new SpiCookie(addresses::SUS_1, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   SpiCookie* spiCookieSus2 =
       new SpiCookie(addresses::SUS_2, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   SpiCookie* spiCookieSus3 =
       new SpiCookie(addresses::SUS_3, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   SpiCookie* spiCookieSus4 =
       new SpiCookie(addresses::SUS_4, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   SpiCookie* spiCookieSus5 =
       new SpiCookie(addresses::SUS_5, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   SpiCookie* spiCookieSus6 =
       new SpiCookie(addresses::SUS_6, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   SpiCookie* spiCookieSus7 =
       new SpiCookie(addresses::SUS_7, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   SpiCookie* spiCookieSus8 =
       new SpiCookie(addresses::SUS_8, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   SpiCookie* spiCookieSus9 =
       new SpiCookie(addresses::SUS_9, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   SpiCookie* spiCookieSus10 =
       new SpiCookie(addresses::SUS_10, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   SpiCookie* spiCookieSus11 =
       new SpiCookie(addresses::SUS_11, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   SpiCookie* spiCookieSus12 =
       new SpiCookie(addresses::SUS_12, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   SpiCookie* spiCookieSus13 =
       new SpiCookie(addresses::SUS_13, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
-                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
+                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
 
-  new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF, gpioIds::CS_SUS_1);
+  new SusHandler(objects::SUS_1, 0, objects::SPI_COM_IF, spiCookieSus1);
-  new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF, gpioIds::CS_SUS_2);
+  new SusHandler(objects::SUS_2, 1, objects::SPI_COM_IF, spiCookieSus2);
-  new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF, gpioIds::CS_SUS_3);
+  new SusHandler(objects::SUS_3, 2, objects::SPI_COM_IF, spiCookieSus3);
-  new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF, gpioIds::CS_SUS_4);
+  new SusHandler(objects::SUS_4, 3, objects::SPI_COM_IF, spiCookieSus4);
-  new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF, gpioIds::CS_SUS_5);
+  new SusHandler(objects::SUS_5, 4, objects::SPI_COM_IF, spiCookieSus5);
-  new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF, gpioIds::CS_SUS_6);
+  new SusHandler(objects::SUS_6, 5, objects::SPI_COM_IF, spiCookieSus6);
-  new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF, gpioIds::CS_SUS_7);
+  new SusHandler(objects::SUS_7, 6, objects::SPI_COM_IF, spiCookieSus7);
-  new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF, gpioIds::CS_SUS_8);
+  new SusHandler(objects::SUS_8, 7, objects::SPI_COM_IF, spiCookieSus8);
-  new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF, gpioIds::CS_SUS_9);
+  new SusHandler(objects::SUS_9, 8, objects::SPI_COM_IF, spiCookieSus9);
-  new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF,
+  new SusHandler(objects::SUS_10, 9, objects::SPI_COM_IF, spiCookieSus10);
-                 gpioIds::CS_SUS_10);
+  new SusHandler(objects::SUS_11, 10, objects::SPI_COM_IF, spiCookieSus11);
-  new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF,
+  new SusHandler(objects::SUS_12, 11, objects::SPI_COM_IF, spiCookieSus12);
-                 gpioIds::CS_SUS_11);
+  new SusHandler(objects::SUS_13, 12, objects::SPI_COM_IF, spiCookieSus13);
-  new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF,
-                 gpioIds::CS_SUS_12);
-  new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF,
-                 gpioIds::CS_SUS_13);
 }
 
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF) {
@@ -991,13 +987,13 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
       gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
 
   VirtualChannel* vc = nullptr;
-  vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE);
+  vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
   ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
-  vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE);
+  vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
   ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
-  vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE);
+  vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
   ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
-  vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE);
+  vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
   ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);
 
   GpioCookie* gpioCookiePdec = new GpioCookie;

bsp_q7s/devices/PlocMemoryDumper.cpp

@@ -10,7 +10,9 @@
 
 PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId)
     : SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
+  auto mqArgs = MqArgs(this->getObjectId());
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PlocMemoryDumper::~PlocMemoryDumper() {}

bsp_q7s/devices/PlocUpdater.cpp

@@ -8,7 +8,9 @@
 
 PlocUpdater::PlocUpdater(object_id_t objectId)
     : SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
-  commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
+  auto mqArgs = MqArgs(this->getObjectId());
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 PlocUpdater::~PlocUpdater() {}

bsp_q7s/devices/startracker/StarTrackerHandler.cpp

@@ -44,7 +44,9 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
   if (strHelper == nullptr) {
     sif::error << "StarTrackerHandler: Invalid str image loader" << std::endl;
   }
-  eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
+  auto mqArgs = MqArgs(this->getObjectId());
+  eventQueue = QueueFactory::instance()->createMessageQueue(
+      EventMessage::EVENT_MESSAGE_SIZE * 5, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 StarTrackerHandler::~StarTrackerHandler() {}

bsp_q7s/memory/FileSystemHandler.cpp

@@ -11,7 +11,9 @@
 
 FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler)
     : SystemObject(fileSystemHandler) {
-  mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE);
+  auto mqArgs = MqArgs(this->getObjectId());
+  mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE,
+                                                    MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 FileSystemHandler::~FileSystemHandler() { QueueFactory::instance()->deleteMessageQueue(mq); }

common/config/devConf.h

@@ -23,7 +23,13 @@ static constexpr uint32_t DEFAULT_L3G_SPEED = 976'000;
 static constexpr uint32_t L3G_TRANSITION_DELAY = 5000;
 static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
 
-static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;
+/**
+ * Some MAX1227 could not be reached with frequencies around 4 MHz. Maybe this is caused by
+ * the decoder and buffer circuits. Thus frequency is here defined to 1 MHz.
+ */
+static const uint32_t SUS_MAX1227_SPI_FREQ = 976'000;
+
+static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 976'000;
 static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
 
 static constexpr uint32_t DEFAULT_ADIS16507_SPEED = 976'000;

fsfw

@@ -1 +1 @@
-Subproject commit 32a9e0c7044665f0265c10108c8d62d45c047769
+Subproject commit 19f8e41c7f2523d3684ebddd393e3a7700861328

linux/boardtest/UartTestClass.cpp

@@ -1,16 +1,11 @@
 #include "UartTestClass.h"
 
-#include <fsfw/tasks/TaskFactory.h>
-#if defined(RASPBERRY_PI)
-#include "rpiConfig.h"
-#elif defined(XIPHOS_Q7S)
-#include "q7sConfig.h"
-#endif
-
 #include <errno.h>  // Error integer and strerror() function
 #include <fcntl.h>  // Contains file controls like O_RDWR
+#include <fsfw/tasks/TaskFactory.h>
 #include <unistd.h>  // write(), read(), close()
 
+#include "OBSWConfig.h"
 #include "fsfw/globalfunctions/CRC.h"
 #include "fsfw/globalfunctions/DleEncoder.h"
 #include "fsfw/globalfunctions/arrayprinter.h"
@@ -42,7 +37,7 @@ ReturnValue_t UartTestClass::performPeriodicAction() {
 }
 
 void UartTestClass::gpsInit() {
-#if RPI_TEST_GPS_DEVICE == 1
+#if RPI_TEST_GPS_HANDLER == 1
   int result = lwgps_init(&gpsData);
   if (result == 0) {
     sif::warning << "lwgps_init error: " << result << std::endl;
@@ -90,7 +85,7 @@ void UartTestClass::gpsInit() {
 }
 
 void UartTestClass::gpsPeriodic() {
-#if RPI_TEST_GPS_DEVICE == 1
+#if RPI_TEST_GPS_HANDLER == 1
   int bytesRead = 0;
   do {
     bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
@@ -129,7 +124,7 @@ void UartTestClass::gpsPeriodic() {
 
 void UartTestClass::scexInit() {
 #if defined(RASPBERRY_PI)
-  std::string devname = "/dev/ttyUSB1";
+  std::string devname = "/dev/serial0";
 #else
   std::string devname = "/dev/ul-scex";
 #endif
@@ -156,6 +151,13 @@ void UartTestClass::scexInit() {
   tty.c_cc[VTIME] = 1;   // In units of 0.1 seconds
   tty.c_cc[VMIN] = 255;  // Read up to 255 bytes
 
+  // Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
+#if !defined(XIPHOS_Q7S)
+  if (cfsetispeed(&tty, B57600) != 0) {
+    sif::warning << "UartTestClass::scexInit: Setting baud rate failed" << std::endl;
+  }
+#endif
+
   if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
     sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
                  << std::endl;
@@ -165,37 +167,12 @@ void UartTestClass::scexInit() {
 }
 
 void UartTestClass::scexPeriodic() {
-  auto dleEncoder = DleEncoder();
+  sif::info << "UartTestClass::scexInit: Sending ping command to SCEX" << std::endl;
-  std::array<uint8_t, 128> tmpCmdBuf = {};
+  int result = prepareScexPing();
-  // Send ping command
+  if (result != 0) {
-  tmpCmdBuf[0] = scex::CMD_PING;
-  // These two fields are the packet counter and the total packet count. Those are 1 and 1 for each
-  // telecommand so far
-  tmpCmdBuf[1] = 1;
-  tmpCmdBuf[2] = 1;
-  uint16_t userDataLen = 0;
-  tmpCmdBuf[3] = (userDataLen >> 8) & 0xff;
-  tmpCmdBuf[4] = userDataLen & 0xff;
-  uint16_t crc = CRC::crc16ccitt(tmpCmdBuf.data(), 5);
-  tmpCmdBuf[5] = (crc >> 8) & 0xff;
-  tmpCmdBuf[6] = crc & 0xff;
-
-  size_t encodedLen = 0;
-  ReturnValue_t result =
-      dleEncoder.encode(tmpCmdBuf.data(), 7, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
     return;
-  }
+  };
-  arrayprinter::print(cmdBuf.data(), 9);
   size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
-
-  if (bytesWritten != encodedLen) {
-    sif::warning << "Sending ping command to solar experiment failed" << std::endl;
-  }
-
-  TaskFactory::delayTask(20);
-  bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
   if (bytesWritten != encodedLen) {
     sif::warning << "Sending ping command to solar experiment failed" << std::endl;
   }
@@ -210,12 +187,35 @@ void UartTestClass::scexPeriodic() {
                    << ", " << strerror(errno) << "]" << std::endl;
       break;
     } else if (bytesRead >= static_cast<int>(recBuf.size())) {
-      sif::debug << "UartTestClass::performPeriodicAction: "
+      sif::debug << "UartTestClass::performPeriodicAction: recv buffer might not be large enough"
-                    "recv buffer might not be large enough"
                  << std::endl;
     } else if (bytesRead > 0) {
-      sif::info << "Received " << bytesRead << " from the Solar Cell Experiment:" << std::endl;
+      sif::info << "Received " << bytesRead
-      arrayprinter::print(recBuf.data(), bytesRead);
+                << " bytes from the Solar Cell Experiment:" << std::endl;
+      arrayprinter::print(recBuf.data(), bytesRead, OutputType::HEX, false);
     }
   } while (bytesRead > 0);
 }
+
+int UartTestClass::prepareScexPing() {
+  std::array<uint8_t, 128> tmpCmdBuf = {};
+  // Send ping command
+  tmpCmdBuf[0] = scex::CMD_PING;
+  // These two fields are the packet counter and the total packet count. Those are 1 and 1 for each
+  // telecommand so far
+  tmpCmdBuf[1] = 1;
+  tmpCmdBuf[2] = 1;
+  uint16_t userDataLen = 0;
+  tmpCmdBuf[3] = (userDataLen >> 8) & 0xff;
+  tmpCmdBuf[4] = userDataLen & 0xff;
+  uint16_t crc = CRC::crc16ccitt(tmpCmdBuf.data(), 5);
+  tmpCmdBuf[5] = (crc >> 8) & 0xff;
+  tmpCmdBuf[6] = crc & 0xff;
+  ReturnValue_t result =
+      dleEncoder.encode(tmpCmdBuf.data(), 7, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
+    return -1;
+  }
+  return 0;
+}

linux/boardtest/UartTestClass.h

@@ -1,6 +1,7 @@
 #ifndef LINUX_BOARDTEST_UARTTESTCLASS_H_
 #define LINUX_BOARDTEST_UARTTESTCLASS_H_
 
+#include <fsfw/globalfunctions/DleEncoder.h>
 #include <termios.h>  // Contains POSIX terminal control definitions
 
 #include <array>
@@ -28,7 +29,10 @@ class UartTestClass : public TestTask {
 
   void scexInit();
   void scexPeriodic();
+  int prepareScexPing();
   TestModes mode = TestModes::GPS;
+  DleEncoder dleEncoder = DleEncoder();
+  size_t encodedLen = 0;
   lwgps_t gpsData = {};
   struct termios tty = {};
   int serialPort = 0;

linux/devices/CMakeLists.txt

@@ -1,4 +1,3 @@
 target_sources(${OBSW_NAME} PRIVATE
 	SolarArrayDeploymentHandler.cpp
-	SusHandler.cpp
 )

linux/devices/SusHandler.cpp

@@ -1,214 +0,0 @@
-#include "SusHandler.h"
-
-#include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfw_hal/linux/spi/SpiComIF.h>
-
-#include "OBSWConfig.h"
-
-SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
-                       LinuxLibgpioIF *gpioComIF, gpioId_t chipSelectId)
-    : DeviceHandlerBase(objectId, comIF, comCookie),
-      gpioComIF(gpioComIF),
-      chipSelectId(chipSelectId),
-      dataset(this) {
-  if (comCookie == NULL) {
-    sif::error << "SusHandler: Invalid com cookie" << std::endl;
-  }
-  if (gpioComIF == NULL) {
-    sif::error << "SusHandler: Invalid GpioComIF" << std::endl;
-  }
-}
-
-SusHandler::~SusHandler() {}
-
-ReturnValue_t SusHandler::performOperation(uint8_t counter) {
-  if (counter != FIRST_WRITE) {
-    DeviceHandlerBase::performOperation(counter);
-    return RETURN_OK;
-  }
-
-  if (mode != MODE_NORMAL) {
-    DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);
-    return RETURN_OK;
-  }
-
-  /* If device is in normale mode the communication sequence is initiated here */
-  if (communicationStep == CommunicationStep::IDLE) {
-    communicationStep = CommunicationStep::WRITE_SETUP;
-  }
-
-  DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);
-
-  return RETURN_OK;
-}
-
-ReturnValue_t SusHandler::initialize() {
-  ReturnValue_t result = RETURN_OK;
-  result = DeviceHandlerBase::initialize();
-  if (result != RETURN_OK) {
-    return result;
-  }
-  auto spiComIF = dynamic_cast<SpiComIF *>(communicationInterface);
-  if (spiComIF == nullptr) {
-    sif::debug << "SusHandler::initialize: Invalid communication interface" << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  spiMutex = spiComIF->getMutex();
-  if (spiMutex == nullptr) {
-    sif::debug << "SusHandler::initialize: Failed to get spi mutex" << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  return RETURN_OK;
-}
-
-void SusHandler::doStartUp() {
-#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
-  setMode(MODE_NORMAL);
-#else
-  setMode(_MODE_TO_ON);
-#endif
-}
-
-void SusHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
-
-ReturnValue_t SusHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-  if (communicationStep == CommunicationStep::IDLE) {
-    return NOTHING_TO_SEND;
-  }
-
-  if (communicationStep == CommunicationStep::WRITE_SETUP) {
-    *id = SUS::WRITE_SETUP;
-    communicationStep = CommunicationStep::START_CONVERSIONS;
-  } else if (communicationStep == CommunicationStep::START_CONVERSIONS) {
-    *id = SUS::START_CONVERSIONS;
-    communicationStep = CommunicationStep::READ_CONVERSIONS;
-  } else if (communicationStep == CommunicationStep::READ_CONVERSIONS) {
-    *id = SUS::READ_CONVERSIONS;
-    communicationStep = CommunicationStep::IDLE;
-  }
-  return buildCommandFromCommand(*id, nullptr, 0);
-}
-
-ReturnValue_t SusHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t SusHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-                                                  const uint8_t *commandData,
-                                                  size_t commandDataLen) {
-  switch (deviceCommand) {
-    case (SUS::WRITE_SETUP): {
-      /**
-       * The sun sensor ADC is shutdown when CS is pulled high, so each time requesting a
-       * measurement the setup has to be rewritten. There must also be a little delay between
-       * the transmission of the setup byte and the first conversion. Thus the conversion
-       * will be performed in an extra step.
-       * Because the chip select is driven manually by the SusHandler the SPI bus must be
-       * protected with a mutex here.
-       */
-      ReturnValue_t result = spiMutex->lockMutex(timeoutType, timeoutMs);
-      if (result == MutexIF::MUTEX_TIMEOUT) {
-        sif::error << "SusHandler::buildCommandFromCommand: Mutex timeout" << std::endl;
-        return ERROR_LOCK_MUTEX;
-      } else if (result != HasReturnvaluesIF::RETURN_OK) {
-        sif::error << "SusHandler::buildCommandFromCommand: Failed to lock spi mutex" << std::endl;
-        return ERROR_LOCK_MUTEX;
-      }
-
-      gpioComIF->pullLow(chipSelectId);
-      cmdBuffer[0] = SUS::SETUP;
-      rawPacket = cmdBuffer;
-      rawPacketLen = 1;
-      return RETURN_OK;
-    }
-    case (SUS::START_CONVERSIONS): {
-      std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
-      cmdBuffer[0] = SUS::CONVERSION;
-      rawPacket = cmdBuffer;
-      rawPacketLen = 2;
-      return RETURN_OK;
-    }
-    case (SUS::READ_CONVERSIONS): {
-      std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
-      rawPacket = cmdBuffer;
-      rawPacketLen = SUS::SIZE_READ_CONVERSIONS;
-      return RETURN_OK;
-    }
-    default:
-      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-  }
-  return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-void SusHandler::fillCommandAndReplyMap() {
-  this->insertInCommandMap(SUS::WRITE_SETUP);
-  this->insertInCommandMap(SUS::START_CONVERSIONS);
-  this->insertInCommandAndReplyMap(SUS::READ_CONVERSIONS, 1, &dataset, SUS::SIZE_READ_CONVERSIONS);
-}
-
-ReturnValue_t SusHandler::scanForReply(const uint8_t *start, size_t remainingSize,
-                                       DeviceCommandId_t *foundId, size_t *foundLen) {
-  *foundId = this->getPendingCommand();
-  *foundLen = remainingSize;
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
-  switch (id) {
-    case SUS::READ_CONVERSIONS: {
-      PoolReadGuard readSet(&dataset);
-      dataset.temperatureCelcius = (*(packet) << 8 | *(packet + 1)) * 0.125;
-      dataset.ain0 = (*(packet + 2) << 8 | *(packet + 3));
-      dataset.ain1 = (*(packet + 4) << 8 | *(packet + 5));
-      dataset.ain2 = (*(packet + 6) << 8 | *(packet + 7));
-      dataset.ain3 = (*(packet + 8) << 8 | *(packet + 9));
-      dataset.ain4 = (*(packet + 10) << 8 | *(packet + 11));
-      dataset.ain5 = (*(packet + 12) << 8 | *(packet + 13));
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SUS
-      sif::info << "SUS object id 0x" << std::hex << this->getObjectId()
-                << ", Temperature: " << dataset.temperatureCelcius << " °C" << std::endl;
-      sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN0: " << std::dec
-                << dataset.ain0 << std::endl;
-      sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN1: " << std::dec
-                << dataset.ain1 << std::endl;
-      sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN2: " << std::dec
-                << dataset.ain2 << std::endl;
-      sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN3: " << std::dec
-                << dataset.ain3 << std::endl;
-      sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN4: " << std::dec
-                << dataset.ain4 << std::endl;
-      sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN5: " << std::dec
-                << dataset.ain5 << std::endl;
-#endif
-      /** SUS can now be shutdown and thus the SPI bus released again */
-      gpioComIF->pullHigh(chipSelectId);
-      ReturnValue_t result = spiMutex->unlockMutex();
-      if (result != RETURN_OK) {
-        sif::error << "SusHandler::interpretDeviceReply: Failed to unlock spi mutex" << std::endl;
-        return ERROR_UNLOCK_MUTEX;
-      }
-      break;
-    }
-    default: {
-      sif::debug << "SusHandler::interpretDeviceReply: Unknown reply id" << std::endl;
-      return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
-    }
-  }
-  return HasReturnvaluesIF::RETURN_OK;
-}
-
-void SusHandler::setNormalDatapoolEntriesInvalid() {}
-
-uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
-
-ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
-                                                  LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(SUS::TEMPERATURE_C, new PoolEntry<float>({0.0}));
-  localDataPoolMap.emplace(SUS::AIN0, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(SUS::AIN1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(SUS::AIN2, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(SUS::AIN3, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(SUS::AIN4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(SUS::AIN5, new PoolEntry<uint16_t>({0}));
-  return HasReturnvaluesIF::RETURN_OK;
-}

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -1,13 +1,13 @@
 #include "pollingSequenceFactory.h"
+#include "OBSWConfig.h"
+#include "objects/systemObjectList.h"
 
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
-#include "OBSWConfig.h"
+
-#include "linux/devices/SusHandler.h"
-#include "objects/systemObjectList.h"
 
 ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) {
   // Length of a communication cycle

mission/core/GenericFactory.cpp

@@ -69,7 +69,7 @@ void ObjectFactory::produceGenericObjects() {
                      objects::CCSDS_PACKET_DISTRIBUTOR);
 
   // Every TM packet goes through this funnel
-  new TmFunnel(objects::TM_FUNNEL);
+  new TmFunnel(objects::TM_FUNNEL, 50);
 
   // PUS service stack
   new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, apid::EIVE_OBSW,
@@ -79,7 +79,7 @@ void ObjectFactory::produceGenericObjects() {
   new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, apid::EIVE_OBSW,
                            pus::PUS_SERVICE_3);
   new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING, apid::EIVE_OBSW,
-                             pus::PUS_SERVICE_5, 50);
+                             pus::PUS_SERVICE_5, 15, 45);
   new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, apid::EIVE_OBSW,
                                  pus::PUS_SERVICE_8, 3, 60);
   new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT, apid::EIVE_OBSW, pus::PUS_SERVICE_9);

mission/devices/CMakeLists.txt

@@ -17,4 +17,5 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
     GyroADIS1650XHandler.cpp
     RwHandler.cpp
     max1227.cpp
+    SusHandler.cpp
 )

mission/devices/HeaterHandler.cpp

@@ -16,8 +16,9 @@ HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_
       mainLineSwitcherObjectId(mainLineSwitcherObjectId_),
       mainLineSwitch(mainLineSwitch_),
       actionHelper(this, nullptr) {
+  auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
-      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
+      cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 HeaterHandler::~HeaterHandler() {}

mission/devices/SusHandler.cpp

@@ -0,0 +1,232 @@
+#include "SusHandler.h"
+
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
+
+#include "OBSWConfig.h"
+
+SusHandler::SusHandler(object_id_t objectId, uint8_t susIdx, object_id_t comIF, CookieIF *comCookie)
+    : DeviceHandlerBase(objectId, comIF, comCookie), divider(5), dataset(this), susIdx(susIdx) {}
+
+SusHandler::~SusHandler() {}
+
+ReturnValue_t SusHandler::initialize() {
+  ReturnValue_t result = RETURN_OK;
+  result = DeviceHandlerBase::initialize();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  return RETURN_OK;
+}
+
+void SusHandler::doStartUp() {
+  if (comState == ComStates::IDLE) {
+    comState = ComStates::WRITE_SETUP;
+    commandExecuted = false;
+  }
+  if (comState == ComStates::WRITE_SETUP) {
+    if (commandExecuted) {
+      if (goToNormalModeImmediately) {
+        setMode(MODE_NORMAL);
+      } else {
+        setMode(_MODE_TO_ON);
+      }
+      commandExecuted = false;
+      if (clkMode == ClkModes::INT_CLOCKED) {
+        comState = ComStates::START_INT_CLOCKED_CONVERSIONS;
+      } else {
+        comState = ComStates::EXT_CLOCKED_CONVERSIONS;
+      }
+    }
+  }
+}
+
+void SusHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
+
+ReturnValue_t SusHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  switch (comState) {
+    case (ComStates::IDLE): {
+      break;
+    }
+    case (ComStates::WRITE_SETUP): {
+      *id = SUS::WRITE_SETUP;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    case (ComStates::EXT_CLOCKED_CONVERSIONS): {
+      *id = SUS::READ_EXT_TIMED_CONVERSIONS;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    case (ComStates::START_INT_CLOCKED_CONVERSIONS): {
+      *id = SUS::START_INT_TIMED_CONVERSIONS;
+      comState = ComStates::READ_INT_CLOCKED_CONVERSIONS;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    case (ComStates::READ_INT_CLOCKED_CONVERSIONS): {
+      *id = SUS::READ_INT_TIMED_CONVERSIONS;
+      comState = ComStates::START_INT_CLOCKED_CONVERSIONS;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+    case (ComStates::EXT_CLOCKED_TEMP): {
+      *id = SUS::READ_EXT_TIMED_TEMPS;
+      return buildCommandFromCommand(*id, nullptr, 0);
+    }
+  }
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t SusHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  if (comState == ComStates::WRITE_SETUP) {
+    *id = SUS::WRITE_SETUP;
+    return buildCommandFromCommand(*id, nullptr, 0);
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SusHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                  const uint8_t *commandData,
+                                                  size_t commandDataLen) {
+  using namespace max1227;
+  switch (deviceCommand) {
+    case (SUS::WRITE_SETUP): {
+      if (clkMode == ClkModes::INT_CLOCKED) {
+        cmdBuffer[0] = SUS::SETUP_INT_CLOKED;
+      } else {
+        cmdBuffer[0] = SUS::SETUP_EXT_CLOCKED;
+      }
+
+      rawPacket = cmdBuffer;
+      rawPacketLen = 1;
+      break;
+    }
+    case (SUS::START_INT_TIMED_CONVERSIONS): {
+      std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
+      cmdBuffer[0] = max1227::buildResetByte(true);
+      cmdBuffer[1] = SUS::CONVERSION;
+      rawPacket = cmdBuffer;
+      rawPacketLen = 2;
+      break;
+    }
+    case (SUS::READ_INT_TIMED_CONVERSIONS): {
+      std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
+      rawPacket = cmdBuffer;
+      rawPacketLen = SUS::SIZE_READ_INT_CONVERSIONS;
+      break;
+    }
+    case (SUS::READ_EXT_TIMED_CONVERSIONS): {
+      std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
+      rawPacket = cmdBuffer;
+      for (uint8_t idx = 0; idx < 6; idx++) {
+        cmdBuffer[idx * 2] = buildConvByte(ScanModes::N_ONCE, idx, false);
+        cmdBuffer[idx * 2 + 1] = 0;
+      }
+      cmdBuffer[12] = 0x00;
+      rawPacketLen = SUS::SIZE_READ_EXT_CONVERSIONS;
+      break;
+    }
+    case (SUS::READ_EXT_TIMED_TEMPS): {
+      cmdBuffer[0] = buildConvByte(ScanModes::N_ONCE, 0, true);
+      std::memset(cmdBuffer + 1, 0, 24);
+      rawPacket = cmdBuffer;
+      rawPacketLen = 25;
+      break;
+    }
+    default:
+      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void SusHandler::fillCommandAndReplyMap() {
+  insertInCommandAndReplyMap(SUS::WRITE_SETUP, 1);
+  insertInCommandAndReplyMap(SUS::START_INT_TIMED_CONVERSIONS, 1);
+  insertInCommandAndReplyMap(SUS::READ_INT_TIMED_CONVERSIONS, 1, &dataset,
+                             SUS::SIZE_READ_INT_CONVERSIONS);
+  insertInCommandAndReplyMap(SUS::READ_EXT_TIMED_CONVERSIONS, 1, &dataset,
+                             SUS::SIZE_READ_EXT_CONVERSIONS);
+  insertInCommandAndReplyMap(SUS::READ_EXT_TIMED_TEMPS, 1);
+}
+
+ReturnValue_t SusHandler::scanForReply(const uint8_t *start, size_t remainingSize,
+                                       DeviceCommandId_t *foundId, size_t *foundLen) {
+  *foundId = this->getPendingCommand();
+  *foundLen = remainingSize;
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  switch (id) {
+    case SUS::WRITE_SETUP: {
+      if (mode == _MODE_START_UP) {
+        commandExecuted = true;
+      }
+      return HasReturnvaluesIF::RETURN_OK;
+    }
+    case SUS::START_INT_TIMED_CONVERSIONS: {
+      return HasReturnvaluesIF::RETURN_OK;
+    }
+    case SUS::READ_INT_TIMED_CONVERSIONS: {
+      PoolReadGuard readSet(&dataset);
+
+      dataset.temperatureCelcius = max1227::getTemperature(((packet[0] & 0x0f) << 8) | packet[1]);
+      for (uint8_t idx = 0; idx < 6; idx++) {
+        dataset.channels[idx] = packet[idx * 2 + 2] << 8 | packet[idx * 2 + 3];
+      }
+      printDataset();
+      break;
+    }
+    case (SUS::READ_EXT_TIMED_CONVERSIONS): {
+      PoolReadGuard readSet(&dataset);
+      for (uint8_t idx = 0; idx < 6; idx++) {
+        dataset.channels[idx] = packet[idx * 2 + 1] << 8 | packet[idx * 2 + 2];
+      }
+      // Read temperature in next read cycle
+      if (clkMode == ClkModes::EXT_CLOCKED_WITH_TEMP) {
+        comState = ComStates::EXT_CLOCKED_TEMP;
+      }
+      printDataset();
+      break;
+    }
+    case (SUS::READ_EXT_TIMED_TEMPS): {
+      PoolReadGuard readSet(&dataset);
+      dataset.temperatureCelcius = max1227::getTemperature(((packet[23] & 0x0f) << 8) | packet[24]);
+      comState = ComStates::EXT_CLOCKED_CONVERSIONS;
+      break;
+    }
+    default: {
+      sif::debug << "SusHandler::interpretDeviceReply: Unknown reply id" << std::endl;
+      return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 2000; }
+
+ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+                                                  LocalDataPoolManager &poolManager) {
+  localDataPoolMap.emplace(SUS::TEMPERATURE_C, &tempC);
+  localDataPoolMap.emplace(SUS::CHANNEL_VEC, &channelVec);
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+void SusHandler::setToGoToNormalMode(bool enable) { this->goToNormalModeImmediately = enable; }
+
+void SusHandler::printDataset() {
+  if (periodicPrintout) {
+    if (divider.checkAndIncrement()) {
+      sif::info << "SUS ADC " << static_cast<int>(susIdx) << " hex [" << std::setfill('0') << std::hex;
+      for (uint8_t idx = 0; idx < 6; idx++) {
+        sif::info << std::setw(3) << dataset.channels[idx];
+        if (idx < 6 - 1) {
+          sif::info << ",";
+        }
+      }
+      sif::info << "] | T[C] " << std::dec << dataset.temperatureCelcius.value << std::endl;
+    }
+  }
+}
+
+void SusHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
+  this->periodicPrintout = enable;
+  this->divider.setDivider(divider);
+}

mission/devices/SusHandler.h

@@ -2,16 +2,18 @@
 #define MISSION_DEVICES_SUSHANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
 
 #include "devicedefinitions/SusDefinitions.h"
+#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
+#include "mission/devices/max1227.h"
 
 /**
- * @brief	This is the device handler class for the SUS sensor. The sensor is
+ * @brief	This is the device handler class for the SUS sensor based on the MAX1227 ADC.
- *          based on the MAX1227 ADC. Details about the SUS electronic can be found at
- *          https://egit.irs.uni-stuttgart.de/eive/eive_dokumente/src/branch/master/400_Raumsegment/443_SunSensorDocumentation/release
  *
- * @details Datasheet of MAX1227: https://datasheets.maximintegrated.com/en/ds/MAX1227-MAX1231.pdf
+ * @details
+ * Datasheet of MAX1227: https://datasheets.maximintegrated.com/en/ds/MAX1227-MAX1231.pdf
+ * Details about the SUS electronic can be found at
+ * https://egit.irs.uni-stuttgart.de/eive/eive_dokumente/src/branch/master/400_Raumsegment/443_SunSensorDocumentation/release
  *
  * @note    When adding a SusHandler to the polling sequence table make sure to add a slot with
  *          the executionStep FIRST_WRITE. Otherwise the communication sequence will never be
@@ -21,15 +23,17 @@
  */
 class SusHandler : public DeviceHandlerBase {
  public:
+  enum ClkModes { INT_CLOCKED, EXT_CLOCKED, EXT_CLOCKED_WITH_TEMP };
+
   static const uint8_t FIRST_WRITE = 7;
 
-  SusHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+  SusHandler(object_id_t objectId, uint8_t susIdx, object_id_t comIF, CookieIF* comCookie);
-             LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId);
   virtual ~SusHandler();
 
-  virtual ReturnValue_t performOperation(uint8_t counter) override;
+  void enablePeriodicPrintout(bool enable, uint8_t divider);
 
   virtual ReturnValue_t initialize() override;
+  void setToGoToNormalMode(bool enable);
 
  protected:
   void doStartUp() override;
@@ -42,7 +46,6 @@ class SusHandler : public DeviceHandlerBase {
   ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
                              size_t* foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
-  void setNormalDatapoolEntriesInvalid() override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
@@ -53,19 +56,34 @@ class SusHandler : public DeviceHandlerBase {
   static const ReturnValue_t ERROR_UNLOCK_MUTEX = MAKE_RETURN_CODE(0xA0);
   static const ReturnValue_t ERROR_LOCK_MUTEX = MAKE_RETURN_CODE(0xA1);
 
-  enum class CommunicationStep { IDLE, WRITE_SETUP, START_CONVERSIONS, READ_CONVERSIONS };
+  enum class ComStates {
+    IDLE,
+    WRITE_SETUP,
+    EXT_CLOCKED_CONVERSIONS,
+    EXT_CLOCKED_TEMP,
+    START_INT_CLOCKED_CONVERSIONS,
+    READ_INT_CLOCKED_CONVERSIONS
+  };
 
-  LinuxLibgpioIF* gpioComIF = nullptr;
+  bool periodicPrintout = false;
-
+  PeriodicOperationDivider divider;
-  gpioId_t chipSelectId = gpio::NO_GPIO;
+  bool goToNormalModeImmediately = false;
+  bool commandExecuted = false;
 
   SUS::SusDataset dataset;
+  // Read temperature in each alternating communication step when using
+  // externally clocked mode
+  ClkModes clkMode = ClkModes::INT_CLOCKED;
+  PoolEntry<float> tempC = PoolEntry<float>({0.0});
+  PoolEntry<uint16_t> channelVec = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0});
 
+  uint8_t susIdx = 0;
   uint8_t cmdBuffer[SUS::MAX_CMD_SIZE];
-  CommunicationStep communicationStep = CommunicationStep::IDLE;
+  ComStates comState = ComStates::IDLE;
 
   MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
   uint32_t timeoutMs = 20;
+  void printDataset();
 
   MutexIF* spiMutex = nullptr;
 };

mission/devices/devicedefinitions/SusDefinitions.h

@@ -8,25 +8,23 @@
 
 namespace SUS {
 
-/**
- * Some MAX1227 could not be reached with frequencies around 4 MHz. Maybe this is caused by
- * the decoder and buffer circuits. Thus frequency is here defined to 1 MHz.
- */
-static const uint32_t MAX1227_SPI_FREQ = 1000000;
-
 static const DeviceCommandId_t NONE = 0x0;  // Set when no command is pending
 
-static const DeviceCommandId_t WRITE_SETUP = 0x1;
+static const DeviceCommandId_t WRITE_SETUP = 1;
 /**
  * This command initiates the ADC conversion for all channels including the internal
  * temperature sensor.
  */
-static const DeviceCommandId_t START_CONVERSIONS = 0x2;
+static const DeviceCommandId_t START_INT_TIMED_CONVERSIONS = 2;
 /**
  * This command reads the internal fifo which holds the temperature and the channel
  * conversions.
  */
-static const DeviceCommandId_t READ_CONVERSIONS = 0x3;
+static constexpr DeviceCommandId_t READ_INT_TIMED_CONVERSIONS = 3;
+
+static constexpr DeviceCommandId_t READ_EXT_TIMED_CONVERSIONS = 4;
+
+static constexpr DeviceCommandId_t READ_EXT_TIMED_TEMPS = 5;
 
 /**
  * @brief   This is the configuration byte which will be written to the setup register after
@@ -39,7 +37,8 @@ static const DeviceCommandId_t READ_CONVERSIONS = 0x3;
  *                                                written to the setup register
  *
  */
-static const uint8_t SETUP = 0b01101000;
+static constexpr uint8_t SETUP_INT_CLOKED = 0b01101000;
+static constexpr uint8_t SETUP_EXT_CLOCKED = 0b01111000;
 
 /**
  * @brief This values will always be written to the ADC conversion register to specify the
@@ -51,24 +50,18 @@ static const uint8_t SETUP = 0b01101000;
  */
 static const uint8_t CONVERSION = 0b10101001;
 
-static const uint8_t SUS_DATA_SET_ID = READ_CONVERSIONS;
+static const uint8_t SUS_DATA_SET_ID = READ_INT_TIMED_CONVERSIONS;
 
 /** Size of data replies. Temperature and 6 channel convesions (AIN0 - AIN5) */
-static const uint8_t SIZE_READ_CONVERSIONS = 14;
+static const uint8_t SIZE_READ_INT_CONVERSIONS = 14;
+// 6 * conv byte, 6 * 0 and one trailing zero
+static constexpr uint8_t SIZE_READ_EXT_CONVERSIONS = 13;
 
-static const uint8_t MAX_CMD_SIZE = SIZE_READ_CONVERSIONS;
+static const uint8_t MAX_CMD_SIZE = 32;
 
 static const uint8_t POOL_ENTRIES = 7;
 
-enum Max1227PoolIds : lp_id_t {
+enum Max1227PoolIds : lp_id_t { TEMPERATURE_C, CHANNEL_VEC };
-  TEMPERATURE_C,
-  AIN0,
-  AIN1,
-  AIN2,
-  AIN3,
-  AIN4,
-  AIN5,
-};
 
 class SusDataset : public StaticLocalDataSet<POOL_ENTRIES> {
  public:
@@ -77,12 +70,7 @@ class SusDataset : public StaticLocalDataSet<POOL_ENTRIES> {
   SusDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SUS_DATA_SET_ID)) {}
 
   lp_var_t<float> temperatureCelcius = lp_var_t<float>(sid.objectId, TEMPERATURE_C, this);
-  lp_var_t<uint16_t> ain0 = lp_var_t<uint16_t>(sid.objectId, AIN0, this);
+  lp_vec_t<uint16_t, 6> channels = lp_vec_t<uint16_t, 6>(sid.objectId, CHANNEL_VEC, this);
-  lp_var_t<uint16_t> ain1 = lp_var_t<uint16_t>(sid.objectId, AIN1, this);
-  lp_var_t<uint16_t> ain2 = lp_var_t<uint16_t>(sid.objectId, AIN2, this);
-  lp_var_t<uint16_t> ain3 = lp_var_t<uint16_t>(sid.objectId, AIN3, this);
-  lp_var_t<uint16_t> ain4 = lp_var_t<uint16_t>(sid.objectId, AIN4, this);
-  lp_var_t<uint16_t> ain5 = lp_var_t<uint16_t>(sid.objectId, AIN5, this);
 };
 }  // namespace SUS
 

mission/tmtc/CCSDSHandler.cpp

@@ -23,7 +23,9 @@ CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t
       enTxClock(enTxClock),
       enTxData(enTxData) {
   commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
-  eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 2);
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
+  eventQueue =
+      QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
 }
 
 CCSDSHandler::~CCSDSHandler() {}

mission/tmtc/CCSDSHandler.h

@@ -132,7 +132,7 @@ class CCSDSHandler : public SystemObject,
 
   ActionHelper actionHelper;
 
-  MessageQueueId_t tcDistributorQueueId;
+  MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;
 
   PtmeConfig* ptmeConfig = nullptr;
 

mission/tmtc/VirtualChannel.cpp

@@ -7,9 +7,11 @@
 #include "fsfw/serviceinterface/ServiceInterfaceStream.h"
 #include "fsfw/tmtcservices/TmTcMessage.h"
 
-VirtualChannel::VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth) : vcId(vcId) {
+VirtualChannel::VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth, object_id_t ownerId)
-  tmQueue = QueueFactory::instance()->createMessageQueue(tmQueueDepth,
+    : vcId(vcId) {
-                                                         MessageQueueMessage::MAX_MESSAGE_SIZE);
+  auto mqArgs = MqArgs(ownerId, reinterpret_cast<void*>(vcId));
+  tmQueue = QueueFactory::instance()->createMessageQueue(
+      tmQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 ReturnValue_t VirtualChannel::initialize() {

mission/tmtc/VirtualChannel.h

@@ -24,7 +24,7 @@ class VirtualChannel : public AcceptsTelemetryIF, public HasReturnvaluesIF {
    * @param vcId  The virtual channel id assigned to this object
    * @param tmQueueDepth  Queue depth of queue receiving telemetry from other objects
    */
-  VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth);
+  VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth, object_id_t ownerId);
 
   ReturnValue_t initialize();
   MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;

mission/utility/TmFunnel.cpp

@@ -11,10 +11,11 @@ object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
 
 TmFunnel::TmFunnel(object_id_t objectId, uint32_t messageDepth)
     : SystemObject(objectId), messageDepth(messageDepth) {
-  tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
+  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-                                                         MessageQueueMessage::MAX_MESSAGE_SIZE);
+  tmQueue = QueueFactory::instance()->createMessageQueue(
+      messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
   storageQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE);
+      messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 
 TmFunnel::~TmFunnel() {}