bsp_q7s/core/ObjectFactory.cpp

@@ -191,9 +191,8 @@ void ObjectFactory::produce(void* args) {
                      uart::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2);
   starTrackerCookie->setNoFixedSizeReply();
   StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
-  StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(
+  new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper,
-      objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, strHelper);
+                         pcduSwitches::PDU1_CH2_STAR_TRACKER_5V);
-  starTrackerHandler->setStartUpImmediately();
 
 #endif /* OBSW_ADD_STAR_TRACKER == 1 */
 
@@ -632,7 +631,8 @@ void ObjectFactory::createSyrlinksComponents() {
                      uart::SYRLINKS_BAUD, SYRLINKS::MAX_REPLY_SIZE);
   syrlinksUartCookie->setParityEven();
 
-  new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
+  new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie,
+                        pcduSwitches::PDU1_CH1_SYRLINKS_12V);
 }
 
 void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
@@ -650,10 +650,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
                      UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
   mpsocCookie->setNoFixedSizeReply();
   auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
-  auto plocMPSoC =
+  new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
-      new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocCookie,
+                       plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF),
-                           plocMpsocHelper, Gpio(gpioIds::ENABLE_MPSOC_UART, gpioComIF));
+                       objects::PLOC_SUPERVISOR_HANDLER);
-  plocMPSoC->setStartUpImmediately();
 #endif /* OBSW_ADD_PLOC_MPSOC == 1 */
 
 #if OBSW_ADD_PLOC_SUPERVISOR == 1
@@ -665,10 +664,11 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF) {
   gpioComIF->addGpios(supvGpioCookie);
   auto supervisorCookie = new UartCookie(
       objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL,
-      uart::PLOC_SUPERVISOR_BAUD, PLOC_SPV::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));
+                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, gpioComIF),
+                            pcduSwitches::PDU1_CH6_PLOC_12V);
 #endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
   static_cast<void>(consumer);
 }

linux/devices/devicedefinitions/MPSoCReturnValuesIF.h

@@ -25,6 +25,8 @@ class MPSoCReturnValuesIF {
   static const ReturnValue_t MPSOC_FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA7);
   //! [EXPORT] : [COMMENT] Command has invalid parameter
   static const ReturnValue_t INVALID_PARAMETER = MAKE_RETURN_CODE(0xA8);
+  //! [EXPORT] : [COMMENT] Received command has file string with invalid length
+  static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA9);
 };
 
 #endif /* MPSOC_RETURN_VALUES_IF_H_ */

linux/devices/devicedefinitions/PlocSupervisorDefinitions.h

@@ -8,7 +8,7 @@
 #include <fsfw/timemanager/Clock.h>
 #include <fsfw/tmtcpacket/SpacePacket.h>
 
-namespace PLOC_SPV {
+namespace supv {
 
 /** Command IDs */
 static const DeviceCommandId_t NONE = 0;

linux/devices/ploc/PlocMPSoCHandler.cpp

@@ -1,4 +1,5 @@
 #include "PlocMPSoCHandler.h"
+#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
 
 #include "OBSWConfig.h"
 #include "fsfw/datapool/PoolReadGuard.h"
@@ -6,14 +7,18 @@
 
 PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid,
                                    CookieIF* comCookie, PlocMPSoCHelper* plocMPSoCHelper,
-                                   Gpio uartIsolatorSwitch)
+                                   Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
     : DeviceHandlerBase(objectId, uartComIFid, comCookie),
       plocMPSoCHelper(plocMPSoCHelper),
-      uartIsolatorSwitch(uartIsolatorSwitch) {
+      uartIsolatorSwitch(uartIsolatorSwitch),
+      supervisorHandler(supervisorHandler),
+      commandActionHelper(this) {
   if (comCookie == nullptr) {
     sif::error << "PlocMPSoCHandler: Invalid communication cookie" << std::endl;
   }
   eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
+  commandActionHelperQueue =
+      QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
 }
 
 PlocMPSoCHandler::~PlocMPSoCHandler() {}
@@ -60,6 +65,10 @@ ReturnValue_t PlocMPSoCHandler::initialize() {
   }
   plocMPSoCHelper->setComCookie(comCookie);
   plocMPSoCHelper->setSequenceCount(&sequenceCount);
+  result = commandActionHelper.initialize();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
   return result;
 }
 
@@ -77,6 +86,14 @@ void PlocMPSoCHandler::performOperationHook() {
         break;
     }
   }
+  CommandMessage message;
+  for (ReturnValue_t result = commandActionHelperQueue->receiveMessage(&message); result == RETURN_OK;
+       result = commandActionHelperQueue->receiveMessage(&message)) {
+    result = commandActionHelper.handleReply(&message);
+    if (result == RETURN_OK) {
+      continue;
+    }
+  }
 }
 
 ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
@@ -116,17 +133,33 @@ ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueI
 }
 
 void PlocMPSoCHandler::doStartUp() {
-#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
+  switch(powerState) {
-  setMode(MODE_NORMAL);
+  case PowerState::OFF:
-#else
+      commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
-  setMode(_MODE_TO_ON);
+      powerState = PowerState::BOOTING;
-#endif
+      break;
-  uartIsolatorSwitch.pullHigh();
+  case PowerState::ON:
+      setMode(_MODE_TO_ON);
+      uartIsolatorSwitch.pullHigh();
+      break;
+  default:
+      break;
+  }
 }
 
 void PlocMPSoCHandler::doShutDown() {
-  uartIsolatorSwitch.pullLow();
+  switch(powerState) {
-  setMode(_MODE_POWER_DOWN);
+  case PowerState::ON:
+      uartIsolatorSwitch.pullLow();
+      commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
+      powerState = PowerState::SHUTDOWN;
+      break;
+  case PowerState::OFF:
+      setMode(_MODE_POWER_DOWN);
+      break;
+  default:
+      break;
+  }
 }
 
 ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
@@ -134,7 +167,7 @@ ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(DeviceCommandId_t* id)
 }
 
 ReturnValue_t PlocMPSoCHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
-  return HasReturnvaluesIF::RETURN_OK;
+  return NOTHING_TO_SEND;
 }
 
 ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
@@ -279,7 +312,7 @@ ReturnValue_t PlocMPSoCHandler::interpretDeviceReply(DeviceCommandId_t id, const
 
 void PlocMPSoCHandler::setNormalDatapoolEntriesInvalid() {}
 
-uint32_t PlocMPSoCHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+uint32_t PlocMPSoCHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
 
 ReturnValue_t PlocMPSoCHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                         LocalDataPoolManager& poolManager) {
@@ -331,7 +364,7 @@ ReturnValue_t PlocMPSoCHandler::prepareTcMemRead(const uint8_t* commandData,
 ReturnValue_t PlocMPSoCHandler::prepareTcFlashDelete(const uint8_t* commandData,
                                                      size_t commandDataLen) {
   if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
-    return NAME_TOO_LONG;
+    return MPSoCReturnValuesIF::NAME_TOO_LONG;
   }
   ReturnValue_t result = RETURN_OK;
   sequenceCount++;
@@ -670,6 +703,66 @@ size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
   return replyLen;
 }
 
+MessageQueueIF* PlocMPSoCHandler::getCommandQueuePtr() {
+  return commandActionHelperQueue;
+}
+
+void PlocMPSoCHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {
+    return;
+}
+
+void PlocMPSoCHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
+		ReturnValue_t returnCode) {
+	switch (actionId) {
+	case supv::START_MPSOC:
+		sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC"
+				<< std::endl;
+		powerState = PowerState::OFF;
+		break;
+	case supv::SHUTDOWN_MPSOC:
+		triggerEvent(MPSOC_SHUTDOWN_FAILED);
+		sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC"
+				<< std::endl;
+		// TODO: Setting state to on or off here?
+		powerState = PowerState::ON;
+		break;
+	default:
+		sif::debug
+				<< "PlocMPSoCHandler::stepFailedReceived: Received unexpected action reply"
+				<< std::endl;
+		break;
+	}
+}
+
+void PlocMPSoCHandler::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
+    return;
+}
+
+void PlocMPSoCHandler::completionSuccessfulReceived(ActionId_t actionId) {
+	if (actionId != supv::EXE_REPORT) {
+		sif::debug << "PlocMPSoCHandler::completionSuccessfulReceived: Did not expect this action "
+				<< "ID" << std::endl;
+		return;
+	}
+    switch(powerState) {
+    case PowerState::BOOTING: {
+        powerState = PowerState::ON;
+        break;
+    }
+    case PowerState::SHUTDOWN: {
+        powerState = PowerState::OFF;
+        break;
+    }
+    default: {
+      break;
+    }
+    }
+}
+
+void PlocMPSoCHandler::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
+    handleActionCommandFailure(actionId);
+}
+
 void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
                                       DeviceCommandId_t replyId) {
   ReturnValue_t result = RETURN_OK;
@@ -725,7 +818,7 @@ void PlocMPSoCHandler::disableAllReplies() {
     }
   }
 
-  /* We must always disable the execution report reply here */
+  /* We always need to disable the execution report reply here */
   disableExeReportReply();
   nextReplyId = mpsoc::NONE;
 }
@@ -764,3 +857,32 @@ void PlocMPSoCHandler::printStatus(const uint8_t* data) {
 uint16_t PlocMPSoCHandler::getStatus(const uint8_t* data) {
   return *(data + STATUS_OFFSET) << 8 | *(data + STATUS_OFFSET + 1);
 }
+
+void PlocMPSoCHandler::handleActionCommandFailure(ActionId_t actionId) {
+  switch (actionId) {
+    case supv::ACK_REPORT:
+    case supv::EXE_REPORT:
+    	break;
+    default:
+    	sif::debug << "PlocMPSoCHandler::handleActionCommandFailure: Did not expect this action ID "
+			<< std::endl;
+    	return;
+  }
+  switch(powerState) {
+  case PowerState::BOOTING: {
+	  sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to boot MPSoC"
+	  	  << std::endl;
+	  powerState = PowerState::OFF;
+	  break;
+  }
+  case PowerState::SHUTDOWN: {
+	  sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
+	  	  	  << std::endl;
+	  powerState = PowerState::ON;
+	  break;
+  }
+  default:
+	  break;
+  }
+  return;
+}

linux/devices/ploc/PlocMPSoCHandler.h

@@ -4,6 +4,8 @@
 #include <string>
 
 #include "PlocMPSoCHelper.h"
+#include "fsfw/action/CommandActionHelper.h"
+#include "fsfw/action/CommandsActionsIF.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/tmtcservices/SourceSequenceCounter.h"
@@ -26,15 +28,33 @@
  *
  * @author	J. Meier
  */
-class PlocMPSoCHandler : public DeviceHandlerBase {
+class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
  public:
+  /**
+   * @brief Constructor
+   *
+   * @param ojectId             Object ID of the MPSoC handler
+   * @param uartcomIFid         Object ID of the UART communication interface
+   * @param comCookie           UART communication cookie
+   * @param plocMPSoCHelper     Pointer to MPSoC helper object
+   * @param uartIsolatorSwitch  Gpio object representing the GPIO connected to the UART isolator
+   *                            module in the programmable logic
+   * @param supervisorHandler   Object ID of the supervisor handler
+   */
   PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
-                   PlocMPSoCHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch);
+                   PlocMPSoCHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch,
+                   object_id_t supervisorHandler);
   virtual ~PlocMPSoCHandler();
   virtual ReturnValue_t initialize() override;
   ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                               const uint8_t* data, size_t size) override;
   void performOperationHook() override;
+  MessageQueueIF* getCommandQueuePtr() override;
+  void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
+  void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
+  void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
+  void completionSuccessfulReceived(ActionId_t actionId) override;
+  void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
 
  protected:
   void doStartUp() override;
@@ -74,15 +94,16 @@ class PlocMPSoCHandler : public DeviceHandlerBase {
   //! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
   //! count P1: Expected sequence count P2: Received sequence count
   static const Event MPSOC_HANDLER_SEQ_CNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
-
+  //! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
-  //! [EXPORT] : [COMMENT] Received command has file string with invalid length
+  //! thus also to shutdown the supervisor.
-  static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xD0);
+  static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
 
   static const uint16_t APID_MASK = 0x7FF;
   static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
   static const uint8_t STATUS_OFFSET = 10;
 
   MessageQueueIF* eventQueue = nullptr;
+  MessageQueueIF* commandActionHelperQueue = nullptr;
 
   SourceSequenceCounter sequenceCount;
 
@@ -99,6 +120,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase {
 
   PlocMPSoCHelper* plocMPSoCHelper = nullptr;
   Gpio uartIsolatorSwitch;
+  object_id_t supervisorHandler = 0;
+  CommandActionHelper commandActionHelper;
 
   // Used to block incoming commands when MPSoC helper class is currently executing a command
   bool plocMPSoCHelperExecuting = false;
@@ -111,6 +134,10 @@ class PlocMPSoCHandler : public DeviceHandlerBase {
 
   TmMemReadReport tmMemReadReport;
 
+  enum class PowerState { OFF, BOOTING, SHUTDOWN, ON };
+
+  PowerState powerState = PowerState::OFF;
+
   /**
    * @brief   Handles events received from the PLOC MPSoC helper
    */
@@ -212,6 +239,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase {
   ReturnValue_t prepareTcModeReplay();
 
   uint16_t getStatus(const uint8_t* data);
+
+  void handleActionCommandFailure(ActionId_t actionId);
 };
 
 #endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */

linux/devices/ploc/PlocMemoryDumper.cpp

@@ -105,10 +105,10 @@ void PlocMemoryDumper::doStateMachine() {
     case State::IDLE:
       break;
     case State::COMMAND_FIRST_MRAM_DUMP:
-      commandNextMramDump(PLOC_SPV::FIRST_MRAM_DUMP);
+      commandNextMramDump(supv::FIRST_MRAM_DUMP);
       break;
     case State::COMMAND_CONSECUTIVE_MRAM_DUMP:
-      commandNextMramDump(PLOC_SPV::CONSECUTIVE_MRAM_DUMP);
+      commandNextMramDump(supv::CONSECUTIVE_MRAM_DUMP);
       break;
     case State::EXECUTING_MRAM_DUMP:
       break;
@@ -127,8 +127,8 @@ void PlocMemoryDumper::dataReceived(ActionId_t actionId, const uint8_t* data, ui
 
 void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
   switch (pendingCommand) {
-    case (PLOC_SPV::FIRST_MRAM_DUMP):
+    case (supv::FIRST_MRAM_DUMP):
-    case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
+    case (supv::CONSECUTIVE_MRAM_DUMP):
       if (mram.endAddress == mram.startAddress) {
         triggerEvent(MRAM_DUMP_FINISHED);
         state = State::IDLE;
@@ -146,8 +146,8 @@ void PlocMemoryDumper::completionSuccessfulReceived(ActionId_t actionId) {
 
 void PlocMemoryDumper::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
   switch (pendingCommand) {
-    case (PLOC_SPV::FIRST_MRAM_DUMP):
+    case (supv::FIRST_MRAM_DUMP):
-    case (PLOC_SPV::CONSECUTIVE_MRAM_DUMP):
+    case (supv::CONSECUTIVE_MRAM_DUMP):
       triggerEvent(MRAM_DUMP_FAILED, mram.lastStartAddress);
       break;
     default:

linux/devices/ploc/PlocSupervisorHandler.h

@@ -25,7 +25,7 @@
 class PlocSupervisorHandler : public DeviceHandlerBase {
  public:
   PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
-                        Gpio uartIsolatorSwitch);
+                        Gpio uartIsolatorSwitch, power::Switch_t powerSwitch);
   virtual ~PlocSupervisorHandler();
 
   virtual ReturnValue_t initialize() override;
@@ -105,24 +105,24 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   static const uint16_t APID_MASK = 0x7FF;
   static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
 
-  uint8_t commandBuffer[PLOC_SPV::MAX_COMMAND_SIZE];
+  uint8_t commandBuffer[supv::MAX_COMMAND_SIZE];
 
   /**
    * This variable is used to store the id of the next reply to receive. This is necessary
    * because the PLOC sends as reply to each command at least one acknowledgment and execution
    * report.
    */
-  DeviceCommandId_t nextReplyId = PLOC_SPV::NONE;
+  DeviceCommandId_t nextReplyId = supv::NONE;
 
   UartComIF* uartComIf = nullptr;
   LinuxLibgpioIF* gpioComIF = nullptr;
   Gpio uartIsolatorSwitch;
 
-  PLOC_SPV::HkSet hkset;
+  supv::HkSet hkset;
-  PLOC_SPV::BootStatusReport bootStatusReport;
+  supv::BootStatusReport bootStatusReport;
-  PLOC_SPV::LatchupStatusReport latchupStatusReport;
+  supv::LatchupStatusReport latchupStatusReport;
 
-  const power::Switch_t powerSwitch = pcduSwitches::PDU1_CH6_PLOC_12V;
+  const power::Switch_t powerSwitch = power::NO_SWITCH;
 
   /** Number of expected replies following the MRAM dump command */
   uint32_t expectedMramDumpPackets = 0;
@@ -133,7 +133,7 @@ class PlocSupervisorHandler : public DeviceHandlerBase {
   uint16_t bufferTop = 0;
 
   /** This buffer is used to concatenate space packets received in two different read steps */
-  uint8_t spacePacketBuffer[PLOC_SPV::MAX_PACKET_SIZE];
+  uint8_t spacePacketBuffer[supv::MAX_PACKET_SIZE];
 
 #ifdef TE0720_1CFA
   SdCardManager* sdcMan = nullptr;

linux/devices/ploc/PlocUpdater.cpp

@@ -123,9 +123,6 @@ void PlocUpdater::readCommandQueue() {
     if (result == HasReturnvaluesIF::RETURN_OK) {
       continue;
     }
-
-    sif::debug << "PlocUpdater::readCommandQueue: Received message with invalid format"
-               << std::endl;
   }
 }
 
@@ -145,7 +142,6 @@ void PlocUpdater::doStateMachine() {
     case State::COMMAND_EXECUTING:
       break;
     default:
-      sif::debug << "PlocUpdater::doStateMachine: Invalid state" << std::endl;
       break;
   }
 }
@@ -199,10 +195,10 @@ void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_
 
 void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
   switch (pendingCommand) {
-    case (PLOC_SPV::UPDATE_AVAILABLE):
+    case (supv::UPDATE_AVAILABLE):
       state = State::UPDATE_TRANSFER;
       break;
-    case (PLOC_SPV::UPDATE_IMAGE_DATA):
+    case (supv::UPDATE_IMAGE_DATA):
       if (remainingPackets == 0) {
         packetsSent = 0;  // Reset packets sent variable for next update sequence
         state = State::UPDATE_VERIFY;
@@ -210,14 +206,12 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
         state = State::UPDATE_TRANSFER;
       }
       break;
-    case (PLOC_SPV::UPDATE_VERIFY):
+    case (supv::UPDATE_VERIFY):
       triggerEvent(UPDATE_FINISHED);
       state = State::IDLE;
-      pendingCommand = PLOC_SPV::NONE;
+      pendingCommand = supv::NONE;
       break;
     default:
-      sif::debug << "PlocUpdater::completionSuccessfulReceived: Invalid pending command"
-                 << std::endl;
       state = State::IDLE;
       break;
   }
@@ -225,20 +219,19 @@ void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
 
 void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
   switch (pendingCommand) {
-    case (PLOC_SPV::UPDATE_AVAILABLE): {
+    case (supv::UPDATE_AVAILABLE): {
       triggerEvent(UPDATE_AVAILABLE_FAILED);
       break;
     }
-    case (PLOC_SPV::UPDATE_IMAGE_DATA): {
+    case (supv::UPDATE_IMAGE_DATA): {
       triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
       break;
     }
-    case (PLOC_SPV::UPDATE_VERIFY): {
+    case (supv::UPDATE_VERIFY): {
       triggerEvent(UPDATE_VERIFY_FAILED);
       break;
     }
     default:
-      sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command " << std::endl;
       break;
   }
   state = State::IDLE;
@@ -268,23 +261,23 @@ void PlocUpdater::commandUpdateAvailable() {
 
   calcImageCrc();
 
-  PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
+  supv::UpdateInfo packet(supv::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
                               static_cast<uint8_t>(partition), imageSize, imageCrc,
                               numOfUpdatePackets);
 
   result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
-                                             PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(),
+                                             supv::UPDATE_AVAILABLE, packet.getWholeData(),
                                              packet.getFullSize());
   if (result != RETURN_OK) {
     sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
                  << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_AVAILABLE);
+    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_AVAILABLE);
     state = State::IDLE;
-    pendingCommand = PLOC_SPV::NONE;
+    pendingCommand = supv::NONE;
     return;
   }
 
-  pendingCommand = PLOC_SPV::UPDATE_AVAILABLE;
+  pendingCommand = supv::UPDATE_AVAILABLE;
   state = State::COMMAND_EXECUTING;
   return;
 }
@@ -308,56 +301,56 @@ void PlocUpdater::commandUpdatePacket() {
     payloadLength = MAX_SP_DATA;
   }
 
-  PLOC_SPV::UpdatePacket packet(payloadLength);
+  supv::UpdatePacket packet(payloadLength);
   file.read(reinterpret_cast<char*>(packet.getDataFieldPointer()), payloadLength);
   file.close();
   // sequence count of first packet is 1
-  packet.setPacketSequenceCount((packetsSent + 1) & PLOC_SPV::SEQUENCE_COUNT_MASK);
+  packet.setPacketSequenceCount((packetsSent + 1) & supv::SEQUENCE_COUNT_MASK);
   if (numOfUpdatePackets > 1) {
     adjustSequenceFlags(packet);
   }
   packet.makeCrc();
 
   result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
-                                             PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(),
+                                             supv::UPDATE_IMAGE_DATA, packet.getWholeData(),
                                              packet.getFullSize());
 
   if (result != RETURN_OK) {
     sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
                  << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_IMAGE_DATA);
+    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_IMAGE_DATA);
     state = State::IDLE;
-    pendingCommand = PLOC_SPV::NONE;
+    pendingCommand = supv::NONE;
     return;
   }
 
   remainingPackets--;
   packetsSent++;
 
-  pendingCommand = PLOC_SPV::UPDATE_IMAGE_DATA;
+  pendingCommand = supv::UPDATE_IMAGE_DATA;
   state = State::COMMAND_EXECUTING;
 }
 
 void PlocUpdater::commandUpdateVerify() {
   ReturnValue_t result = RETURN_OK;
 
-  PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
+  supv::UpdateInfo packet(supv::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
                               static_cast<uint8_t>(partition), imageSize, imageCrc,
                               numOfUpdatePackets);
 
   result =
-      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, PLOC_SPV::UPDATE_VERIFY,
+      commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_VERIFY,
                                         packet.getWholeData(), packet.getFullSize());
   if (result != RETURN_OK) {
     sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
                  << " packet to supervisor handler" << std::endl;
-    triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_VERIFY);
+    triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_VERIFY);
     state = State::IDLE;
-    pendingCommand = PLOC_SPV::NONE;
+    pendingCommand = supv::NONE;
     return;
   }
   state = State::COMMAND_EXECUTING;
-  pendingCommand = PLOC_SPV::UPDATE_VERIFY;
+  pendingCommand = supv::UPDATE_VERIFY;
   return;
 }
 
@@ -384,12 +377,12 @@ void PlocUpdater::calcImageCrc() {
   imageCrc = (remainder ^ FINAL_XOR_VALUE_32);
 }
 
-void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) {
+void PlocUpdater::adjustSequenceFlags(supv::UpdatePacket& packet) {
   if (packetsSent == 0) {
-    packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT));
+    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::FIRST_PKT));
   } else if (remainingPackets == 1) {
-    packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
+    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::LAST_PKT));
   } else {
-    packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
+    packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::CONTINUED_PKT));
   }
 }

linux/devices/ploc/PlocUpdater.h

@@ -23,7 +23,7 @@
  *          packets and sent to the PlocSupervisorHandler.
  *
  * @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition
- * A and Partition B)
+ *          A and Partition B)
  *
  * @author  J. Meier
  */
@@ -122,7 +122,7 @@ class PlocUpdater : public SystemObject,
 
   State state = State::IDLE;
 
-  ActionId_t pendingCommand = PLOC_SPV::NONE;
+  ActionId_t pendingCommand = supv::NONE;
 
   enum class Image : uint8_t { NONE, A, B };
 
@@ -168,7 +168,7 @@ class PlocUpdater : public SystemObject,
 
   void calcImageCrc();
 
-  void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet);
+  void adjustSequenceFlags(supv::UpdatePacket& packet);
 };
 
 #endif /* MISSION_DEVICES_PLOCUPDATER_H_ */

linux/devices/startracker/StarTrackerHandler.cpp

@@ -15,7 +15,7 @@ extern "C" {
 }
 
 StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                                       StrHelper* strHelper)
+                                       StrHelper* strHelper, power::Switch_t powerSwitch)
     : DeviceHandlerBase(objectId, comIF, comCookie),
       temperatureSet(this),
       versionSet(this),
@@ -39,7 +39,8 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
       subscriptionSet(this),
       logSubscriptionSet(this),
       debugCameraSet(this),
-      strHelper(strHelper) {
+      strHelper(strHelper),
+      powerSwitch(powerSwitch) {
   if (comCookie == nullptr) {
     sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
   }
@@ -1223,6 +1224,15 @@ ReturnValue_t StarTrackerHandler::doSendReadHook() {
   return RETURN_OK;
 }
 
+ReturnValue_t StarTrackerHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
+  if (powerSwitch == power::NO_SWITCH) {
+    return DeviceHandlerBase::NO_SWITCH;
+  }
+  *numberOfSwitches = 1;
+  *switches = &powerSwitch;
+  return RETURN_OK;
+}
+
 ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) {
   switch (actionId) {
     case startracker::UPLOAD_IMAGE:

linux/devices/startracker/StarTrackerHandler.h

@@ -12,6 +12,7 @@
 #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.
@@ -34,7 +35,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
    * 						to high to enable the device.
    */
   StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                     StrHelper* strHelper);
+                     StrHelper* strHelper, power::Switch_t powerSwitch);
   virtual ~StarTrackerHandler();
 
   ReturnValue_t initialize() override;
@@ -75,6 +76,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
    */
   virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
   virtual ReturnValue_t doSendReadHook() override;
+  ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
   virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
 
  private:
@@ -161,14 +163,12 @@ class StarTrackerHandler : public DeviceHandlerBase {
   static const uint32_t BOOT_TIMEOUT = 1000;
   static const uint32_t DEFAULT_TRANSITION_DELAY = 15000;
 
-  class FlashReadCmd {
+  struct FlashReadCmd {
-   public:
     // Minimum length of a read command (region, length and filename)
     static const size_t MIN_LENGTH = 7;
   };
 
-  class ChecksumCmd {
+  struct ChecksumCmd {
-   public:
     static const uint8_t ADDRESS_OFFSET = 1;
     static const uint8_t LENGTH_OFFSET = 5;
     // Length of checksum command
@@ -268,6 +268,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   bool strHelperExecuting = false;
 
+  const power::Switch_t powerSwitch = power::NO_SWITCH;
+
   /**
    * @brief   Handles internal state
    */

linux/obc/PdecHandler.cpp

@@ -326,6 +326,7 @@ void PdecHandler::handleNewTc() {
   printTC(tcLength);
 #endif /* OBSW_DEBUG_PDEC_HANDLER */
 
+#if OBSW_TC_FROM_PDEC == 1
   store_address_t storeId;
   result = tcStore->addData(&storeId, tcSegment + 1, tcLength - 1);
   if (result != RETURN_OK) {
@@ -343,6 +344,7 @@ void PdecHandler::handleNewTc() {
     tcStore->deleteData(storeId);
     return;
   }
+#endif /* OBSW_TC_FROM_PDEC == 1 */
 
   return;
 }

mission/devices/RadiationSensorHandler.cpp

@@ -91,6 +91,16 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
       rawPacketLen = RAD_SENSOR::READ_SIZE;
       return RETURN_OK;
     }
+    case RAD_SENSOR::ENABLE_DEBUG_OUTPUT: {
+		printPeriodicData = true;
+		rawPacketLen = 0;
+		return RETURN_OK;
+	}
+	case RAD_SENSOR::DISABLE_DEBUG_OUTPUT: {
+		rawPacketLen = 0;
+		printPeriodicData = false;
+		return RETURN_OK;
+	}
     default:
       return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
   }
@@ -100,6 +110,8 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
 void RadiationSensorHandler::fillCommandAndReplyMap() {
   this->insertInCommandMap(RAD_SENSOR::WRITE_SETUP);
   this->insertInCommandMap(RAD_SENSOR::START_CONVERSION);
+  this->insertInCommandMap(RAD_SENSOR::ENABLE_DEBUG_OUTPUT);
+  this->insertInCommandMap(RAD_SENSOR::DISABLE_DEBUG_OUTPUT);
   this->insertInCommandAndReplyMap(RAD_SENSOR::READ_CONVERSIONS, 1, &dataset,
                                    RAD_SENSOR::READ_SIZE);
 }
@@ -111,18 +123,23 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t
   switch (*foundId) {
     case RAD_SENSOR::START_CONVERSION:
     case RAD_SENSOR::WRITE_SETUP:
+     *foundLen = remainingSize;
       return IGNORE_REPLY_DATA;
     case RAD_SENSOR::READ_CONVERSIONS: {
       ReturnValue_t result = gpioIF->pullLow(gpioIds::ENABLE_RADFET);
       if (result != HasReturnvaluesIF::RETURN_OK) {
 #if OBSW_VERBOSE_LEVEL >= 1
-        sif::warning << "RadiationSensorHandler::buildCommandFromCommand; Pulling RADFET Enale pin "
+        sif::warning << "RadiationSensorHandler::scanForReply; Pulling RADFET Enale pin "
                         "low failed"
                      << std::endl;
 #endif
       }
       break;
     }
+    case RAD_SENSOR::ENABLE_DEBUG_OUTPUT:
+    case RAD_SENSOR::DISABLE_DEBUG_OUTPUT:
+    	sif::info << "RadiationSensorHandler::scanForReply: " << remainingSize << std::endl;
+    	break;
     default:
       break;
   }

mission/devices/SyrlinksHkHandler.cpp

@@ -4,8 +4,12 @@
 
 #include "OBSWConfig.h"
 
-SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie)
+SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-    : DeviceHandlerBase(objectId, comIF, comCookie), rxDataset(this), txDataset(this) {
+                                     power::Switch_t powerSwitch)
+    : DeviceHandlerBase(objectId, comIF, comCookie),
+      rxDataset(this),
+      txDataset(this),
+      powerSwitch(powerSwitch) {
   if (comCookie == NULL) {
     sif::error << "SyrlinksHkHandler: Invalid com cookie" << std::endl;
   }
@@ -41,6 +45,22 @@ ReturnValue_t SyrlinksHkHandler::buildNormalDeviceCommand(DeviceCommandId_t* id)
       break;
     case (SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE):
       *id = SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE;
+      nextCommand = SYRLINKS::TEMP_POWER_AMPLIFIER_HIGH_BYTE;
+      break;
+    case (SYRLINKS::TEMP_POWER_AMPLIFIER_HIGH_BYTE):
+      *id = SYRLINKS::TEMP_POWER_AMPLIFIER_HIGH_BYTE;
+      nextCommand = SYRLINKS::TEMP_POWER_AMPLIFIER_LOW_BYTE;
+      break;
+    case (SYRLINKS::TEMP_POWER_AMPLIFIER_LOW_BYTE):
+      *id = SYRLINKS::TEMP_POWER_AMPLIFIER_LOW_BYTE;
+      nextCommand = SYRLINKS::TEMP_BASEBAND_BOARD_HIGH_BYTE;
+      break;
+    case (SYRLINKS::TEMP_BASEBAND_BOARD_HIGH_BYTE):
+      *id = SYRLINKS::TEMP_BASEBAND_BOARD_HIGH_BYTE;
+      nextCommand = SYRLINKS::TEMP_BASEBAND_BOARD_LOW_BYTE;
+      break;
+    case (SYRLINKS::TEMP_BASEBAND_BOARD_LOW_BYTE):
+      *id = SYRLINKS::TEMP_BASEBAND_BOARD_LOW_BYTE;
       nextCommand = SYRLINKS::READ_RX_STATUS_REGISTERS;
       break;
     default:
@@ -84,6 +104,12 @@ ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(DeviceCommandId_t devic
       rawPacket = commandBuffer;
       return RETURN_OK;
     }
+    case (SYRLINKS::WRITE_LCL_CONFIG): {
+      writeLclConfig.copy(reinterpret_cast<char*>(commandBuffer), writeLclConfig.size(), 0);
+      rawPacketLen = writeLclConfig.size();
+      rawPacket = commandBuffer;
+      return RETURN_OK;
+    }
     case (SYRLINKS::READ_RX_STATUS_REGISTERS): {
       readRxStatusRegCommand.copy(reinterpret_cast<char*>(commandBuffer),
                                   readRxStatusRegCommand.size(), 0);
@@ -91,6 +117,13 @@ ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(DeviceCommandId_t devic
       rawPacket = commandBuffer;
       return RETURN_OK;
     }
+    case (SYRLINKS::READ_LCL_CONFIG): {
+      readLclConfig.copy(reinterpret_cast<char*>(commandBuffer), readLclConfig.size(), 0);
+      rawPacketLen = readLclConfig.size();
+      rawPacket = commandBuffer;
+      rememberCommandId = SYRLINKS::READ_LCL_CONFIG;
+      return RETURN_OK;
+    }
     case (SYRLINKS::READ_TX_STATUS): {
       readTxStatus.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
       rawPacketLen = readTxStatus.size();
@@ -99,26 +132,53 @@ ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(DeviceCommandId_t devic
       return RETURN_OK;
     }
     case (SYRLINKS::READ_TX_WAVEFORM): {
-      readTxWaveform.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
+      readTxWaveform.copy(reinterpret_cast<char*>(commandBuffer), readTxWaveform.size(), 0);
       rawPacketLen = readTxWaveform.size();
       rememberCommandId = SYRLINKS::READ_TX_WAVEFORM;
       rawPacket = commandBuffer;
       return RETURN_OK;
     }
     case (SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE): {
-      readTxAgcValueHighByte.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
+      readTxAgcValueHighByte.copy(reinterpret_cast<char*>(commandBuffer), readTxAgcValueHighByte.size(), 0);
       rawPacketLen = readTxAgcValueHighByte.size();
       rememberCommandId = SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE;
       rawPacket = commandBuffer;
       return RETURN_OK;
     }
     case (SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE): {
-      readTxAgcValueLowByte.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
+      readTxAgcValueLowByte.copy(reinterpret_cast<char*>(commandBuffer), readTxAgcValueLowByte.size(), 0);
       rawPacketLen = readTxAgcValueLowByte.size();
       rememberCommandId = SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE;
       rawPacket = commandBuffer;
       return RETURN_OK;
     }
+    case (SYRLINKS::TEMP_POWER_AMPLIFIER_HIGH_BYTE):
+      tempPowerAmpBoardHighByte.copy(reinterpret_cast<char*>(commandBuffer), tempPowerAmpBoardHighByte.size(),
+                                     0);
+      rawPacketLen = tempPowerAmpBoardHighByte.size();
+      rememberCommandId = SYRLINKS::TEMP_POWER_AMPLIFIER_HIGH_BYTE;
+      rawPacket = commandBuffer;
+      return RETURN_OK;
+    case (SYRLINKS::TEMP_POWER_AMPLIFIER_LOW_BYTE):
+		tempPowerAmpBoardLowByte.copy(reinterpret_cast<char*>(commandBuffer), tempPowerAmpBoardLowByte.size(),
+                                     0);
+      rawPacketLen = tempPowerAmpBoardLowByte.size();
+      rememberCommandId = SYRLINKS::TEMP_POWER_AMPLIFIER_LOW_BYTE;
+      rawPacket = commandBuffer;
+      return RETURN_OK;
+    case (SYRLINKS::TEMP_BASEBAND_BOARD_HIGH_BYTE):
+      tempBasebandBoardHighByte.copy(reinterpret_cast<char*>(commandBuffer), tempBasebandBoardHighByte.size(),
+                                     0);
+      rawPacketLen = tempBasebandBoardHighByte.size();
+      rememberCommandId = SYRLINKS::TEMP_BASEBAND_BOARD_HIGH_BYTE;
+      rawPacket = commandBuffer;
+      return RETURN_OK;
+    case (SYRLINKS::TEMP_BASEBAND_BOARD_LOW_BYTE):
+      tempBasebandBoardLowByte.copy(reinterpret_cast<char*>(commandBuffer), tempBasebandBoardLowByte.size(), 0);
+      rawPacketLen = tempBasebandBoardLowByte.size();
+      rememberCommandId = SYRLINKS::TEMP_BASEBAND_BOARD_LOW_BYTE;
+      rawPacket = commandBuffer;
+      return RETURN_OK;
     default:
       return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
   }
@@ -134,6 +194,10 @@ void SyrlinksHkHandler::fillCommandAndReplyMap() {
                                    false, true, SYRLINKS::ACK_REPLY);
   this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_CW, 1, nullptr, SYRLINKS::ACK_SIZE, false,
                                    true, SYRLINKS::ACK_REPLY);
+  this->insertInCommandAndReplyMap(SYRLINKS::WRITE_LCL_CONFIG, 1, nullptr, SYRLINKS::ACK_SIZE,
+                                   false, true, SYRLINKS::ACK_REPLY);
+  this->insertInCommandAndReplyMap(SYRLINKS::READ_LCL_CONFIG, 1, nullptr,
+                                   SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
   this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_STATUS, 1, &txDataset,
                                    SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
   this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_WAVEFORM, 1, &txDataset,
@@ -142,6 +206,14 @@ void SyrlinksHkHandler::fillCommandAndReplyMap() {
                                    SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
   this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE, 1, &txDataset,
                                    SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
+  this->insertInCommandAndReplyMap(SYRLINKS::TEMP_POWER_AMPLIFIER_HIGH_BYTE, 1, nullptr,
+                                   SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
+  this->insertInCommandAndReplyMap(SYRLINKS::TEMP_POWER_AMPLIFIER_LOW_BYTE, 1, nullptr,
+                                   SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
+  this->insertInCommandAndReplyMap(SYRLINKS::TEMP_BASEBAND_BOARD_HIGH_BYTE, 1, nullptr,
+                                   SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
+  this->insertInCommandAndReplyMap(SYRLINKS::TEMP_BASEBAND_BOARD_LOW_BYTE, 1, nullptr,
+                                   SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
   this->insertInCommandAndReplyMap(SYRLINKS::READ_RX_STATUS_REGISTERS, 1, &rxDataset,
                                    SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE);
 }
@@ -177,6 +249,15 @@ ReturnValue_t SyrlinksHkHandler::scanForReply(const uint8_t* start, size_t remai
   return result;
 }
 
+ReturnValue_t SyrlinksHkHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
+  if (powerSwitch == power::NO_SWITCH) {
+    return DeviceHandlerBase::NO_SWITCH;
+  }
+  *numberOfSwitches = 1;
+  *switches = &powerSwitch;
+  return RETURN_OK;
+}
+
 ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
   ReturnValue_t result;
 
@@ -184,7 +265,7 @@ ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, cons
     case (SYRLINKS::ACK_REPLY):
       result = verifyReply(packet, SYRLINKS::ACK_SIZE);
       if (result != RETURN_OK) {
-        sif::error << "SyrlinksHkHandler::interpretDeviceReply: Acknowledgement reply has "
+        sif::error << "SyrlinksHkHandler::interpretDeviceReply: Acknowledgment reply has "
                       "invalid crc"
                    << std::endl;
         return CRC_FAILURE;
@@ -204,6 +285,15 @@ ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       }
       parseRxStatusRegistersReply(packet);
       break;
+    case (SYRLINKS::READ_LCL_CONFIG):
+      result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
+      if (result != RETURN_OK) {
+        sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read config lcl reply "
+                   << "has invalid crc" << std::endl;
+        return CRC_FAILURE;
+      }
+      parseLclConfigReply(packet);
+      break;
     case (SYRLINKS::READ_TX_STATUS):
       result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
       if (result != RETURN_OK) {
@@ -240,6 +330,56 @@ ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, cons
       }
       parseAgcLowByte(packet);
       break;
+    case (SYRLINKS::TEMP_BASEBAND_BOARD_HIGH_BYTE):
+      result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
+      if (result != RETURN_OK) {
+        sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read temperature baseband board "
+                   << "high byte reply has invalid crc" << std::endl;
+        return CRC_FAILURE;
+      }
+      rawTempBasebandBoard = convertHexStringToUint8(reinterpret_cast<const char*>(
+                                 packet + SYRLINKS::MESSAGE_HEADER_SIZE))
+                             << 8;
+      break;
+    case (SYRLINKS::TEMP_BASEBAND_BOARD_LOW_BYTE):
+      result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
+      if (result != RETURN_OK) {
+        sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read temperature baseband board"
+                      " low byte reply has invalid crc"
+                   << std::endl;
+        return CRC_FAILURE;
+      }
+      rawTempBasebandBoard |= convertHexStringToUint8(
+          reinterpret_cast<const char*>(packet + SYRLINKS::MESSAGE_HEADER_SIZE));
+      tempBasebandBoard = calcTempVal(rawTempBasebandBoard);
+		sif::info << "Syrlinks temperature baseband board: " << tempBasebandBoard << "  °C"
+				<< std::endl;
+      break;
+    case (SYRLINKS::TEMP_POWER_AMPLIFIER_HIGH_BYTE):
+      result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
+      if (result != RETURN_OK) {
+        sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read temperature power amplifier "
+                   << "board high byte reply has invalid crc" << std::endl;
+        return CRC_FAILURE;
+      }
+      rawTempPowerAmplifier = 0;
+      rawTempPowerAmplifier = convertHexStringToUint8(reinterpret_cast<const char*>(
+                                 packet + SYRLINKS::MESSAGE_HEADER_SIZE))
+                             << 8;
+      break;
+    case (SYRLINKS::TEMP_POWER_AMPLIFIER_LOW_BYTE):
+      result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
+      if (result != RETURN_OK) {
+        sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read temperature power amplifier"
+                   << " board low byte reply has invalid crc" << std::endl;
+        return CRC_FAILURE;
+      }
+      rawTempPowerAmplifier |= convertHexStringToUint8(
+          reinterpret_cast<const char*>(packet + SYRLINKS::MESSAGE_HEADER_SIZE));
+      tempPowerAmplifier = calcTempVal(rawTempPowerAmplifier);
+      sif::info << "Syrlinks temperature power amplifier board: " << tempPowerAmplifier << "  °C"
+      				<< std::endl;
+      break;
     default: {
       sif::debug << "SyrlinksHkHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
       return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
@@ -390,6 +530,13 @@ void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
 #endif
 }
 
+void SyrlinksHkHandler::parseLclConfigReply(const uint8_t* packet) {
+  uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
+  uint8_t lclConfig = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
+  sif::info << "SyrlinksHkHandler::parseRxStatusRegistersReply: Lcl config: "
+            << static_cast<unsigned int>(lclConfig) << std::endl;
+}
+
 void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
   PoolReadGuard readHelper(&txDataset);
   uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
@@ -449,3 +596,5 @@ ReturnValue_t SyrlinksHkHandler::initializeLocalDataPool(localpool::DataPool& lo
 }
 
 void SyrlinksHkHandler::setModeNormal() { mode = MODE_NORMAL; }
+
+float SyrlinksHkHandler::calcTempVal(uint16_t raw) { return 0.126984 * raw - 67.87; }

mission/devices/SyrlinksHkHandler.h

@@ -1,8 +1,9 @@
 #ifndef MISSION_DEVICES_SYRLINKSHKHANDLER_H_
 #define MISSION_DEVICES_SYRLINKSHKHANDLER_H_
 
-#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include "devices/powerSwitcherList.h"
-#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
+#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include <string.h>
 
 /**
@@ -15,7 +16,8 @@
  */
 class SyrlinksHkHandler : public DeviceHandlerBase {
  public:
-  SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
+  SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+                    power::Switch_t powerSwitch);
   virtual ~SyrlinksHkHandler();
 
   /**
@@ -28,12 +30,13 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
   ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
-  void fillCommandAndReplyMap() override;
   ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
                                         size_t commandDataLen) override;
+  void fillCommandAndReplyMap() override;
   ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
                              size_t* foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
+  ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
   void setNormalDatapoolEntriesInvalid() override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -55,16 +58,23 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
 
   static const uint8_t CRC_INITIAL_VALUE = 0x0;
 
+  // Uses CRC-16/XMODEM
   std::string resetCommand = "<C04:5A5A:FF41>";
   std::string readRxStatusRegCommand = "<E00::825B>";
   std::string setTxModeStandby = "<W04:4000:7E58>";
   /** W - write, 04 - 4 bytes in data field, 01 - value, 40 register to write value */
   std::string setTxModeModulation = "<W04:4001:4D69>";
   std::string setTxModeCw = "<W04:4010:4968>";
+  std::string writeLclConfig = "<W04:0707:3FE4>";
   std::string readTxStatus = "<R02:40:7555>";
   std::string readTxWaveform = "<R02:44:B991>";
   std::string readTxAgcValueHighByte = "<R02:46:DFF3>";
   std::string readTxAgcValueLowByte = "<R02:47:ECC2>";
+  std::string readLclConfig = "<R02:07:3002>";
+  std::string tempPowerAmpBoardHighByte = "<R02:C0:28CD>";
+  std::string tempPowerAmpBoardLowByte = "<R02:C1:1BFC>";
+  std::string tempBasebandBoardHighByte = "<R02:C2:4EAF>";
+  std::string tempBasebandBoardLowByte = "<R02:C3:7D9E>";
 
   /**
    * In some cases it is not possible to extract from the received reply the information about
@@ -75,7 +85,13 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
   SYRLINKS::RxDataset rxDataset;
   SYRLINKS::TxDataset txDataset;
 
-  uint8_t agcValueHighByte;
+  const power::Switch_t powerSwitch = power::NO_SWITCH;
+
+  uint8_t agcValueHighByte = 0;
+  uint16_t rawTempPowerAmplifier = 0;
+  uint16_t rawTempBasebandBoard = 0;
+  float tempPowerAmplifier = 0;
+  float tempBasebandBoard = 0;
 
   uint8_t commandBuffer[SYRLINKS::MAX_COMMAND_SIZE];
 
@@ -152,6 +168,8 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
    */
   void parseRxStatusRegistersReply(const uint8_t* packet);
 
+  void parseLclConfigReply(const uint8_t* packet);
+
   /**
    * @brief   This function writes the read tx status register to the txStatusDataset.
    * @param packet    Pointer to the received packet.
@@ -169,6 +187,11 @@ class SyrlinksHkHandler : public DeviceHandlerBase {
    */
   void parseAgcLowByte(const uint8_t* packet);
   void parseAgcHighByte(const uint8_t* packet);
+
+  /**
+   * @brief Calculates temperature in degree celcius form raw value
+   */
+  float calcTempVal(uint16_t);
 };
 
 #endif /* MISSION_DEVICES_SYRLINKSHKHANDLER_H_ */

mission/devices/devicedefinitions/RadSensorDefinitions.h

@@ -9,9 +9,11 @@ static const DeviceCommandId_t NONE = 0x0;  // Set when no command is pending
  * This command initiates the ADC conversion for all channels including the internal
  * temperature sensor.
  */
-static const DeviceCommandId_t WRITE_SETUP = 0x1;
+static const DeviceCommandId_t WRITE_SETUP = 1;
-static const DeviceCommandId_t START_CONVERSION = 0x2;
+static const DeviceCommandId_t START_CONVERSION = 2;
-static const DeviceCommandId_t READ_CONVERSIONS = 0x3;
+static const DeviceCommandId_t READ_CONVERSIONS = 3;
+static const DeviceCommandId_t ENABLE_DEBUG_OUTPUT = 4;
+static const DeviceCommandId_t DISABLE_DEBUG_OUTPUT = 5;
 
 /**
  * @brief   This is the configuration byte which will be written to the setup register after

mission/devices/devicedefinitions/SyrlinksDefinitions.h

@@ -3,21 +3,27 @@
 
 namespace SYRLINKS {
 
-static const DeviceCommandId_t NONE = 0x0;
+static const DeviceCommandId_t NONE = 0;
-static const DeviceCommandId_t RESET_UNIT = 0x01;
+static const DeviceCommandId_t RESET_UNIT = 1;
 /** Reads out all status registers */
-static const DeviceCommandId_t READ_RX_STATUS_REGISTERS = 0x02;
+static const DeviceCommandId_t READ_RX_STATUS_REGISTERS = 2;
 /** Sets Tx mode to standby */
-static const DeviceCommandId_t SET_TX_MODE_STANDBY = 0x03;
+static const DeviceCommandId_t SET_TX_MODE_STANDBY = 3;
 /** Starts transmission mode. Only reached when clock signal is applying to the data tx input */
-static const DeviceCommandId_t SET_TX_MODE_MODULATION = 0x04;
+static const DeviceCommandId_t SET_TX_MODE_MODULATION = 4;
 /** Sends out a single carrier wave for testing purpose */
-static const DeviceCommandId_t SET_TX_MODE_CW = 0x05;
+static const DeviceCommandId_t SET_TX_MODE_CW = 5;
-static const DeviceCommandId_t ACK_REPLY = 0x06;
+static const DeviceCommandId_t ACK_REPLY = 6;
-static const DeviceCommandId_t READ_TX_STATUS = 0x07;
+static const DeviceCommandId_t READ_TX_STATUS = 7;
-static const DeviceCommandId_t READ_TX_WAVEFORM = 0x08;
+static const DeviceCommandId_t READ_TX_WAVEFORM = 8;
-static const DeviceCommandId_t READ_TX_AGC_VALUE_HIGH_BYTE = 0x09;
+static const DeviceCommandId_t READ_TX_AGC_VALUE_HIGH_BYTE = 9;
-static const DeviceCommandId_t READ_TX_AGC_VALUE_LOW_BYTE = 0x0A;
+static const DeviceCommandId_t READ_TX_AGC_VALUE_LOW_BYTE = 10;
+static const DeviceCommandId_t WRITE_LCL_CONFIG = 11;
+static const DeviceCommandId_t READ_LCL_CONFIG = 12;
+static const DeviceCommandId_t TEMP_POWER_AMPLIFIER_HIGH_BYTE = 13;
+static const DeviceCommandId_t TEMP_POWER_AMPLIFIER_LOW_BYTE = 14;
+static const DeviceCommandId_t TEMP_BASEBAND_BOARD_HIGH_BYTE = 15;
+static const DeviceCommandId_t TEMP_BASEBAND_BOARD_LOW_BYTE = 16;
 
 /** Size of a simple transmission success response */
 static const uint8_t ACK_SIZE = 12;

mission/system/AcsBoardAssembly.cpp

@@ -142,26 +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->pullHigh(gpioIds::GNSS_0_NRESET) != 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 nReset pin"
+            "of GNSS 0 high (used GNSS)");
-                        "of GNSS 0 high (used GNSS)"
+        gpioHandler(gpioIds::GNSS_1_NRESET, false,
-                     << std::endl;
+            "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-#endif
+             "of GNSS 1 low (unused GNSS)");
-        }
+        gpioHandler(gpioIds::GNSS_SELECT, false,
-        if (gpioIF->pullLow(gpioIds::GNSS_1_NRESET) != HasReturnvaluesIF::RETURN_OK) {
+            "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select low");
-#if OBSW_VERBOSE_LEVEL >= 1
-          sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-                        "of GNSS 1 low (unused GNSS)"
-                     << std::endl;
-#endif
-        }
-        if (gpioIF->pullLow(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {
-#if OBSW_VERBOSE_LEVEL >= 1
-          sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select low"
-                     << std::endl;
-#endif
-        }
       }
       break;
     }
@@ -179,26 +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_1_NRESET) != 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 nReset pin"
+            "of GNSS 0 low (unused GNSS)");
-                        "of GNSS 1 high (used GNSS)"
+        gpioHandler(gpioIds::GNSS_1_NRESET, true,
-                     << std::endl;
+            "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-#endif
+             "of GNSS 1 high (used GNSS)");
-        }
+        gpioHandler(gpioIds::GNSS_SELECT, true,
-        if (gpioIF->pullLow(gpioIds::GNSS_0_NRESET) != HasReturnvaluesIF::RETURN_OK) {
+            "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select high");
-#if OBSW_VERBOSE_LEVEL >= 1
-          sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
-                        "of GNSS 0 low (unused GNSS)"
-                     << std::endl;
-#endif
-        }
-        if (gpioIF->pullHigh(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {
-#if OBSW_VERBOSE_LEVEL >= 1
-          sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select high"
-                     << std::endl;
-#endif
-        }
       }
       break;
     }
@@ -214,8 +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) {
-        gpioIF->pullHigh(gpioIds::GNSS_1_NRESET);
+        gpioHandler(gpioIds::GNSS_0_NRESET, true,
-        gpioIF->pullHigh(gpioIds::GNSS_0_NRESET);
+            "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 {
@@ -263,6 +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.

mission/tmtc/CCSDSHandler.cpp

@@ -313,7 +313,7 @@ void CCSDSHandler::enableTransmit() {
     return;
   }
   transmitterCountdown.setTimeout(TRANSMITTER_TIMEOUT);
-#ifdef TE0720_1CFA
+#ifndef TE0720_1CFA
   gpioIF->pullHigh(enTxClock);
   gpioIF->pullHigh(enTxData);
 #endif /* BOARD_TE0720 == 0 */