bsp_linux_board/CMakeLists.txt

@@ -1,6 +1,7 @@
 target_sources(${OBSW_NAME} PUBLIC
 	InitMission.cpp
 	main.cpp
+	gpioInit.cpp
 	ObjectFactory.cpp
 )
 

bsp_linux_board/InitMission.cpp

@@ -192,7 +192,7 @@ void initmission::createPstTasks(TaskFactory& factory,
   ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 #if OBSW_ADD_SPI_TEST_CODE == 0
   FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
-      "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
+      "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
   result = pst::pstSpi(spiPst);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;

bsp_linux_board/ObjectFactory.cpp

@@ -5,10 +5,13 @@
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
+#include "fsfw/power/DummyPowerSwitcher.h"
 #include "fsfw/tasks/TaskFactory.h"
 #include "fsfw/tmtcpacket/pus/tm.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 #include "fsfw/tmtcservices/PusServiceBase.h"
+#include "gpioInit.h"
+#include "linux/ObjectFactory.h"
 #include "linux/boardtest/LibgpiodTest.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
@@ -64,37 +67,55 @@ void ObjectFactory::produce(void* args) {
   GpioCookie* gpioCookie = nullptr;
   static_cast<void>(gpioCookie);
 
-  new SpiComIF(objects::SPI_COM_IF, gpioIF);
+  SpiComIF* spiComIF = new SpiComIF(objects::SPI_COM_IF, gpioIF);
+  static_cast<void>(spiComIF);
+  auto pwrSwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0);
+  static_cast<void>(pwrSwitcher);
 
-  std::string spiDev;
+#if OBSW_ADD_ACS_BOARD == 1 && defined(RASPBERRY_PI)
-  SpiCookie* spiCookie = nullptr;
+  createRpiAcsBoard(gpioIF, spiDev);
-  static_cast<void>(spiCookie);
+#endif
 
-#if OBSW_ADD_ACS_BOARD == 1
+#if OBSW_ADD_SUN_SENSORS == 1 || defined(OBSW_ADD_RTD_DEVICES)
-  if (gpioCookie == nullptr) {
+#ifdef RASPBERRY_PI
-    gpioCookie = new GpioCookie();
+  rpi::gpio::initSpiCsDecoder(gpioIF);
-  }
+#endif
+#endif
+
+#if OBSW_ADD_SUN_SENSORS == 1
+  createSunSensorComponents(gpioIF, spiComIF, pwrSwitcher, spi::DEV);
+#endif
+
+#if OBSW_ADD_RTD_DEVICES == 1
+  createRtdComponents(spi::DEV, gpioIF, pwrSwitcher);
+#endif
+
+#if OBSW_ADD_TEST_CODE == 1
+  createTestTasks();
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+}
+
+void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
+  GpioCookie* gpioCookie = new GpioCookie();
   // TODO: Missing pin for Gyro 2
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
-                            "MGM_1_RM3100", gpio::Direction::OUT, 1);
+                            "MGM_1_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
-                            "MGM_3_RM3100", gpio::Direction::OUT, 1);
+                            "MGM_3_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
-                            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
+                            "GYRO_0_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
-                            "GYRO_2_ADIS", gpio::Direction::OUT, 1);
+                            "GYRO_2_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpioIF->addGpios(gpioCookie);
-
+  SpiCookie* spiCookie =
-  spiDev = "/dev/spidev0.1";
-  spiCookie =
       new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
                     MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
   auto mgmLis3Handler =
@@ -136,9 +157,9 @@ void ObjectFactory::produce(void* args) {
 
   spiCookie =
       new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-                    ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto adisHandler =
+  auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
-      new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
+                                              spiCookie, ADIS1650X::Type::ADIS16505);
   adisHandler->setStartUpImmediately();
   spiCookie =
       new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
@@ -152,9 +173,9 @@ void ObjectFactory::produce(void* args) {
 
   spiCookie =
       new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
-                    ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  adisHandler =
+  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
-      new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
+                                         spiCookie, ADIS1650X::Type::ADIS16505);
   adisHandler->setStartUpImmediately();
 
   spiCookie =
@@ -166,12 +187,6 @@ void ObjectFactory::produce(void* args) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
   gyroL3gHandler->setToGoToNormalMode(true);
 #endif
-
-#endif /* RPI_TEST_ACS_BOARD == 1 */
-
-#if OBSW_ADD_TEST_CODE == 1
-  createTestTasks();
-#endif /* OBSW_ADD_TEST_CODE == 1 */
 }
 
 void ObjectFactory::createTestTasks() {

bsp_linux_board/ObjectFactory.h

@@ -1,10 +1,15 @@
 #ifndef BSP_LINUX_OBJECTFACTORY_H_
 #define BSP_LINUX_OBJECTFACTORY_H_
 
+#include <string>
+
+class GpioIF;
+
 namespace ObjectFactory {
 void setStatics();
 void produce(void* args);
 
+void createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev);
 void createTestTasks();
 };  // namespace ObjectFactory
 

bsp_linux_board/boardconfig/rpiConfig.h.in

@@ -17,16 +17,4 @@
 
 #define RPI_ADD_UART_TEST               0
 
-/* Adapt these values accordingly */
-namespace gpio {
-static constexpr uint8_t MGM_0_BCM_PIN = 17;
-static constexpr uint8_t MGM_1_BCM_PIN = 27;
-static constexpr uint8_t MGM_2_BCM_PIN = 22;
-static constexpr uint8_t MGM_3_BCM_PIN = 23;
-static constexpr uint8_t GYRO_0_BCM_PIN = 5;
-static constexpr uint8_t GYRO_1_BCM_PIN = 6;
-static constexpr uint8_t GYRO_2_BCM_PIN = 13;
-static constexpr uint8_t GYRO_3_BCM_PIN = 19;
-}
-
 #endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */

bsp_linux_board/definitions.h

@@ -0,0 +1,37 @@
+#ifndef BSP_LINUX_BOARD_DEFINITIONS_H_
+#define BSP_LINUX_BOARD_DEFINITIONS_H_
+
+#include <cstdint>
+
+#include "OBSWConfig.h"
+
+#ifdef RASPBERRY_PI
+
+namespace spi {
+
+static constexpr char DEV[] = "/dev/spidev0.1";
+
+}
+
+/* Adapt these values accordingly */
+namespace gpio {
+static constexpr uint8_t MGM_0_BCM_PIN = 17;
+static constexpr uint8_t MGM_1_BCM_PIN = 27;
+static constexpr uint8_t MGM_2_BCM_PIN = 22;
+static constexpr uint8_t MGM_3_BCM_PIN = 23;
+static constexpr uint8_t GYRO_0_BCM_PIN = 5;
+static constexpr uint8_t GYRO_1_BCM_PIN = 6;
+static constexpr uint8_t GYRO_2_BCM_PIN = 13;
+static constexpr uint8_t GYRO_3_BCM_PIN = 19;
+
+static constexpr uint8_t SPI_MUX_0_BCM = 17;
+static constexpr uint8_t SPI_MUX_1_BCM = 27;
+static constexpr uint8_t SPI_MUX_2_BCM = 22;
+static constexpr uint8_t SPI_MUX_3_BCM = 23;
+static constexpr uint8_t SPI_MUX_4_BCM = 5;
+static constexpr uint8_t SPI_MUX_5_BCM = 6;
+}  // namespace gpio
+
+#endif
+
+#endif /* BSP_LINUX_BOARD_DEFINITIONS_H_ */

bsp_linux_board/gpioInit.cpp

@@ -0,0 +1,56 @@
+#include "gpioInit.h"
+
+#include <devices/gpioIds.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+
+#include "definitions.h"
+#include "fsfw_hal/linux/rpi/GpioRPi.h"
+
+#ifdef RASPBERRY_PI
+
+struct MuxInfo {
+  MuxInfo(gpioId_t gpioId, int bcmNum, std::string consumer)
+      : gpioId(gpioId), bcmNum(bcmNum), consumer(consumer) {}
+  gpioId_t gpioId;
+  int bcmNum;
+  std::string consumer;
+};
+
+void rpi::gpio::initSpiCsDecoder(GpioIF* gpioComIF) {
+  using namespace ::gpio;
+  ReturnValue_t result;
+
+  if (gpioComIF == nullptr) {
+    sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
+    return;
+  }
+
+  std::array<::MuxInfo, 6> muxInfo{
+      MuxInfo(gpioIds::SPI_MUX_BIT_0, SPI_MUX_0_BCM, "SPI_MUX_0"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_1, SPI_MUX_1_BCM, "SPI_MUX_1"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_2, SPI_MUX_2_BCM, "SPI_MUX_2"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_3, SPI_MUX_3_BCM, "SPI_MUX_3"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_4, SPI_MUX_4_BCM, "SPI_MUX_4"),
+      MuxInfo(gpioIds::SPI_MUX_BIT_5, SPI_MUX_5_BCM, "SPI_MUX_5"),
+  };
+  GpioCookie* spiMuxGpios = new GpioCookie;
+
+  for (const auto& info : muxInfo) {
+    result = createRpiGpioConfig(spiMuxGpios, info.gpioId, info.bcmNum, info.consumer,
+                                 Direction::OUT, Levels::LOW);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      sif::error << "Creating Raspberry Pi SPI Mux GPIO failed with code " << result << std::endl;
+      return;
+    }
+  }
+
+  result = gpioComIF->addGpios(spiMuxGpios);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
+    return;
+  }
+}
+
+#endif

bsp_linux_board/gpioInit.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "OBSWConfig.h"
+
+class GpioIF;
+
+#ifdef RASPBERRY_PI
+namespace rpi {
+namespace gpio {
+
+/**
+ * @brief   This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
+ *          the TCS Board and the interface board.
+ */
+void initSpiCsDecoder(GpioIF* gpioComIF);
+
+}  // namespace gpio
+}  // namespace rpi
+
+#endif

bsp_linux_board/main.cpp

@@ -22,7 +22,7 @@ int main(void) {
   std::cout << "-- EIVE OBSW --" << std::endl;
   std::cout << "-- Compiled for Linux board " << BOARD_NAME << " --" << std::endl;
   std::cout << "-- OBSW " << SW_NAME << " v" << SW_VERSION << "." << SW_SUBVERSION << "."
-            << SW_REVISION << ", FSFW v" << fsfw::FSFW_VERSION << "--" << std::endl;
+            << SW_REVISION << ", FSFW v" << fsfw::FSFW_VERSION << " --" << std::endl;
   std::cout << "-- " << __DATE__ << " " << __TIME__ << " --" << std::endl;
 
   initmission::initMission();

bsp_q7s/callbacks/CMakeLists.txt

@@ -2,5 +2,5 @@ target_sources(${OBSW_NAME} PRIVATE
 	rwSpiCallback.cpp
 	gnssCallback.cpp
 	pcduSwitchCb.cpp
-	gpioCallbacks.cpp
+	q7sGpioCallbacks.cpp
 )

bsp_q7s/callbacks/gpioCallbacks.cpp

@@ -1,487 +0,0 @@
-#include "gpioCallbacks.h"
-
-#include <devices/gpioIds.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
-#include <fsfw_hal/common/gpio/GpioCookie.h>
-#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
-
-#include "busConf.h"
-
-namespace gpioCallbacks {
-
-GpioIF* gpioComInterface;
-
-void initSpiCsDecoder(GpioIF* gpioComIF) {
-  using namespace gpio;
-  ReturnValue_t result;
-
-  if (gpioComIF == nullptr) {
-    sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
-    return;
-  }
-
-  gpioComInterface = gpioComIF;
-
-  GpioCookie* spiMuxGpios = new GpioCookie;
-
-  GpiodRegularByLineName* spiMuxBit = nullptr;
-  /** Setting mux bit 1 to low will disable IC21 on the interface board */
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_0_PIN, "SPI Mux Bit 1",
-                                         Direction::OUT, Levels::HIGH);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_0, spiMuxBit);
-  /** Setting mux bit 2 to low disables IC1 on the TCS board */
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 2",
-                                         Direction::OUT, Levels::HIGH);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
-  /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 3",
-                                         Direction::OUT, Levels::LOW);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
-
-  /** The following gpios can take arbitrary initial values */
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 4",
-                                         Direction::OUT, Levels::LOW);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 5",
-                                         Direction::OUT, Levels::LOW);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
-  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 6",
-                                         Direction::OUT, Levels::LOW);
-  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
-  GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(
-      q7s::gpioNames::EN_RW_CS, "EN_RW_CS", Direction::OUT, Levels::HIGH);
-  spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
-
-  result = gpioComInterface->addGpios(spiMuxGpios);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
-    return;
-  }
-}
-
-void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
-                          void* args) {
-  using namespace gpio;
-  if (gpioComInterface == nullptr) {
-    sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
-               << "to specify gpioComIF" << std::endl;
-    return;
-  }
-
-  /* Reading is not supported by the callback function */
-  if (gpioOp == gpio::GpioOperation::READ) {
-    return;
-  }
-
-  if (value == Levels::HIGH) {
-    switch (gpioId) {
-      case (gpioIds::RTD_IC_3): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_4): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_5): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_6): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_7): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_8): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_9): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_10): {
-        disableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_11): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_12): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_13): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_14): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_15): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_16): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_17): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_18): {
-        disableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_0): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_1): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_2): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_3): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_4): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_5): {
-        disableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_6): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_7): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_8): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_9): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_10): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_11): {
-        disableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_RW1): {
-        disableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW2): {
-        disableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW3): {
-        disableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW4): {
-        disableRwDecoder();
-        break;
-      }
-      default:
-        sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
-    }
-  } else if (value == Levels::LOW) {
-    switch (gpioId) {
-      case (gpioIds::RTD_IC_3): {
-        selectY7();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_4): {
-        selectY6();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_5): {
-        selectY5();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_6): {
-        selectY4();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_7): {
-        selectY3();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_8): {
-        selectY2();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_9): {
-        selectY1();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_10): {
-        selectY0();
-        enableDecoderTcsIc1();
-        break;
-      }
-      case (gpioIds::RTD_IC_11): {
-        selectY7();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_12): {
-        selectY6();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_13): {
-        selectY5();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_14): {
-        selectY4();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_15): {
-        selectY3();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_16): {
-        selectY2();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_17): {
-        selectY1();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::RTD_IC_18): {
-        selectY0();
-        enableDecoderTcsIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_0): {
-        selectY0();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_1): {
-        selectY1();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_2): {
-        selectY2();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_3): {
-        selectY3();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_4): {
-        selectY4();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_5): {
-        selectY5();
-        enableDecoderInterfaceBoardIc1();
-        break;
-      }
-      case (gpioIds::CS_SUS_6): {
-        selectY0();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_7): {
-        selectY1();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_8): {
-        selectY2();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_9): {
-        selectY3();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_10): {
-        selectY4();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_SUS_11): {
-        selectY5();
-        enableDecoderInterfaceBoardIc2();
-        break;
-      }
-      case (gpioIds::CS_RW1): {
-        selectY0();
-        enableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW2): {
-        selectY1();
-        enableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW3): {
-        selectY2();
-        enableRwDecoder();
-        break;
-      }
-      case (gpioIds::CS_RW4): {
-        selectY3();
-        enableRwDecoder();
-        break;
-      }
-      default:
-        sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
-    }
-  } else {
-    sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
-  }
-}
-
-void enableDecoderTcsIc1() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void enableDecoderTcsIc2() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-}
-
-void enableDecoderInterfaceBoardIc1() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void enableDecoderInterfaceBoardIc2() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_2);
-}
-
-void disableDecoderTcsIc1() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void disableDecoderTcsIc2() {
-  // DO NOT CHANGE THE ORDER HERE
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-}
-
-void disableDecoderInterfaceBoardIc1() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void disableDecoderInterfaceBoardIc2() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-}
-
-void enableRwDecoder() { gpioComInterface->pullHigh(gpioIds::EN_RW_CS); }
-
-void disableRwDecoder() { gpioComInterface->pullLow(gpioIds::EN_RW_CS); }
-
-void selectY0() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY1() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY2() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY3() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY4() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY5() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY6() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
-}
-
-void selectY7() {
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_4);
-  gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_5);
-}
-
-void disableAllDecoder() {
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_0);
-  gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1);
-  gpioComInterface->pullLow(gpioIds::EN_RW_CS);
-}
-
-}  // namespace gpioCallbacks

bsp_q7s/callbacks/q7sGpioCallbacks.cpp

@@ -0,0 +1,54 @@
+#include "q7sGpioCallbacks.h"
+
+#include <devices/gpioIds.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+
+#include "busConf.h"
+
+void q7s::gpioCallbacks::initSpiCsDecoder(GpioIF* gpioComIF) {
+  using namespace gpio;
+  ReturnValue_t result;
+
+  if (gpioComIF == nullptr) {
+    sif::debug << "initSpiCsDecoder: Invalid gpioComIF" << std::endl;
+    return;
+  }
+
+  GpioCookie* spiMuxGpios = new GpioCookie;
+
+  GpiodRegularByLineName* spiMuxBit = nullptr;
+  /** Setting mux bit 1 to low will disable IC21 on the interface board */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_0_PIN, "SPI Mux Bit 1",
+                                         Direction::OUT, Levels::HIGH);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_0, spiMuxBit);
+  /** Setting mux bit 2 to low disables IC1 on the TCS board */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 2",
+                                         Direction::OUT, Levels::HIGH);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
+  /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 3",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
+
+  /** The following gpios can take arbitrary initial values */
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 4",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 5",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
+  spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 6",
+                                         Direction::OUT, Levels::LOW);
+  spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
+  GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(
+      q7s::gpioNames::EN_RW_CS, "EN_RW_CS", Direction::OUT, Levels::HIGH);
+  spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
+
+  result = gpioComIF->addGpios(spiMuxGpios);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl;
+    return;
+  }
+}

bsp_q7s/callbacks/q7sGpioCallbacks.h

@@ -0,0 +1,15 @@
+#pragma once
+
+class GpioIF;
+
+namespace q7s {
+namespace gpioCallbacks {
+
+/**
+ * @brief   This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
+ *          the TCS Board and the interface board.
+ */
+void initSpiCsDecoder(GpioIF* gpioComIF);
+
+}  // namespace gpioCallbacks
+}  // namespace q7s

bsp_q7s/core/InitMission.cpp

@@ -127,12 +127,14 @@ void initmission::initTasks() {
       "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
   result = sysTask->addComponent(objects::ACS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("ACS_ASS", objects::ACS_BOARD_ASS);
+    initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
   }
+#if OBSW_ADD_SUS_BOARD_ASS == 1
   result = sysTask->addComponent(objects::SUS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    initmission::printAddObjectError("SUS_ASS", objects::SUS_BOARD_ASS);
+    initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
   }
+#endif
   result = sysTask->addComponent(objects::TCS_BOARD_ASS);
   if (result != HasReturnvaluesIF::RETURN_OK) {
     initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);

bsp_q7s/core/ObjectFactory.cpp

@@ -1,22 +1,10 @@
 #include "ObjectFactory.h"
 
-#include <fsfw/ipc/QueueFactory.h>
-#include <linux/obc/AxiPtmeConfig.h>
-#include <linux/obc/PapbVcInterface.h>
-#include <linux/obc/PdecHandler.h>
-#include <linux/obc/Ptme.h>
-#include <linux/obc/PtmeConfig.h>
-#include <mission/system/AcsBoardFdir.h>
-#include <mission/system/RtdFdir.h>
-#include <mission/system/SusAssembly.h>
-#include <mission/system/SusFdir.h>
-#include <mission/system/TcsBoardAssembly.h>
-
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
-#include "bsp_q7s/callbacks/gpioCallbacks.h"
 #include "bsp_q7s/callbacks/pcduSwitchCb.h"
+#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
 #include "bsp_q7s/callbacks/rwSpiCallback.h"
 #include "bsp_q7s/core/CoreController.h"
 #include "bsp_q7s/memory/FileSystemHandler.h"
@@ -26,9 +14,12 @@
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "devices/powerSwitcherList.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "linux/ObjectFactory.h"
 #include "linux/boardtest/I2cTestClass.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
+#include "linux/callbacks/gpioCallbacks.h"
 #include "linux/csp/CspComIF.h"
 #include "linux/csp/CspCookie.h"
 #include "linux/devices/GPSHyperionLinuxController.h"
@@ -41,6 +32,16 @@
 #include "linux/devices/ploc/PlocUpdater.h"
 #include "linux/devices/startracker/StarTrackerHandler.h"
 #include "linux/devices/startracker/StrHelper.h"
+#include "linux/obc/AxiPtmeConfig.h"
+#include "linux/obc/PapbVcInterface.h"
+#include "linux/obc/PdecHandler.h"
+#include "linux/obc/Ptme.h"
+#include "linux/obc/PtmeConfig.h"
+#include "mission/system/AcsBoardFdir.h"
+#include "mission/system/RtdFdir.h"
+#include "mission/system/SusAssembly.h"
+#include "mission/system/SusFdir.h"
+#include "mission/system/TcsBoardAssembly.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 
@@ -138,10 +139,10 @@ void ObjectFactory::produce(void* args) {
   createTmpComponents();
   new CoreController(objects::CORE_CONTROLLER);
 
-  gpioCallbacks::disableAllDecoder();
+  gpioCallbacks::disableAllDecoder(gpioComIF);
   createPcduComponents(gpioComIF, &pwrSwitcher);
   createRadSensorComponent(gpioComIF);
-  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher);
+  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
 
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
@@ -153,7 +154,7 @@ void ObjectFactory::produce(void* args) {
 #if OBSW_ADD_SYRLINKS == 1
   createSyrlinksComponents();
 #endif /* OBSW_ADD_SYRLINKS == 1 */
-  createRtdComponents(gpioComIF, pwrSwitcher);
+  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher);
   createPayloadComponents(gpioComIF);
 
 #if OBSW_ADD_MGT == 1
@@ -238,7 +239,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
   *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
 
   /* Adding gpios for chip select decoding to the gpioComIf */
-  gpioCallbacks::initSpiCsDecoder(*gpioComIF);
+  q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
 }
 
 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
@@ -251,10 +252,8 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
       new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
   PDU1Handler* pdu1handler =
       new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
-  pdu1handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
   PDU2Handler* pdu2handler =
       new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
-  pdu2handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
   ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
   auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
 
@@ -299,161 +298,6 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
 #endif
 }
 
-void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                                              PowerSwitchIF* pwrSwitcher) {
-  using namespace gpio;
-  GpioCookie* gpioCookieSus = new GpioCookie();
-  GpioCallback* susgpio = nullptr;
-
-  susgpio = new GpioCallback("Chip select SUS 0", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_0, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 1", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 2", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 3", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 4", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 5", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 6", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 7", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 8", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 9", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 10", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 11", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
-
-  gpioComIF->addGpios(gpioCookieSus);
-
-  SusFdir* fdir = nullptr;
-  std::array<SusHandler*, 12> susHandlers = {};
-#if OBSW_ADD_SUN_SENSORS == 1
-  SpiCookie* spiCookie =
-      new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
-                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_0);
-  susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[0]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_1);
-  susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[1]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_2);
-  susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[2]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, std::string(q7s::SPI_DEFAULT_DEV),
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_3);
-  susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[3]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, std::string(q7s::SPI_DEFAULT_DEV),
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_4);
-  susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[4]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, std::string(q7s::SPI_DEFAULT_DEV),
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_5);
-  susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[5]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_6);
-  susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[6]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_7);
-  susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[7]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_8);
-  susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[8]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_9);
-  susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[9]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_10);
-  susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[10]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_11);
-  susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[11]->setCustomFdir(fdir);
-
-  for (auto& sus : susHandlers) {
-    if (sus != nullptr) {
-#if OBSW_TEST_SUS == 1
-      sus->setStartUpImmediately();
-      sus->setToGoToNormalMode(true);
-#endif
-#if OBSW_DEBUG_SUS == 1
-      sus->enablePeriodicPrintout(true, 3);
-#endif
-    }
-  }
-  std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1,  objects::SUS_2,
-                                        objects::SUS_3, objects::SUS_4,  objects::SUS_5,
-                                        objects::SUS_6, objects::SUS_7,  objects::SUS_8,
-                                        objects::SUS_9, objects::SUS_10, objects::SUS_11};
-  SusAssHelper susAssHelper = SusAssHelper(susIds);
-  auto susAss =
-      new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
-  static_cast<void>(susAss);
-#endif /* OBSW_ADD_SUN_SENSORS == 1 */
-}
-
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                                              PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;
@@ -712,15 +556,6 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
   auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
                                      acsBoardHelper, gpioComIF);
   static_cast<void>(acsAss);
-#if OBSW_TEST_ACS_BOARD_ASS == 1
-  CommandMessage msg;
-  ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
-                              duallane::A_SIDE);
-  ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    sif::warning << "Sending mode command failed" << std::endl;
-  }
-#endif
 #endif /* OBSW_ADD_ACS_HANDLERS == 1 */
 }
 
@@ -800,116 +635,6 @@ void ObjectFactory::createSyrlinksComponents() {
                         pcduSwitches::PDU1_CH1_SYRLINKS_12V);
 }
 
-void ObjectFactory::createRtdComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher) {
-  using namespace gpio;
-  GpioCookie* rtdGpioCookie = new GpioCookie;
-
-  GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
-  GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
-  GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
-  GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
-  GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
-  GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
-  GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
-  GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
-  GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
-  GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", Direction::OUT, Levels::HIGH,
-                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
-  GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", Direction::OUT, Levels::HIGH,
-                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
-  GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", Direction::OUT, Levels::HIGH,
-                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
-  GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", Direction::OUT, Levels::HIGH,
-                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
-  GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", Direction::OUT, Levels::HIGH,
-                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
-  GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", Direction::OUT, Levels::HIGH,
-                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
-  GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", Direction::OUT, Levels::HIGH,
-                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
-
-  gpioComIF->addGpios(rtdGpioCookie);
-
-  static constexpr uint8_t NUMBER_RTDS = 16;
-#if OBSW_ADD_RTD_DEVICES == 1
-  std::array<std::pair<address_t, gpioId_t>, NUMBER_RTDS> cookieArgs = {{
-      {addresses::RTD_IC_3, gpioIds::RTD_IC_3},
-      {addresses::RTD_IC_4, gpioIds::RTD_IC_4},
-      {addresses::RTD_IC_5, gpioIds::RTD_IC_5},
-      {addresses::RTD_IC_6, gpioIds::RTD_IC_6},
-      {addresses::RTD_IC_7, gpioIds::RTD_IC_7},
-      {addresses::RTD_IC_8, gpioIds::RTD_IC_8},
-      {addresses::RTD_IC_9, gpioIds::RTD_IC_9},
-      {addresses::RTD_IC_10, gpioIds::RTD_IC_10},
-      {addresses::RTD_IC_11, gpioIds::RTD_IC_11},
-      {addresses::RTD_IC_12, gpioIds::RTD_IC_12},
-      {addresses::RTD_IC_13, gpioIds::RTD_IC_13},
-      {addresses::RTD_IC_14, gpioIds::RTD_IC_14},
-      {addresses::RTD_IC_15, gpioIds::RTD_IC_15},
-      {addresses::RTD_IC_16, gpioIds::RTD_IC_16},
-      {addresses::RTD_IC_17, gpioIds::RTD_IC_17},
-      {addresses::RTD_IC_18, gpioIds::RTD_IC_18},
-  }};
-  std::array<object_id_t, NUMBER_RTDS> rtdIds = {
-      objects::RTD_IC_3,  objects::RTD_IC_4,  objects::RTD_IC_5,  objects::RTD_IC_6,
-      objects::RTD_IC_7,  objects::RTD_IC_8,  objects::RTD_IC_9,  objects::RTD_IC_10,
-      objects::RTD_IC_11, objects::RTD_IC_12, objects::RTD_IC_13, objects::RTD_IC_14,
-      objects::RTD_IC_15, objects::RTD_IC_16, objects::RTD_IC_17, objects::RTD_IC_18};
-  std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
-  std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
-  RtdFdir* rtdFdir = nullptr;
-  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
-    rtdCookies[idx] =
-        new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, q7s::SPI_DEFAULT_DEV,
-                      Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
-    rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_COM_IF, rtdCookies[idx]);
-    rtds[idx]->setParent(objects::TCS_BOARD_ASS);
-    rtdFdir = new RtdFdir(rtdIds[idx]);
-    rtds[idx]->setCustomFdir(rtdFdir);
-    rtds[idx]->setDeviceIdx(idx + 3);
-  }
-
-#if OBSW_TEST_RTD == 1
-  for (auto& rtd : rtds) {
-    if (rtd != nullptr) {
-      rtd->setStartUpImmediately();
-      rtd->setInstantNormal(true);
-    }
-  }
-#endif  // OBSW_TEST_RTD == 1
-  TcsBoardHelper helper(rtdIds);
-  TcsBoardAssembly* tcsBoardAss =
-      new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
-                           pcduSwitches::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
-  static_cast<void>(tcsBoardAss);
-#endif  // OBSW_ADD_RTD_DEVICES == 1
-}
-
 void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
   using namespace gpio;
   std::stringstream consumer;
@@ -937,9 +662,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
   auto supvGpioCookie = new GpioCookie;
   supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv);
   gpioComIF->addGpios(supvGpioCookie);
-  auto supervisorCookie = new UartCookie(
+  auto supervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
-      objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL,
+                                         q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL,
-      uart::PLOC_SUPERVISOR_BAUD, supv::MAX_PACKET_SIZE * 20);
+                                         uart::PLOC_SUPERVISOR_BAUD, supv::MAX_PACKET_SIZE * 20);
   supervisorCookie->setNoFixedSizeReply();
   new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
                             supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
@@ -1226,3 +951,13 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
   new UartTestClass(objects::UART_TEST);
 #endif
 }
+
+void ObjectFactory::testAcsBrdAss(AcsBoardAssembly* acsAss) {
+  CommandMessage msg;
+  ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
+                              duallane::A_SIDE);
+  ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    sif::warning << "Sending mode command failed" << std::endl;
+  }
+}

bsp_q7s/core/ObjectFactory.h

@@ -6,6 +6,7 @@ class UartComIF;
 class SpiComIF;
 class I2cComIF;
 class PowerSwitchIF;
+class AcsBoardAssembly;
 
 namespace ObjectFactory {
 
@@ -19,19 +20,18 @@ void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
                             PowerSwitchIF* pwrSwitcher);
 void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
-void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                               PowerSwitchIF* pwrSwitcher);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
 void createHeaterComponents();
 void createSolarArrayDeploymentComponents();
 void createSyrlinksComponents();
-void createRtdComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
 void createPayloadComponents(LinuxLibgpioIF* gpioComIF);
 void createReactionWheelComponents(LinuxLibgpioIF* gpioComIF);
 void createCcsdsComponents(LinuxLibgpioIF* gpioComIF);
 void createTestComponents(LinuxLibgpioIF* gpioComIF);
 
+void testAcsBrdAss(AcsBoardAssembly* assAss);
+
 };  // namespace ObjectFactory
 
 #endif /* BSP_Q7S_OBJECTFACTORY_H_ */

linux/CMakeLists.txt

@@ -1,6 +1,11 @@
 add_subdirectory(csp)
 add_subdirectory(utility)
+add_subdirectory(callbacks)
 add_subdirectory(boardtest)
 add_subdirectory(devices)
 add_subdirectory(fsfwconfig)
-add_subdirectory(obc)
+add_subdirectory(obc)
+
+target_sources(${OBSW_NAME} PUBLIC
+    ObjectFactory.cpp
+)

linux/ObjectFactory.cpp

@@ -0,0 +1,286 @@
+#include "ObjectFactory.h"
+
+#include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
+#include <linux/callbacks/gpioCallbacks.h>
+#include <mission/devices/Max31865PT1000Handler.h>
+#include <mission/devices/SusHandler.h>
+#include <mission/system/RtdFdir.h>
+#include <mission/system/SusAssembly.h>
+#include <mission/system/SusFdir.h>
+#include <mission/system/TcsBoardAssembly.h>
+
+#include "OBSWConfig.h"
+#include "devConf.h"
+#include "devices/addresses.h"
+#include "devices/gpioIds.h"
+
+void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
+                                              PowerSwitchIF* pwrSwitcher, std::string spiDev) {
+  using namespace gpio;
+  GpioCookie* gpioCookieSus = new GpioCookie();
+  GpioCallback* susgpio = nullptr;
+
+  susgpio = new GpioCallback("Chip select SUS 0", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_0, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 1", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 2", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 3", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 4", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 5", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 6", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 7", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 8", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 9", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 10", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 11", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
+
+  gpioComIF->addGpios(gpioCookieSus);
+
+#if OBSW_ADD_SUN_SENSORS == 1
+  SusFdir* fdir = nullptr;
+  std::array<SusHandler*, 12> susHandlers = {};
+  SpiCookie* spiCookie =
+      new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, spiDev, SUS::MAX_CMD_SIZE,
+                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_0);
+  susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[0]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_1);
+  susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[1]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_2);
+  susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[2]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_3);
+  susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[3]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_4);
+  susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[4]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_5);
+  susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[5]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_6);
+  susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[6]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_7);
+  susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[7]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_8);
+  susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[8]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_9);
+  susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[9]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_10);
+  susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[10]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_11);
+  susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[11]->setCustomFdir(fdir);
+
+  for (auto& sus : susHandlers) {
+    if (sus != nullptr) {
+#if OBSW_TEST_SUS == 1
+      sus->setStartUpImmediately();
+      sus->setToGoToNormalMode(true);
+#endif
+#if OBSW_DEBUG_SUS == 1
+      sus->enablePeriodicPrintout(true, 3);
+#endif
+    }
+  }
+  std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1,  objects::SUS_2,
+                                        objects::SUS_3, objects::SUS_4,  objects::SUS_5,
+                                        objects::SUS_6, objects::SUS_7,  objects::SUS_8,
+                                        objects::SUS_9, objects::SUS_10, objects::SUS_11};
+  SusAssHelper susAssHelper = SusAssHelper(susIds);
+  auto susAss =
+      new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
+  static_cast<void>(susAss);
+#endif /* OBSW_ADD_SUN_SENSORS == 1 */
+}
+
+void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
+                                        PowerSwitchIF* pwrSwitcher) {
+  using namespace gpio;
+  GpioCookie* rtdGpioCookie = new GpioCookie;
+
+  GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
+  GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
+  GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
+  GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
+  GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
+  GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
+  GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
+  GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
+  GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
+  GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", Direction::OUT, Levels::HIGH,
+                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
+  GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
+  GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
+  GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
+  GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
+  GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
+  GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", Direction::OUT, Levels::HIGH,
+                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
+
+  gpioComIF->addGpios(rtdGpioCookie);
+
+#if OBSW_ADD_RTD_DEVICES == 1
+  static constexpr uint8_t NUMBER_RTDS = 16;
+  std::array<std::pair<address_t, gpioId_t>, NUMBER_RTDS> cookieArgs = {{
+      {addresses::RTD_IC_3, gpioIds::RTD_IC_3},
+      {addresses::RTD_IC_4, gpioIds::RTD_IC_4},
+      {addresses::RTD_IC_5, gpioIds::RTD_IC_5},
+      {addresses::RTD_IC_6, gpioIds::RTD_IC_6},
+      {addresses::RTD_IC_7, gpioIds::RTD_IC_7},
+      {addresses::RTD_IC_8, gpioIds::RTD_IC_8},
+      {addresses::RTD_IC_9, gpioIds::RTD_IC_9},
+      {addresses::RTD_IC_10, gpioIds::RTD_IC_10},
+      {addresses::RTD_IC_11, gpioIds::RTD_IC_11},
+      {addresses::RTD_IC_12, gpioIds::RTD_IC_12},
+      {addresses::RTD_IC_13, gpioIds::RTD_IC_13},
+      {addresses::RTD_IC_14, gpioIds::RTD_IC_14},
+      {addresses::RTD_IC_15, gpioIds::RTD_IC_15},
+      {addresses::RTD_IC_16, gpioIds::RTD_IC_16},
+      {addresses::RTD_IC_17, gpioIds::RTD_IC_17},
+      {addresses::RTD_IC_18, gpioIds::RTD_IC_18},
+  }};
+  std::array<object_id_t, NUMBER_RTDS> rtdIds = {
+      objects::RTD_IC_3,  objects::RTD_IC_4,  objects::RTD_IC_5,  objects::RTD_IC_6,
+      objects::RTD_IC_7,  objects::RTD_IC_8,  objects::RTD_IC_9,  objects::RTD_IC_10,
+      objects::RTD_IC_11, objects::RTD_IC_12, objects::RTD_IC_13, objects::RTD_IC_14,
+      objects::RTD_IC_15, objects::RTD_IC_16, objects::RTD_IC_17, objects::RTD_IC_18};
+  std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
+  std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
+  RtdFdir* rtdFdir = nullptr;
+  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
+    rtdCookies[idx] =
+        new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, spiDev,
+                      Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
+    rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_COM_IF, rtdCookies[idx]);
+    rtds[idx]->setParent(objects::TCS_BOARD_ASS);
+    rtdFdir = new RtdFdir(rtdIds[idx]);
+    rtds[idx]->setCustomFdir(rtdFdir);
+    rtds[idx]->setDeviceIdx(idx + 3);
+  }
+
+#if OBSW_TEST_RTD == 1
+  for (auto& rtd : rtds) {
+    if (rtd != nullptr) {
+      rtd->setStartUpImmediately();
+      rtd->setInstantNormal(true);
+    }
+  }
+#endif  // OBSW_TEST_RTD == 1
+  TcsBoardHelper helper(rtdIds);
+  TcsBoardAssembly* tcsBoardAss =
+      new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
+                           pcduSwitches::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
+  static_cast<void>(tcsBoardAss);
+#endif  // OBSW_ADD_RTD_DEVICES == 1
+}

linux/ObjectFactory.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <string>
+
+class GpioIF;
+class SpiComIF;
+class PowerSwitchIF;
+
+namespace ObjectFactory {
+
+void createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher,
+                               std::string spiDev);
+void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher);
+
+}  // namespace ObjectFactory

linux/boardtest/SpiTestClass.h

@@ -3,9 +3,14 @@
 
 #include "OBSWConfig.h"
 
-#if defined(XIPHOS_Q7S)
+#ifdef XIPHOS_Q7S
 #include "busConf.h"
 #endif
+
+#ifdef RASPBERRY_PI
+#include <bsp_linux_board/definitions.h>
+#endif
+
 #include <fsfw_hal/common/gpio/GpioIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <test/testtasks/TestTask.h>

linux/callbacks/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${OBSW_NAME} PRIVATE
+	gpioCallbacks.cpp
+)

linux/callbacks/gpioCallbacks.cpp

@@ -0,0 +1,431 @@
+#include "gpioCallbacks.h"
+
+#include "devices/gpioIds.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw_hal/common/gpio/GpioCookie.h"
+#include "fsfw_hal/common/gpio/GpioIF.h"
+
+void gpioCallbacks::spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp,
+                                         gpio::Levels value, void* args) {
+  GpioIF* gpioIF = reinterpret_cast<GpioIF*>(args);
+  if (gpioIF == nullptr) {
+    sif::debug << "spiCsDecoderCallback: No gpioComIF specified. Call initSpiCsDecoder "
+               << "to specify gpioComIF" << std::endl;
+    return;
+  }
+
+  /* Reading is not supported by the callback function */
+  if (gpioOp == gpio::GpioOperation::READ) {
+    return;
+  }
+
+  if (value == gpio::Levels::HIGH) {
+    switch (gpioId) {
+      case (gpioIds::RTD_IC_3): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_4): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_5): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_6): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_7): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_8): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_9): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_10): {
+        disableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_11): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_12): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_13): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_14): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_15): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_16): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_17): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_18): {
+        disableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_0): {
+        disableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_1): {
+        disableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_2): {
+        disableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_3): {
+        disableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_4): {
+        disableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_5): {
+        disableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_6): {
+        disableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_7): {
+        disableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_8): {
+        disableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_9): {
+        disableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_10): {
+        disableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_11): {
+        disableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW1): {
+        disableRwDecoder(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW2): {
+        disableRwDecoder(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW3): {
+        disableRwDecoder(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW4): {
+        disableRwDecoder(gpioIF);
+        break;
+      }
+      default:
+        sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
+    }
+  } else if (value == gpio::Levels::LOW) {
+    switch (gpioId) {
+      case (gpioIds::RTD_IC_3): {
+        selectY7(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_4): {
+        selectY6(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_5): {
+        selectY5(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_6): {
+        selectY4(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_7): {
+        selectY3(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_8): {
+        selectY2(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_9): {
+        selectY1(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_10): {
+        selectY0(gpioIF);
+        enableDecoderTcsIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_11): {
+        selectY7(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_12): {
+        selectY6(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_13): {
+        selectY5(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_14): {
+        selectY4(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_15): {
+        selectY3(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_16): {
+        selectY2(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_17): {
+        selectY1(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::RTD_IC_18): {
+        selectY0(gpioIF);
+        enableDecoderTcsIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_0): {
+        selectY0(gpioIF);
+        enableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_1): {
+        selectY1(gpioIF);
+        enableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_2): {
+        selectY2(gpioIF);
+        enableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_3): {
+        selectY3(gpioIF);
+        enableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_4): {
+        selectY4(gpioIF);
+        enableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_5): {
+        selectY5(gpioIF);
+        enableDecoderInterfaceBoardIc1(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_6): {
+        selectY0(gpioIF);
+        enableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_7): {
+        selectY1(gpioIF);
+        enableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_8): {
+        selectY2(gpioIF);
+        enableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_9): {
+        selectY3(gpioIF);
+        enableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_10): {
+        selectY4(gpioIF);
+        enableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_SUS_11): {
+        selectY5(gpioIF);
+        enableDecoderInterfaceBoardIc2(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW1): {
+        selectY0(gpioIF);
+        enableRwDecoder(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW2): {
+        selectY1(gpioIF);
+        enableRwDecoder(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW3): {
+        selectY2(gpioIF);
+        enableRwDecoder(gpioIF);
+        break;
+      }
+      case (gpioIds::CS_RW4): {
+        selectY3(gpioIF);
+        enableRwDecoder(gpioIF);
+        break;
+      }
+      default:
+        sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl;
+    }
+  } else {
+    sif::debug << "spiCsDecoderCallback: Invalid value. Must be 0 or 1" << std::endl;
+  }
+}
+
+void gpioCallbacks::enableDecoderTcsIc1(GpioIF* gpioIF) {
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void gpioCallbacks::enableDecoderTcsIc2(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_2);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
+}
+
+void gpioCallbacks::enableDecoderInterfaceBoardIc1(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void gpioCallbacks::enableDecoderInterfaceBoardIc2(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_2);
+}
+
+void gpioCallbacks::disableDecoderTcsIc1(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void gpioCallbacks::disableDecoderTcsIc2(GpioIF* gpioIF) {
+  // DO NOT CHANGE THE ORDER HERE
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
+}
+
+void gpioCallbacks::disableDecoderInterfaceBoardIc1(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void gpioCallbacks::disableDecoderInterfaceBoardIc2(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+}
+
+void gpioCallbacks::enableRwDecoder(GpioIF* gpioIF) { gpioIF->pullHigh(gpioIds::EN_RW_CS); }
+
+void gpioCallbacks::disableRwDecoder(GpioIF* gpioIF) { gpioIF->pullLow(gpioIds::EN_RW_CS); }
+
+void gpioCallbacks::selectY0(GpioIF* gpioIF) {
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY1(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY2(GpioIF* gpioIF) {
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY3(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY4(GpioIF* gpioIF) {
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY5(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY6(GpioIF* gpioIF) {
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::selectY7(GpioIF* gpioIF) {
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_3);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_4);
+  gpioIF->pullHigh(gpioIds::SPI_MUX_BIT_5);
+}
+
+void gpioCallbacks::disableAllDecoder(GpioIF* gpioIF) {
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_2);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_0);
+  gpioIF->pullLow(gpioIds::SPI_MUX_BIT_1);
+  gpioIF->pullLow(gpioIds::EN_RW_CS);
+}

linux/callbacks/gpioCallbacks.h

@@ -1,16 +1,10 @@
-#ifndef LINUX_GPIO_GPIOCALLBACKS_H_
+#pragma once
-#define LINUX_GPIO_GPIOCALLBACKS_H_
 
-#include <fsfw_hal/common/gpio/GpioIF.h>
 #include <fsfw_hal/common/gpio/gpioDefinitions.h>
 
-namespace gpioCallbacks {
+class GpioIF;
 
-/**
+namespace gpioCallbacks {
- * @brief   This function initializes the GPIOs used to control the SN74LVC138APWR decoders on
- *          the TCS Board and the interface board.
- */
-void initSpiCsDecoder(GpioIF* gpioComIF);
 
 /**
  * @brief   This function implements the decoding to multiply gpios by using the decoder
@@ -23,51 +17,50 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Lev
  * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
  *          on the TCS board which is named to IC1 in the schematic.
  */
-void enableDecoderTcsIc1();
+void enableDecoderTcsIc1(GpioIF* gpioIF);
 
 /**
  * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
  *          on the TCS board which is named to IC2 in the schematic.
  */
-void enableDecoderTcsIc2();
+void enableDecoderTcsIc2(GpioIF* gpioIF);
 
 /**
  * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
  *          on the inteface board board which is named to IC21 in the schematic.
  */
-void enableDecoderInterfaceBoardIc1();
+void enableDecoderInterfaceBoardIc1(GpioIF* gpioIF);
 
 /**
  * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder
  *          on the inteface board board which is named to IC22 in the schematic.
  */
-void enableDecoderInterfaceBoardIc2();
+void enableDecoderInterfaceBoardIc2(GpioIF* gpioIF);
 
-void disableDecoderTcsIc1();
+void disableDecoderTcsIc1(GpioIF* gpioIF);
-void disableDecoderTcsIc2();
+void disableDecoderTcsIc2(GpioIF* gpioIF);
-void disableDecoderInterfaceBoardIc1();
+void disableDecoderInterfaceBoardIc1(GpioIF* gpioIF);
-void disableDecoderInterfaceBoardIc2();
+void disableDecoderInterfaceBoardIc2(GpioIF* gpioIF);
 
 /**
  * @brief   Enables the reaction wheel chip select decoder (IC3).
  */
-void enableRwDecoder();
+void enableRwDecoder(GpioIF* gpioIF);
-void disableRwDecoder();
+void disableRwDecoder(GpioIF* gpioIF);
 
 /**
  * @brief   This function disables all decoder.
  */
-void disableAllDecoder();
+void disableAllDecoder(GpioIF* gpioIF);
 
 /** The following functions enable the appropriate channel of the currently enabled decoder */
-void selectY0();
+void selectY0(GpioIF* gpioIF);
-void selectY1();
+void selectY1(GpioIF* gpioIF);
-void selectY2();
+void selectY2(GpioIF* gpioIF);
-void selectY3();
+void selectY3(GpioIF* gpioIF);
-void selectY4();
+void selectY4(GpioIF* gpioIF);
-void selectY5();
+void selectY5(GpioIF* gpioIF);
-void selectY6();
+void selectY6(GpioIF* gpioIF);
-void selectY7();
+void selectY7(GpioIF* gpioIF);
-}  // namespace gpioCallbacks
 
-#endif /* LINUX_GPIO_GPIOCALLBACKS_H_ */
+}  // namespace gpioCallbacks

linux/devices/devicedefinitions/PlocSupervisorDefinitions.h

@@ -1541,6 +1541,6 @@ class LatchupStatusReport : public StaticLocalDataSet<LATCHUP_RPT_SET_ENTRIES> {
   lp_var_t<uint32_t> isSet =
       lp_var_t<uint32_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_IS_SET, this);
 };
-}  // namespace PLOC_SPV
+}  // namespace supv
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCSVPDEFINITIONS_H_ */

linux/devices/ploc/PlocMPSoCHandler.cpp

@@ -1,9 +1,9 @@
 #include "PlocMPSoCHandler.h"
-#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
 
 #include "OBSWConfig.h"
 #include "fsfw/datapool/PoolReadGuard.h"
 #include "fsfw/globalfunctions/CRC.h"
+#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
 
 PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid,
                                    CookieIF* comCookie, PlocMPSoCHelper* plocMPSoCHelper,
@@ -87,8 +87,8 @@ void PlocMPSoCHandler::performOperationHook() {
     }
   }
   CommandMessage message;
-  for (ReturnValue_t result = commandActionHelperQueue->receiveMessage(&message); result == RETURN_OK;
+  for (ReturnValue_t result = commandActionHelperQueue->receiveMessage(&message);
-       result = commandActionHelperQueue->receiveMessage(&message)) {
+       result == RETURN_OK; result = commandActionHelperQueue->receiveMessage(&message)) {
     result = commandActionHelper.handleReply(&message);
     if (result == RETURN_OK) {
       continue;
@@ -133,31 +133,31 @@ ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueI
 }
 
 void PlocMPSoCHandler::doStartUp() {
-  switch(powerState) {
+  switch (powerState) {
-  case PowerState::OFF:
+    case PowerState::OFF:
       commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
       powerState = PowerState::BOOTING;
       break;
-  case PowerState::ON:
+    case PowerState::ON:
       setMode(_MODE_TO_ON);
       uartIsolatorSwitch.pullHigh();
       break;
-  default:
+    default:
       break;
   }
 }
 
 void PlocMPSoCHandler::doShutDown() {
-  switch(powerState) {
+  switch (powerState) {
-  case PowerState::ON:
+    case PowerState::ON:
       uartIsolatorSwitch.pullLow();
       commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
       powerState = PowerState::SHUTDOWN;
       break;
-  case PowerState::OFF:
+    case PowerState::OFF:
       setMode(_MODE_POWER_DOWN);
       break;
-  default:
+    default:
       break;
   }
 }
@@ -703,64 +703,57 @@ size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
   return replyLen;
 }
 
-MessageQueueIF* PlocMPSoCHandler::getCommandQueuePtr() {
+MessageQueueIF* PlocMPSoCHandler::getCommandQueuePtr() { return commandActionHelperQueue; }
-  return commandActionHelperQueue;
-}
 
-void PlocMPSoCHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {
+void PlocMPSoCHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) { return; }
-    return;
-}
 
 void PlocMPSoCHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
-		ReturnValue_t returnCode) {
+                                          ReturnValue_t returnCode) {
-	switch (actionId) {
+  switch (actionId) {
-	case supv::START_MPSOC:
+    case supv::START_MPSOC:
-		sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC"
+      sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC" << std::endl;
-				<< std::endl;
+      powerState = PowerState::OFF;
-		powerState = PowerState::OFF;
+      break;
-		break;
+    case supv::SHUTDOWN_MPSOC:
-	case supv::SHUTDOWN_MPSOC:
+      triggerEvent(MPSOC_SHUTDOWN_FAILED);
-		triggerEvent(MPSOC_SHUTDOWN_FAILED);
+      sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC" << std::endl;
-		sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC"
+      // TODO: Setting state to on or off here?
-				<< std::endl;
+      powerState = PowerState::ON;
-		// TODO: Setting state to on or off here?
+      break;
-		powerState = PowerState::ON;
+    default:
-		break;
+      sif::debug << "PlocMPSoCHandler::stepFailedReceived: Received unexpected action reply"
-	default:
+                 << std::endl;
-		sif::debug
+      break;
-				<< "PlocMPSoCHandler::stepFailedReceived: Received unexpected action reply"
+  }
-				<< std::endl;
-		break;
-	}
 }
 
 void PlocMPSoCHandler::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
-    return;
+  return;
 }
 
 void PlocMPSoCHandler::completionSuccessfulReceived(ActionId_t actionId) {
-	if (actionId != supv::EXE_REPORT) {
+  if (actionId != supv::EXE_REPORT) {
-		sif::debug << "PlocMPSoCHandler::completionSuccessfulReceived: Did not expect this action "
+    sif::debug << "PlocMPSoCHandler::completionSuccessfulReceived: Did not expect this action "
-				<< "ID" << std::endl;
+               << "ID" << std::endl;
-		return;
+    return;
-	}
+  }
-    switch(powerState) {
+  switch (powerState) {
     case PowerState::BOOTING: {
-        powerState = PowerState::ON;
+      powerState = PowerState::ON;
-        break;
+      break;
     }
     case PowerState::SHUTDOWN: {
-        powerState = PowerState::OFF;
+      powerState = PowerState::OFF;
-        break;
+      break;
     }
     default: {
       break;
     }
-    }
+  }
 }
 
 void PlocMPSoCHandler::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
-    handleActionCommandFailure(actionId);
+  handleActionCommandFailure(actionId);
 }
 
 void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
@@ -862,27 +855,27 @@ void PlocMPSoCHandler::handleActionCommandFailure(ActionId_t actionId) {
   switch (actionId) {
     case supv::ACK_REPORT:
     case supv::EXE_REPORT:
-    	break;
+      break;
     default:
-    	sif::debug << "PlocMPSoCHandler::handleActionCommandFailure: Did not expect this action ID "
+      sif::debug << "PlocMPSoCHandler::handleActionCommandFailure: Did not expect this action ID "
-			<< std::endl;
+                 << std::endl;
-    	return;
+      return;
   }
-  switch(powerState) {
+  switch (powerState) {
-  case PowerState::BOOTING: {
+    case PowerState::BOOTING: {
-	  sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to boot MPSoC"
+      sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to boot MPSoC"
-	  	  << std::endl;
+                   << std::endl;
-	  powerState = PowerState::OFF;
+      powerState = PowerState::OFF;
-	  break;
+      break;
-  }
+    }
-  case PowerState::SHUTDOWN: {
+    case PowerState::SHUTDOWN: {
-	  sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
+      sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
-	  	  	  << std::endl;
+                   << std::endl;
-	  powerState = PowerState::ON;
+      powerState = PowerState::ON;
-	  break;
+      break;
-  }
+    }
-  default:
+    default:
-	  break;
+      break;
   }
   return;
 }

linux/devices/ploc/PlocSupervisorHandler.cpp

@@ -384,7 +384,7 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t r
 ReturnValue_t PlocSupervisorHandler::getSwitches(const uint8_t** switches,
                                                  uint8_t* numberOfSwitches) {
   if (powerSwitch == power::NO_SWITCH) {
-      return DeviceHandlerBase::NO_SWITCH;
+    return DeviceHandlerBase::NO_SWITCH;
   }
   *numberOfSwitches = 1;
   *switches = &powerSwitch;
@@ -489,8 +489,8 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
   switch (command->first) {
     case supv::GET_HK_REPORT: {
       enabledReplies = 3;
-      result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
+      result =
-                                                        supv::HK_REPORT);
+          DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, supv::HK_REPORT);
       if (result != RETURN_OK) {
         sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
                    << supv::HK_REPORT << " not in replyMap" << std::endl;
@@ -589,15 +589,15 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
   result =
       DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, supv::ACK_REPORT);
   if (result != RETURN_OK) {
-    sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
+    sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << supv::ACK_REPORT
-               << supv::ACK_REPORT << " not in replyMap" << std::endl;
+               << " not in replyMap" << std::endl;
   }
 
   result =
       DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, supv::EXE_REPORT);
   if (result != RETURN_OK) {
-    sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
+    sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << supv::EXE_REPORT
-               << supv::EXE_REPORT << " not in replyMap" << std::endl;
+               << " not in replyMap" << std::endl;
   }
 
   return RETURN_OK;
@@ -1013,7 +1013,7 @@ void PlocSupervisorHandler::prepareEmptyCmd(uint16_t apid) {
 
 void PlocSupervisorHandler::prepareSelBootImageCmd(const uint8_t* commandData) {
   supv::MPSoCBootSelect packet(*commandData, *(commandData + 1), *(commandData + 2),
-                                   *(commandData + 3));
+                               *(commandData + 3));
   packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
 }
 
@@ -1459,9 +1459,8 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpFile(DeviceCommandId_t id) {
     return MRAM_FILE_NOT_EXISTS;
   }
   std::ofstream file(activeMramFile, std::ios_base::app | std::ios_base::out);
-  file.write(
+  file.write(reinterpret_cast<const char*>(spacePacketBuffer + supv::SPACE_PACKET_HEADER_LENGTH),
-      reinterpret_cast<const char*>(spacePacketBuffer + supv::SPACE_PACKET_HEADER_LENGTH),
+             packetLen - 1);
-      packetLen - 1);
   file.close();
   return RETURN_OK;
 }

linux/devices/ploc/PlocUpdater.cpp

@@ -262,12 +262,11 @@ void PlocUpdater::commandUpdateAvailable() {
   calcImageCrc();
 
   supv::UpdateInfo packet(supv::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
-                              static_cast<uint8_t>(partition), imageSize, imageCrc,
+                          static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
-                              numOfUpdatePackets);
 
-  result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
+  result =
-                                             supv::UPDATE_AVAILABLE, packet.getWholeData(),
+      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_AVAILABLE,
-                                             packet.getFullSize());
+                                        packet.getWholeData(), packet.getFullSize());
   if (result != RETURN_OK) {
     sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
                  << " packet to supervisor handler" << std::endl;
@@ -311,9 +310,9 @@ void PlocUpdater::commandUpdatePacket() {
   }
   packet.makeCrc();
 
-  result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
+  result =
-                                             supv::UPDATE_IMAGE_DATA, packet.getWholeData(),
+      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_IMAGE_DATA,
-                                             packet.getFullSize());
+                                        packet.getWholeData(), packet.getFullSize());
 
   if (result != RETURN_OK) {
     sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
@@ -335,12 +334,10 @@ void PlocUpdater::commandUpdateVerify() {
   ReturnValue_t result = RETURN_OK;
 
   supv::UpdateInfo packet(supv::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
-                              static_cast<uint8_t>(partition), imageSize, imageCrc,
+                          static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
-                              numOfUpdatePackets);
 
-  result =
+  result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_VERIFY,
-      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_VERIFY,
+                                             packet.getWholeData(), packet.getFullSize());
-                                        packet.getWholeData(), packet.getFullSize());
   if (result != RETURN_OK) {
     sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
                  << " packet to supervisor handler" << std::endl;

linux/devices/startracker/StarTrackerHandler.h

@@ -7,12 +7,12 @@
 #include "ArcsecJsonParamBase.h"
 #include "OBSWConfig.h"
 #include "StrHelper.h"
+#include "devices/powerSwitcherList.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
 #include "fsfw/timemanager/Countdown.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "thirdparty/arcsec_star_tracker/common/SLIP.h"
-#include "devices/powerSwitcherList.h"
 
 /**
  * @brief	This is the device handler for the star tracker from arcsec.

linux/fsfwconfig/OBSWConfig.h.in

@@ -44,6 +44,7 @@ debugging. */
 #define OBSW_ADD_PLOC_SUPERVISOR                    0
 #define OBSW_ADD_PLOC_MPSOC                         0
 #define OBSW_ADD_SUN_SENSORS                        1
+#define OBSW_ADD_SUS_BOARD_ASS                      1
 #define OBSW_ADD_ACS_BOARD                          1
 #define OBSW_ADD_ACS_HANDLERS                       1
 #define OBSW_ADD_RW                                 0
@@ -115,7 +116,6 @@ debugging. */
 #define OBSW_ADD_UART_TEST_CODE                     0
 
 #define OBSW_TEST_ACS                               0
-#define OBSW_TEST_ACS_BOARD_ASS                     0
 #define OBSW_DEBUG_ACS                              0
 #define OBSW_TEST_SUS                               0
 #define OBSW_DEBUG_SUS                              0
@@ -170,6 +170,7 @@ debugging. */
 #define OBSW_ADD_SUN_SENSORS                        0
 #define OBSW_ADD_MGT                                0
 #define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_ACS_HANDLERS                       0
 #define OBSW_ADD_GPS_0                              0
 #define OBSW_ADD_GPS_1                              0
 #define OBSW_ADD_RW                                 0

mission/devices/HeaterHandler.cpp

@@ -339,9 +339,7 @@ gpioId_t HeaterHandler::getGpioIdFromSwitchNr(int switchNr) {
 
 MessageQueueId_t HeaterHandler::getCommandQueue() const { return commandQueue->getId(); }
 
-ReturnValue_t HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) {
+ReturnValue_t HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) { return RETURN_OK; }
-  return RETURN_OK;
-}
 
 ReturnValue_t HeaterHandler::getSwitchState(uint8_t switchNr) const { return 0; }
 

mission/devices/PCDUHandler.cpp

@@ -350,9 +350,7 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
   return result;
 }
 
-ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) {
+ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) { return RETURN_OK; }
-  return RETURN_OK;
-}
 
 ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
   if (switchNr >= pcduSwitches::NUMBER_OF_SWITCHES) {

mission/devices/RadiationSensorHandler.cpp

@@ -92,15 +92,15 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
       return RETURN_OK;
     }
     case RAD_SENSOR::ENABLE_DEBUG_OUTPUT: {
-		printPeriodicData = true;
+      printPeriodicData = true;
-		rawPacketLen = 0;
+      rawPacketLen = 0;
-		return RETURN_OK;
+      return RETURN_OK;
-	}
+    }
-	case RAD_SENSOR::DISABLE_DEBUG_OUTPUT: {
+    case RAD_SENSOR::DISABLE_DEBUG_OUTPUT: {
-		rawPacketLen = 0;
+      rawPacketLen = 0;
-		printPeriodicData = false;
+      printPeriodicData = false;
-		return RETURN_OK;
+      return RETURN_OK;
-	}
+    }
     default:
       return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
   }
@@ -123,7 +123,7 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t
   switch (*foundId) {
     case RAD_SENSOR::START_CONVERSION:
     case RAD_SENSOR::WRITE_SETUP:
-     *foundLen = remainingSize;
+      *foundLen = remainingSize;
       return IGNORE_REPLY_DATA;
     case RAD_SENSOR::READ_CONVERSIONS: {
       ReturnValue_t result = gpioIF->pullLow(gpioIds::ENABLE_RADFET);
@@ -138,8 +138,8 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t
     }
     case RAD_SENSOR::ENABLE_DEBUG_OUTPUT:
     case RAD_SENSOR::DISABLE_DEBUG_OUTPUT:
-    	sif::info << "RadiationSensorHandler::scanForReply: " << remainingSize << std::endl;
+      sif::info << "RadiationSensorHandler::scanForReply: " << remainingSize << std::endl;
-    	break;
+      break;
     default:
       break;
   }

mission/devices/SusHandler.cpp

@@ -32,7 +32,10 @@ void SusHandler::doStartUp() {
   }
 }
 
-void SusHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
+void SusHandler::doShutDown() {
+  setMode(_MODE_POWER_DOWN);
+  comState = ComStates::IDLE;
+}
 
 ReturnValue_t SusHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
   switch (comState) {
@@ -191,7 +194,7 @@ ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 2000; }
+uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 3000; }
 
 ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                   LocalDataPoolManager &poolManager) {

mission/system/AcsBoardAssembly.cpp

@@ -142,12 +142,14 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
       cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
       if (gpsUsable) {
-        if (gpioIF->pullLow(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {
+        gpioHandler(gpioIds::GNSS_0_NRESET, true,
-#if OBSW_VERBOSE_LEVEL >= 1
+                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-          sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select low"
+                    "of GNSS 0 high (used GNSS)");
-                     << std::endl;
+        gpioHandler(gpioIds::GNSS_1_NRESET, false,
-#endif
+                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-        }
+                    "of GNSS 1 low (unused GNSS)");
+        gpioHandler(gpioIds::GNSS_SELECT, false,
+                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select low");
       }
       break;
     }
@@ -165,12 +167,14 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
       cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
       if (gpsUsable) {
-        if (gpioIF->pullHigh(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {
+        gpioHandler(gpioIds::GNSS_0_NRESET, false,
-#if OBSW_VERBOSE_LEVEL >= 1
+                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-          sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select high"
+                    "of GNSS 0 low (unused GNSS)");
-                     << std::endl;
+        gpioHandler(gpioIds::GNSS_1_NRESET, true,
-#endif
+                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-        }
+                    "of GNSS 1 high (used GNSS)");
+        gpioHandler(gpioIds::GNSS_SELECT, true,
+                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select high");
       }
       break;
     }
@@ -186,6 +190,12 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
       cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
       ReturnValue_t status = RETURN_OK;
       if (gpsUsable) {
+        gpioHandler(gpioIds::GNSS_0_NRESET, true,
+                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
+                    "of GNSS 0 high (used GNSS)");
+        gpioHandler(gpioIds::GNSS_1_NRESET, true,
+                    "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
+                    "of GNSS 1 high (used GNSS)");
         if (defaultSubmode == Submodes::A_SIDE) {
           status = gpioIF->pullLow(gpioIds::GNSS_SELECT);
         } else {
@@ -233,6 +243,20 @@ void AcsBoardAssembly::selectGpsInDualMode(duallane::Submodes side) {
   }
 }
 
+void AcsBoardAssembly::gpioHandler(gpioId_t gpio, bool high, std::string error) {
+  ReturnValue_t result = RETURN_OK;
+  if (high) {
+    result = gpioIF->pullHigh(gpio);
+  } else {
+    result = gpioIF->pullLow(gpio);
+  }
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::error << error << std::endl;
+#endif
+  }
+}
+
 void AcsBoardAssembly::refreshHelperModes() {
   try {
     helper.gyro0SideAMode = childrenMap.at(helper.gyro0AdisIdSideA).mode;

mission/system/AcsBoardAssembly.h

@@ -4,6 +4,7 @@
 #include <common/config/commonSubsystemIds.h>
 #include <devices/powerSwitcherList.h>
 #include <fsfw/objectmanager/frameworkObjects.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
 
 #include "DualLaneAssemblyBase.h"
 #include "DualLanePowerStateMachine.h"
@@ -115,6 +116,7 @@ class AcsBoardAssembly : public DualLaneAssemblyBase {
   GpioIF* gpioIF = nullptr;
 
   FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;
+  void gpioHandler(gpioId_t gpio, bool high, std::string error);
 
   ReturnValue_t initialize() override;
 

mission/system/DualLaneAssemblyBase.h

@@ -50,6 +50,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
    * @return
    */
   bool isUseable(object_id_t object, Mode_t mode);
+
   /**
    * Thin wrapper function which is required because the helper class
    * can not access protected member functions.