CMakeLists.txt

@@ -86,7 +86,6 @@ include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
 pre_source_hw_os_config()
 
 if(TGT_BSP)
-    message(STATUS ${TGT_BSP})
     if(TGT_BSP MATCHES "arm/q7s" OR TGT_BSP MATCHES "arm/raspberrypi"
         OR TGT_BSP MATCHES "arm/beagleboneblack"
     )

bsp_linux_board/ObjectFactory.cpp

@@ -14,7 +14,8 @@
 #include "mission/core/GenericFactory.h"
 #include "mission/utility/TmFunnel.h"
 #include <mission/devices/GPSHyperionHandler.h>
-#include "mission/devices/MGMHandlerLIS3MDL.h"
+#include <mission/devices/MgmLIS3MDLHandler.h>
+
 #include "mission/devices/MGMHandlerRM3100.h"
 #include "mission/devices/GyroADIS16507Handler.h"
 

bsp_q7s/boardconfig/busConf.h

@@ -19,18 +19,18 @@ static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";
 /**************************************************************/
 /** OBC1E                                                     */
 /**************************************************************/
-static constexpr char GPIO_MULTIPURPOSE_1V8_OBC1D[] = "gpiochip4";
+static constexpr char GPIO_MULTIPURPOSE_1V8_OBC1D[] = "/amba_pl/gpio@42020000";
-static const char* const GPIO_GYRO_ADIS_CHIP = GPIO_MULTIPURPOSE_1V8_OBC1D;
+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
 
 /**************************************************************/
 /** OBC1F B0                                                  */
 /**************************************************************/
-static constexpr char GPIO_FLEX_OBC1F_B0[] = "gpiochip5";
+static constexpr char GPIO_FLEX_OBC1F_B0[] = "/amba_pl/gpio@42030000";
-static const char* const GPIO_ACS_BOARD_DEFAULT_CHIP = GPIO_FLEX_OBC1F_B0;
+static const char* const GPIO_ACS_BOARD_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
-static const char* const GPIO_RW_DEFAULT_CHIP = GPIO_FLEX_OBC1F_B0;
+static const char* const GPIO_RW_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
-static const char* const GPIO_RAD_SENSOR_CHIP = GPIO_FLEX_OBC1F_B0;
+static const char* const GPIO_RAD_SENSOR_LABEL = GPIO_FLEX_OBC1F_B0;
 
 static constexpr uint32_t GPIO_RW_0_CS = 7;             // B20
 static constexpr uint32_t GPIO_RW_1_CS = 3;             // G22
@@ -40,7 +40,6 @@ static constexpr uint32_t GPIO_RW_3_CS = 6;             // B19
 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
-// MGM_2 is part of gpiochip6
 static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;    // A16
 static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10;    // C17
 
@@ -56,16 +55,16 @@ static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19;      // R18
 /**************************************************************/
 /** OBC1F B1                                                  */
 /**************************************************************/
-static constexpr char GPIO_FLEX_OBC1F_B1[] = "gpiochip6";
+static constexpr char GPIO_FLEX_OBC1F_B1[] = "/amba_pl/gpio@42030000";
-static const char* const GPIO_MGM2_LIS3_CHIP = GPIO_FLEX_OBC1F_B1;
+static const char* const GPIO_MGM2_LIS3_LABEL = GPIO_FLEX_OBC1F_B1;
 static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0;       // D18
 
 /**************************************************************/
 /** OBC1C                                                     */
 /**************************************************************/
-static constexpr char GPIO_3V3_OBC1C[] = "gpiochip7";
+static constexpr char GPIO_3V3_OBC1C[] = "/amba_pl/gpio@42040000";
-static const char* const GPIO_HEATER_CHIP = GPIO_3V3_OBC1C;
+static const char* const GPIO_HEATER_LABEL = GPIO_3V3_OBC1C;
-static const char* const GPIO_SOLAR_ARR_DEPL_CHIP = 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;
@@ -79,10 +78,18 @@ static constexpr uint32_t GPIO_GYRO_2_ENABLE = 18;      // F22
 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_RW_SPI_MUX_CHIP[] = "gpiochip11";
+static constexpr char GPIO_RW_SPI_MUX_LABEL[] = "zynq_gpio";
 // 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/core/InitMission.cpp

@@ -289,13 +289,17 @@ 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 OBSW_ADD_SPI_TEST_CODE == 1
     result = testTask->addComponent(objects::SPI_TEST);

bsp_q7s/core/ObjectFactory.cpp

@@ -35,7 +35,6 @@
 #include "mission/devices/GyroADIS16507Handler.h"
 #include "mission/devices/IMTQHandler.h"
 #include "mission/devices/SyrlinksHkHandler.h"
-#include "mission/devices/MGMHandlerLIS3MDL.h"
 #include "mission/devices/PlocMPSoCHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
@@ -52,6 +51,7 @@
 
 #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"
@@ -111,7 +111,7 @@ 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;
@@ -139,8 +139,8 @@ void ObjectFactory::produce(void* args){
     createRtdComponents();
 #endif /* Q7S_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);
 
@@ -197,13 +197,13 @@ void ObjectFactory::produce(void* args){
     auto udpBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
     new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
     sif::info << "Created UDP server for TMTC commanding with listener port " <<
-            udpBridge->getUdpPort() << std::endl;
+    udpBridge->getUdpPort() << std::endl;
 #else
     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 */
@@ -229,19 +229,17 @@ 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;
     }
@@ -262,23 +260,19 @@ 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);
 
     /**
@@ -293,8 +287,8 @@ void ObjectFactory::createPcduComponents() {
 
 void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
     GpioCookie* gpioCookieRadSensor = new GpioCookie;
-    GpiodRegular* chipSelectRadSensor = new GpiodRegular(q7s::GPIO_RAD_SENSOR_CHIP,
+    GpiodRegular* chipSelectRadSensor = new GpiodRegular("Chip Select Radiation Sensor", gpio::OUT,
-            q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, 1);
+            1, q7s::GPIO_RAD_SENSOR_LABEL, q7s::GPIO_RAD_SENSOR_CS);
     gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
     gpioComIF->addGpios(gpioCookieRadSensor);
 
@@ -304,8 +298,7 @@ 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;
 
@@ -422,46 +415,46 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
     GpioCookie* gpioCookieAcsBoard = new GpioCookie();
     GpiodRegular* gpio = nullptr;
-    gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_0_ADIS_CS,
+    gpio = new GpiodRegular("CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
-            "CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
+            q7s::GPIO_GYRO_0_ADIS_CS);
     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 GpiodRegular("CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH,
-            "CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH);
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_1_L3G_CS);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_2_ADIS_CS,
+    gpio = new GpiodRegular("CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
-            "CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
+            q7s::GPIO_GYRO_2_ADIS_CS);
     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 GpiodRegular("CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH,
-            "CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH);
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_3_L3G_CS);
     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 GpiodRegular("CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH,
-            "CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH);
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_0_LIS3_CS);
     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 GpiodRegular("CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH,
-            "CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH);
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_1_RM3100_CS);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_MGM2_LIS3_CHIP, q7s::GPIO_MGM_2_LIS3_CS,
+    gpio = new GpiodRegular("CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH, q7s::GPIO_MGM2_LIS3_LABEL,
-            "CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH);
+            q7s::GPIO_MGM_2_LIS3_CS);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_3_RM3100_CS,
+    gpio = new GpiodRegular("CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH,
-            "CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH);
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_3_RM3100_CS);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
     // GNSS reset pins are active low
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_RESET_GNSS_0,
+    gpio = new GpiodRegular("GNSS_0_NRESET", gpio::OUT, gpio::HIGH,
-            "GNSS_0_NRESET", gpio::OUT, gpio::HIGH);
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_0);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_RESET_GNSS_1,
+    gpio = new GpiodRegular("GNSS_1_NRESET", gpio::OUT, gpio::HIGH,
-            "GNSS_1_NRESET", gpio::OUT, gpio::HIGH);
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_1);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
 
     // Enable pins must be pulled low for regular operations
-    gpio = new GpiodRegular(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
+    gpio = new GpiodRegular("GYRO_0_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_FLEX_OBC1F_B0,
-            "GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
+            q7s::GPIO_GYRO_0_ENABLE);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
+    gpio = new GpiodRegular("GYRO_2_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_3V3_OBC1C,
-            "GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
+            q7s::GPIO_GYRO_2_ENABLE);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
 
     // TODO: Add enable pins for GPS as soon as new interface board design is finished
@@ -470,58 +463,78 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     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, 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,
+    auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
+            spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
     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 MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
+    auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiCookie);
+            spiCookie, 0);
     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 MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
+    mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
+            spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
     mgmRm3100Handler->setStartUpImmediately();
+#if FSFW_HAL_RM3100_MGM_DEBUG == 1
+    mgmRm3100Handler->setToGoToNormalMode(true);
+#endif
 
     // Commented until ACS board V2 in in clean room again
     // Gyro 0 Side A
     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);
-    auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER,
+    auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiCookie);
+            spiCookie);
     adisHandler->setStartUpImmediately();
     // Gyro 1 Side A
     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,
+    auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiCookie, 0);
+            spiCookie, 0);
     gyroL3gHandler->setStartUpImmediately();
-    //gyroL3gHandler->setGoNormalModeAtStartup();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+    gyroL3gHandler->setGoNormalModeAtStartup();
+#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,
+    adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiCookie);
+            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,
+    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
-            objects::SPI_COM_IF, spiCookie, 0);
+            spiCookie, 0);
     gyroL3gHandler->setStartUpImmediately();
-    //gyroL3gHandler->setGoNormalModeAtStartup();
+#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
+    gyroL3gHandler->setGoNormalModeAtStartup();
+#endif
 
+    bool debugGps = false;
+#if OBSW_DEBUG_GPS == 1
+    debugGps = true;
+#endif
     resetArgsGnss1.gnss1 = true;
     resetArgsGnss1.gpioComIF = gpioComIF;
     resetArgsGnss1.waitPeriodMs = 100;
@@ -537,11 +550,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     uartCookieGps1->setToFlushInput(true);
     uartCookieGps1->setReadCycles(6);
     auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
-            uartCookieGps0, true);
+            uartCookieGps0, debugGps);
     gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
     gpsHandler0->setStartUpImmediately();
     auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
-            uartCookieGps1, true);
+            uartCookieGps1, debugGps);
     gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1);
     gpsHandler1->setStartUpImmediately();
 }
@@ -551,38 +564,37 @@ void ObjectFactory::createHeaterComponents() {
     GpioCookie* heaterGpiosCookie = new GpioCookie;
 
     /* Pin H2-11 on stack connector */
-    GpiodRegular* gpioConfigHeater0 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    GpiodRegular* gpioConfigHeater0 = new GpiodRegular("Heater0", gpio::OUT, 0,
-            q7s::GPIO_HEATER_0_PIN, "Heater0", gpio::OUT, 0);
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_0_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
-
     /* Pin H2-12 on stack connector */
-    GpiodRegular* gpioConfigHeater1 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    GpiodRegular* gpioConfigHeater1 = new GpiodRegular("Heater1", gpio::OUT, 0,
-            q7s::GPIO_HEATER_1_PIN, "Heater1", gpio::OUT, 0);
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_1_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
 
     /* Pin H2-13 on stack connector */
-    GpiodRegular* gpioConfigHeater2 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    GpiodRegular* gpioConfigHeater2 = new GpiodRegular("Heater2", gpio::OUT, 0,
-            q7s::GPIO_HEATER_2_PIN, "Heater2", gpio::OUT, 0);
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_2_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
 
-    GpiodRegular* gpioConfigHeater3 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    GpiodRegular* gpioConfigHeater3 = new GpiodRegular("Heater3", gpio::OUT, 0,
-            q7s::GPIO_HEATER_3_PIN, "Heater3", gpio::OUT, 0);
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_3_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
 
-    GpiodRegular* gpioConfigHeater4 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    GpiodRegular* gpioConfigHeater4 = new GpiodRegular("Heater4", gpio::OUT, 0,
-            q7s::GPIO_HEATER_4_PIN, "Heater4", gpio::OUT, 0);
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_4_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
 
-    GpiodRegular* gpioConfigHeater5 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    GpiodRegular* gpioConfigHeater5 = new GpiodRegular("Heater5", gpio::OUT, 0,
-            q7s::GPIO_HEATER_5_PIN, "Heater5", gpio::OUT, 0);
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_5_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
 
-    GpiodRegular* gpioConfigHeater6 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    GpiodRegular* gpioConfigHeater6 = new GpiodRegular("Heater6", gpio::OUT, 0,
-            q7s::GPIO_HEATER_6_PIN, "Heater6", gpio::OUT, 0);
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_6_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
 
-    GpiodRegular* gpioConfigHeater7 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
+    GpiodRegular* gpioConfigHeater7 = new GpiodRegular("Heater7", gpio::OUT, 0,
-            q7s::GPIO_HEATER_7_PIN, "Heater7", gpio::OUT, 0);
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_7_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
 
     new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@@ -592,11 +604,11 @@ void ObjectFactory::createHeaterComponents() {
 void ObjectFactory::createSolarArrayDeploymentComponents() {
     GpioCookie* solarArrayDeplCookie = new GpioCookie;
 
-    GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
+    GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular("DeplSA0", gpio::OUT, 0,
-            q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, 0);
+            q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_0_PIN);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
-    GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
+    GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular("DeplSA1", gpio::OUT, 0,
-            q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, 0);
+            q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_1_PIN);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);
 
     //TODO: Find out burn time. For now set to 1000 ms.
@@ -668,69 +680,62 @@ 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,
@@ -770,30 +775,30 @@ 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,
+    GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0,
-            "Enable reaction wheel 1", gpio::OUT, 0);
+            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS);
     gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
-    GpiodRegular* enRw2 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_1_CS,
+    GpiodRegular* enRw2 = new GpiodRegular("Enable reaction wheel 2", gpio::OUT, 0,
-            "Enable reaction wheel 2", gpio::OUT, 0);
+            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS);
     gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
-    GpiodRegular* enRw3 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_2_CS,
+    GpiodRegular* enRw3 = new GpiodRegular("Enable reaction wheel 3", gpio::OUT, 0,
-            "Enable reaction wheel 3", gpio::OUT, 0);
+            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS);
     gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
-    GpiodRegular* enRw4 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_3_CS,
+    GpiodRegular* enRw4 = new GpiodRegular("Enable reaction wheel 4", gpio::OUT, 0,
-            "Enable reaction wheel 4", gpio::OUT, 0);
+            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_3_CS);
     gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
 
     /**
@@ -801,8 +806,8 @@ 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,
+    GpiodRegular* spiMux = new GpiodRegular("EMIO 0 SPI Mux", gpio::OUT, 0,
-            "EMIO 0 SPI Mux", gpio::OUT, 0);
+            q7s::GPIO_RW_SPI_MUX_LABEL, q7s::GPIO_RW_SPI_MUX_CS);
     gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
 
     gpioComIF->addGpios(gpioCookieRw);
@@ -844,11 +849,15 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #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
 

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>
@@ -24,29 +25,29 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
     GpioCookie* spiMuxGpios = new GpioCookie;
 
     /** Setting mux bit 1 to low will disable IC21 on the interface board */
-    GpiodRegular* spiMuxBit1 = new GpiodRegular(std::string("gpiochip7"), 13,
+    GpiodRegular* spiMuxBit1 = new GpiodRegular(std::string("SPI Mux Bit 1"), gpio::OUT, 0,
-            std::string("SPI Mux Bit 1"), gpio::OUT, 0);
+            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_1);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit1);
     /** Setting mux bit 2 to low disables IC1 on the TCS board */
-    GpiodRegular* spiMuxBit2 = new GpiodRegular(std::string("gpiochip7"), 14,
+    GpiodRegular* spiMuxBit2 = new GpiodRegular(std::string("SPI Mux Bit 2"), gpio::OUT, 0,
-            std::string("SPI Mux Bit 2"), gpio::OUT, 0);
+            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_2);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit2);
     /** 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,
+    GpiodRegular* spiMuxBit3 = new GpiodRegular(std::string("SPI Mux Bit 3"), gpio::OUT, 0,
-            std::string("SPI Mux Bit 3"), gpio::OUT, 0);
+            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_3);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit3);
     /** The following gpios can take arbitrary initial values */
-    GpiodRegular* spiMuxBit4 = new GpiodRegular(std::string("gpiochip7"), 16,
+    GpiodRegular* spiMuxBit4 = new GpiodRegular(std::string("SPI Mux Bit 4"), gpio::OUT, 0,
-            std::string("SPI Mux Bit 4"), gpio::OUT, 0);
+            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_4);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit4);
-    GpiodRegular* spiMuxBit5 = new GpiodRegular(std::string("gpiochip7"), 17,
+    GpiodRegular* spiMuxBit5 = new GpiodRegular(std::string("SPI Mux Bit 5"), gpio::OUT, 0,
-            std::string("SPI Mux Bit 5"), gpio::OUT, 0);
+            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_5);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit5);
-    GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("gpiochip7"), 9,
+    GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("SPI Mux Bit 6"), gpio::OUT, 0,
-            std::string("SPI Mux Bit 6"), gpio::OUT, 0);
+            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_6);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6);
-    GpiodRegular* enRwDecoder = new GpiodRegular(std::string("gpiochip5"), 17,
+    GpiodRegular* enRwDecoder = new GpiodRegular(std::string("EN_RW_CS"), gpio::OUT, 1,
-            std::string("EN_RW_CS"), gpio::OUT, 1);
+            q7s::GPIO_FLEX_OBC1F_B1, q7s::EN_RW_CS);
     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;
 }

common/config/devConf.h

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

fsfw

@@ -1 +1 @@
-Subproject commit 8f3edc90ba844b9a4551bb77a71e6dcbdae6e9ee
+Subproject commit 70a3749dbe2cf7d23c685b0e3b3ce350a7c9db05

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

@@ -24,7 +24,7 @@ gpioIF(gpioIF) {
     if(gpioIF == nullptr) {
         sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
     }
-    testMode = TestModes::MGM_RM3100;
+    testMode = TestModes::MGM_LIS3MDL;
     spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
     spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
 }
@@ -299,7 +299,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
 void SpiTestClass::acsInit() {
     GpioCookie* gpioCookie = new GpioCookie();
     GpiodRegular* gpio = nullptr;
-#ifdef RASPBERRY_PI
+    #ifdef RASPBERRY_PI
     std::string rpiGpioName = "gpiochip0";
     gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
             gpio::Direction::OUT, 1);
@@ -328,43 +328,43 @@ void SpiTestClass::acsInit() {
     gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
-#elif defined(XIPHOS_Q7S)
+    #elif defined(XIPHOS_Q7S)
 
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, mgm0Lis3mdlChipSelect,
+gpio = new GpiodRegular("MGM_0_LIS3", gpio::Direction::OUT, gpio::HIGH,
-            "MGM_0_LIS3", gpio::Direction::OUT, gpio::HIGH);
+        q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm0Lis3mdlChipSelect);
     gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, mgm1Rm3100ChipSelect,
+    gpio = new GpiodRegular("MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH,
-            "MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH);
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm1Rm3100ChipSelect);
     gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_MGM2_LIS3_CHIP, mgm2Lis3mdlChipSelect,
+    gpio = new GpiodRegular("MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_MGM2_LIS3_LABEL,
-            "MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH);
+            mgm2Lis3mdlChipSelect);
     gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, mgm3Rm3100ChipSelect,
+    gpio = new GpiodRegular("MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH,
-            "MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH);
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm3Rm3100ChipSelect);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
-    gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, gyro0AdisChipSelect,
+    gpio = new GpiodRegular("GYRO_0_ADIS", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
-            "GYRO_0_ADIS", gpio::Direction::OUT, gpio::HIGH);
+            gyro0AdisChipSelect);
     gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, gyro1L3gd20ChipSelect,
+    gpio = new GpiodRegular("GYRO_1_L3G", gpio::Direction::OUT, gpio::HIGH,
-            "GYRO_1_L3G", gpio::Direction::OUT, gpio::HIGH);
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro1L3gd20ChipSelect);
     gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, gyro2AdisChipSelect,
+    gpio = new GpiodRegular("GYRO_2_ADIS", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
-            "GYRO_2_ADIS", gpio::Direction::OUT, gpio::HIGH);
+            gyro2AdisChipSelect);
     gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, gyro3L3gd20ChipSelect,
+    gpio = new GpiodRegular("GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH,
-            "GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH);
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro3L3gd20ChipSelect);
     gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     // Enable pins must be pulled low for regular operations
-    gpio = new GpiodRegular(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
+    gpio = new GpiodRegular("GYRO_0_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_FLEX_OBC1F_B0,
-            "GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
+            q7s::GPIO_GYRO_0_ENABLE);
     gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
+    gpio = new GpiodRegular("GYRO_2_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_3V3_OBC1C,
-            "GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
+            q7s::GPIO_GYRO_2_ENABLE);
     gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
-#endif
+    #endif
-    if(gpioIF != nullptr) {
+    if (gpioIF != nullptr) {
         gpioIF->addGpios(gpioCookie);
     }
 }

linux/fsfwconfig/FSFWConfig.h.in

@@ -74,6 +74,9 @@ 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
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

linux/fsfwconfig/OBSWConfig.h.in

@@ -48,7 +48,7 @@ debugging. */
 #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                          1
+#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
@@ -59,15 +59,16 @@ 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/pollingsequence/pollingSequenceFactory.cpp

@@ -425,93 +425,101 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
 
 #if OBSW_ADD_ACS_BOARD == 1
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
+    bool enableAside = false;
-            DeviceHandlerIF::PERFORM_OPERATION);
+    bool enableBside = true;
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
+    if(enableAside) {
-            DeviceHandlerIF::SEND_WRITE);
+        // A side
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
+        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
-            DeviceHandlerIF::GET_WRITE);
+                DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
+        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_READ);
+                DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_READ);
+                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,
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
+                DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
+                DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
+                DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
+                DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+                DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
+        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
+        //            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
+        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
+        //            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
+        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
+        //            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
+        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
+        //            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
+        //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+        //            DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
+                DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
+                DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
+                DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
+                DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+                DeviceHandlerIF::GET_READ);
+    }
 
-//    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
+    if(enableBside) {
-//            DeviceHandlerIF::PERFORM_OPERATION);
+        // B side
-//    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2,
+        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
-//            DeviceHandlerIF::SEND_WRITE);
+                DeviceHandlerIF::PERFORM_OPERATION);
-//    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4,
+        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
-//            DeviceHandlerIF::GET_WRITE);
+                DeviceHandlerIF::SEND_WRITE);
-//    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
+        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
-//            DeviceHandlerIF::SEND_READ);
+                DeviceHandlerIF::GET_WRITE);
-//    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
-//            DeviceHandlerIF::GET_READ);
+                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,
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
+                DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
+                DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
+                DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
+                DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+                DeviceHandlerIF::GET_READ);
 
-//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
+        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
-//            DeviceHandlerIF::PERFORM_OPERATION);
+        //            DeviceHandlerIF::PERFORM_OPERATION);
-//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.2,
+        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.2,
-//            DeviceHandlerIF::SEND_WRITE);
+        //            DeviceHandlerIF::SEND_WRITE);
-//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.4,
+        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.4,
-//            DeviceHandlerIF::GET_WRITE);
+        //            DeviceHandlerIF::GET_WRITE);
-//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
+        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
-//            DeviceHandlerIF::SEND_READ);
+        //            DeviceHandlerIF::SEND_READ);
-//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.8,
+        //    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.8,
-//            DeviceHandlerIF::GET_READ);
+        //            DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
+                DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
+                DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
+                DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
+                DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
+        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+                DeviceHandlerIF::GET_READ);
+    }
 #endif /* OBSW_ADD_ACS_BOARD == 1 */
 
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
@@ -547,13 +555,13 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2,
-                DeviceHandlerIF::SEND_WRITE);
+            DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4,
-                DeviceHandlerIF::GET_WRITE);
+            DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6,
-                DeviceHandlerIF::SEND_READ);
+            DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8,
-                DeviceHandlerIF::GET_READ);
+            DeviceHandlerIF::GET_READ);
 #endif
 
     thisSequence->addSlot(objects::PLOC_UPDATER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -563,13 +571,13 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
-                DeviceHandlerIF::SEND_WRITE);
+            DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4,
-                DeviceHandlerIF::GET_WRITE);
+            DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.6,
-                DeviceHandlerIF::SEND_READ);
+            DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8,
-                DeviceHandlerIF::GET_READ);
+            DeviceHandlerIF::GET_READ);
 #endif
 
 #if Q7S_ADD_SYRLINKS_HANDLER == 1

mission/devices/CMakeLists.txt

@@ -1,6 +1,5 @@
 target_sources(${TARGET_NAME} PUBLIC
 	GPSHyperionHandler.cpp
-	MGMHandlerLIS3MDL.cpp
 	GomspaceDeviceHandler.cpp
 	Tmp1075Handler.cpp
 	PCDUHandler.cpp

mission/devices/GPSHyperionHandler.cpp

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

mission/devices/GPSHyperionHandler.h

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

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;
     }
@@ -75,7 +75,7 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
         }
         break;
     }
-    case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
+    case(GOMSPACE::PRINT_SWITCH_V_I): {
         result = printStatus(deviceCommand);
         break;
     }
@@ -99,7 +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_OUT_ENB_STATUS);
+    this->insertInCommandMap(GOMSPACE::PRINT_SWITCH_V_I);
 }
 
 ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t *start,

mission/devices/MGMHandlerLIS3MDL.cpp

@@ -1,498 +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.
-        float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
-
-        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 << " uT" << std::endl;
-            sif::info << "Y: " << mgmY << " uT" << std::endl;
-            sif::info << "Z: " << mgmZ << " uT" << std::endl;
-#else
-            sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
-            sif::printInfo("X: %f uT\n", mgmX);
-            sif::printInfo("Y: %f uT\n", mgmY);
-            sif::printInfo("Z: %f uT\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 << " C" <<
-                    std::endl;
-#else
-            sif::printInfo("MGMHandlerLIS3: Temperature: %f 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;
-}
-
-MGMLIS3MDL::Sensitivies MGMHandlerLIS3MDL::getSensitivity(uint8_t ctrlRegister2) {
-    bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO);  // Checks if FS0 bit is set
-    bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1);  // Checks if FS1 bit is set
-
-    if (fs0Set && fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_16;
-    else if (!fs0Set && fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_12;
-    else if (fs0Set && !fs1Set)
-        return MGMLIS3MDL::Sensitivies::GAUSS_8;
-    else
-        return MGMLIS3MDL::Sensitivies::GAUSS_4;
-}
-
-float MGMHandlerLIS3MDL::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
-    switch(sens) {
-    case(MGMLIS3MDL::GAUSS_4): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
-    }
-    case(MGMLIS3MDL::GAUSS_8): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
-    }
-    case(MGMLIS3MDL::GAUSS_12): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
-    }
-    case(MGMLIS3MDL::GAUSS_16): {
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
-    }
-    default: {
-        // Should never happen
-        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
-    }
-    }
-}
-
-
-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

@@ -1,165 +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
-     */
-    MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
-
-    /**
-     * The 16 bit value needs to be multiplied with a sensitivity factor
-     * which depends on the sensitivity configuration
-     *
-     * @param sens Configured sensitivity of the LIS3 device
-     * @return Multiplication factor to get the sensor value from raw data.
-     */
-    float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
-
-    /**
-     * 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/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/PDU1Handler.cpp

@@ -1,7 +1,7 @@
-#include <fsfw/datapool/PoolReadGuard.h>
+#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,
@@ -72,27 +72,6 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
 #endif
 }
 
-void PDU1Handler::printOutputSwitchStates() {
-    sif::info << "PDU1 TCS Board switch: " <<
-            static_cast<unsigned int>(pdu1HkTableDataset.outEnabledTCSBoard3V3.value) << std::endl;
-    sif::info << "PDU1 Syrlinks switch: " <<
-            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;
-}
-
 void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
     uint16_t dataOffset = 0;
     PoolReadGuard pg(&pdu1HkTableDataset);
@@ -356,14 +335,14 @@ ReturnValue_t PDU1Handler::initializeLocalDataPool(
 
 ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
     switch(cmd) {
-    case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
+    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;
         }
-        printOutputSwitchStates();
+        printHkTable();
         return HasReturnvaluesIF::RETURN_OK;
     }
     default: {
@@ -371,3 +350,53 @@ ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
     }
     }
 }
+
+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.
@@ -38,7 +38,7 @@ private:
     /** Dataset for the housekeeping table of the PDU1 */
     PDU1::PDU1HkTableDataset pdu1HkTableDataset;
 
-    void printOutputSwitchStates();
+    void printHkTable();
     void parseHkTableReply(const uint8_t *packet);
 };
 

mission/devices/PDU2Handler.cpp

@@ -312,14 +312,14 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(
 
 ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
     switch(cmd) {
-    case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
+    case(GOMSPACE::PRINT_SWITCH_V_I): {
         PoolReadGuard pg(&pdu2HkTableDataset);
         ReturnValue_t readResult = pg.getReadResult();
         if(readResult != HasReturnvaluesIF::RETURN_OK) {
-            sif::warning << "Reading PDU2 HK table failed!" << std::endl;
+            sif::warning << "Reading PDU1 HK table failed!" << std::endl;
             return HasReturnvaluesIF::RETURN_FAILED;
         }
-        printOutputSwitchStates();
+        printHkTable();
         return HasReturnvaluesIF::RETURN_OK;
     }
     default: {
@@ -328,23 +328,51 @@ ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
     }
 }
 
-void PDU2Handler::printOutputSwitchStates() {
+void PDU2Handler::printHkTable() {
-    sif::info << "PDU2 Q7S enable state: " <<
+    sif::info << "PDU2 Info: SwitchState, Currents [mA], Voltages [mV]" << std::endl;
-            unsigned(pdu2HkTableDataset.outEnabledQ7S.value) << std::endl;
+    sif::info << std::setw(30) << std::left << "Q7S" << std::dec << "| " <<
-    sif::info << "PDU2 Payload PCDU channel 1 enable state: "
+            unsigned(pdu2HkTableDataset.outEnabledQ7S.value)  << ", " <<
-            << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << std::endl;
+            std::setw(4) << std::right <<
-    sif::info << "PDU2 reaction wheels enable state: "
+            pdu2HkTableDataset.currentOutQ7S.value << ", " << std::setw(4) <<
-            << unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << std::endl;
+            pdu2HkTableDataset.voltageOutQ7S.value  << std::endl;
-    sif::info << "PDU2 TCS Board 8V heater input enable state: "
+    sif::info << std::setw(30) << std::left << "Payload PCDU Channel 1" << std::dec << "| " <<
-            << unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << std::endl;
+            unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << ", " <<
-    sif::info << "PDU2 redundant SUS group enable state: "
+            std::setw(4) << std::right <<
-            << unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << std::endl;
+            pdu2HkTableDataset.currentOutPayloadPCDUCh1.value << ", " << std::setw(4) <<
-    sif::info << "PDU2 deployment mechanism enable state: "
+            pdu2HkTableDataset.voltageOutPayloadPCDUCh1.value << std::endl;
-            << unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << std::endl;
+    sif::info << std::setw(30) << std::left << "Reaction Wheels" << std::dec << "| " <<
-    sif::info << "PDU2 PCDU channel 6 enable state: "
+            unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << ", " <<
-            << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << std::endl;
+            std::setw(4) << std::right <<
-    sif::info << "PDU2 ACS board side B enable state: "
+            pdu2HkTableDataset.currentOutReactionWheels.value << ", " << std::setw(4) <<
-            << unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << std::endl;
+            pdu2HkTableDataset.voltageOutReactionWheels.value << std::endl;
-    sif::info << "PDU2 payload camera enable state: "
+    sif::info << std::setw(30) << std::left << "TCS Board 8V heater input" << std::dec << "| " <<
-            << unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << std::endl;
+            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

@@ -39,7 +39,8 @@ private:
     /** Dataset for the housekeeping table of the PDU2 */
     PDU2::PDU2HkTableDataset pdu2HkTableDataset;
 
-    void printOutputSwitchStates();
+    void printHkTable();
+
     void parseHkTableReply(const uint8_t *packet);
 };
 

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -9,7 +9,7 @@
 #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>
@@ -33,7 +33,9 @@ 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]
-static const DeviceCommandId_t PRINT_OUT_ENB_STATUS = 17; //!< [EXPORT] : [COMMAND]
+//!< [EXPORT] : [COMMAND] Print switch states, voltages and currents to the console
+static const DeviceCommandId_t PRINT_SWITCH_V_I = 32;
+
 
 }
 
@@ -377,6 +379,9 @@ 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:
         public StaticLocalDataSet<HK_TABLE_ENTRIES> {

mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h

@@ -1,178 +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
-};
-
-enum Sensitivies: uint8_t {
-    GAUSS_4 = 4,
-    GAUSS_8 = 8,
-    GAUSS_12 = 12,
-    GAUSS_16 = 16
-};
-
-/* Actually 15, we just round up a bit */
-static constexpr size_t MAX_BUFFER_SIZE = 16;
-
-/* Field data register scaling */
-static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
-static constexpr float FIELD_LSB_PER_GAUSS_4_SENS = 1.0 / 6842.0;
-static constexpr float FIELD_LSB_PER_GAUSS_8_SENS = 1.0 / 3421.0;
-static constexpr float FIELD_LSB_PER_GAUSS_12_SENS = 1.0 / 2281.0;
-static constexpr float FIELD_LSB_PER_GAUSS_16_SENS = 1.0 / 1711.0;
-
-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_ */

tmtc

@@ -1 +1 @@
-Subproject commit b3bc1fe28c73d51f0b8319cf67705807596e5518
+Subproject commit 53bf65083889af10f77c3899972b1153ea835f3c