CMakeLists.txt

@@ -61,6 +61,14 @@ if(TGT_BSP)
         set(ADD_LINUX_FILES TRUE)
         set(ADD_CSP_LIB TRUE)
     endif()
+   
+    if(${TGT_BSP} MATCHES "arm/raspberrypi") 
+        add_definitions(-DRASPBERRY_PI)
+    endif()
+    
+    if(${TGT_BSP} MATCHES "arm/q7s")
+        add_definitions(-DXIPHOS_Q7S)
+    endif()
 else()
     # Required by FSFW library
     set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")

bsp_hosted/InitMission.cpp

@@ -11,6 +11,8 @@
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
 
+#include <mission/utility/InitMission.h>
+
 #include <iostream>
 
 // This is configured for linux without \cr
@@ -28,7 +30,7 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
 
 ObjectManagerIF *objectManager = nullptr;
 
-void InitMission::initMission() {
+void initmission::initMission() {
 	sif::info << "Building global objects.." << std::endl;
 	/* Instantiate global object manager and also create all objects */
     objectManager = new ObjectManager(ObjectFactory::produce);
@@ -39,7 +41,7 @@ void InitMission::initMission() {
     initTasks();
 }
 
-void InitMission::initTasks(){
+void initmission::initTasks(){
 	/* TMTC Distribution */
 	PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
 			createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,

bsp_hosted/InitMission.h

@@ -1,7 +1,7 @@
 #ifndef BSP_LINUX_INITMISSION_H_
 #define BSP_LINUX_INITMISSION_H_
 
-namespace InitMission {
+namespace initmission {
 void initMission();
 void initTasks();
 };

bsp_hosted/main.cpp

@@ -24,7 +24,7 @@ int main(void)
             << SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
     std::cout << "-- " <<  __DATE__ << " " << __TIME__ << " --" << std::endl;
 
-	InitMission::initMission();
+	initmission::initMission();
 
 	for(;;) {
 		// suspend main thread by sleeping it.

bsp_q7s/CMakeLists.txt

@@ -6,6 +6,7 @@ target_sources(${TARGET_NAME} PUBLIC
 
 add_subdirectory(boardconfig)
 add_subdirectory(comIF)
+add_subdirectory(devices)
 add_subdirectory(boardtest)
 
 

bsp_q7s/InitMission.cpp

@@ -2,6 +2,8 @@
 #include "ObjectFactory.h"
 #include <OBSWConfig.h>
 
+#include <mission/utility/InitMission.h>
+
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
@@ -13,7 +15,7 @@
 
 #include <iostream>
 
-// This is configured for linux without \cr
+/* This is configured for linux without CR */
 #ifdef LINUX
 ServiceInterfaceStream sif::debug("DEBUG");
 ServiceInterfaceStream sif::info("INFO");
@@ -28,7 +30,7 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
 
 ObjectManagerIF *objectManager = nullptr;
 
-void InitMission::initMission() {
+void initmission::initMission() {
     sif::info << "Building global objects.." << std::endl;
     /* Instantiate global object manager and also create all objects */
     objectManager = new ObjectManager(ObjectFactory::produce);
@@ -39,144 +41,148 @@ void InitMission::initMission() {
     initTasks();
 }
 
-void InitMission::initTasks(){
+void initmission::initTasks() {
+    TaskFactory* factory = TaskFactory::instance();
+    if(factory == nullptr) {
+        /* Should never happen ! */
+        return;
+    }
+#if OBSW_PRINT_MISSED_DEADLINES == 1
+    void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
+#else
+    void (*missedDeadlineFunc) (void) = nullptr;
+#endif
+
     /* TMTC Distribution */
-	PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
+    PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-			createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
+            "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-					0.2, nullptr);
+    ReturnValue_t result = tmTcDistributor->addComponent(
-	ReturnValue_t result = TmTcDistributor->addComponent(
             objects::CCSDS_PACKET_DISTRIBUTOR);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-	result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-    result = TmTcDistributor->addComponent(objects::TM_FUNNEL);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-    	sif::error << "Object add component failed" << std::endl;
+        initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
+    }
+    result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
+    }
+    result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
     }
 
     /* UDP bridge */
-    PeriodicTaskIF* UdpBridgeTask = TaskFactory::instance()->createPeriodicTask(
+    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
-    		"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
+            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-			0.2, nullptr);
+    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
-    result = UdpBridgeTask->addComponent(objects::UDP_BRIDGE);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-    	sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+        initmission::printAddObjectError("UDP_BRIDGE", objects::UDP_BRIDGE);
     }
-    PeriodicTaskIF* UdpPollingTask = TaskFactory::instance()->
+    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-    		createPeriodicTask("UDP_POLLING", 80,
+            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-    		PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
+    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
-    result = UdpPollingTask->addComponent(objects::UDP_POLLING_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-    	sif::error << "Add component UDP Polling failed" << std::endl;
+        initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
     }
 
     /* PUS Services */
-	PeriodicTaskIF* PusVerification = TaskFactory::instance()->
+    PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
-			createPeriodicTask("PUS_VERIF_1", 40,
+            "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-					PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
+    result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-	result = PusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-	if(result != HasReturnvaluesIF::RETURN_OK){
+        initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
-		sif::error << "Object add component failed" << std::endl;
     }
 
-	PeriodicTaskIF* PusEvents = TaskFactory::instance()->
+    PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
-			createPeriodicTask("PUS_VERIF_1", 60,
+            "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-					PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
+    result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-	result = PusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-	if(result != HasReturnvaluesIF::RETURN_OK){
+        initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
-		sif::error << "Object add component failed" << std::endl;
     }
 
-	PeriodicTaskIF* PusHighPrio = TaskFactory::instance()->
+    PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
-			createPeriodicTask("PUS_HIGH_PRIO", 50,
+            "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-					PeriodicTaskIF::MINIMUM_STACK_SIZE,
+    result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-					0.200, nullptr);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-	result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+        initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
     }
-	result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
+    result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "Object add component failed" << std::endl;
+        initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
     }
 
-	PeriodicTaskIF* PusMedPrio = TaskFactory::instance()->
+    PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
-			createPeriodicTask("PUS_HIGH_PRIO", 40,
+            "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-					PeriodicTaskIF::MINIMUM_STACK_SIZE,
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-					0.8, nullptr);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-	result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
+        initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
     }
-	result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "Object add component failed" << std::endl;
+        initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
+    }
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
     }
 
-	PeriodicTaskIF* PusLowPrio = TaskFactory::instance()->
+    PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
-			createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
+            "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
-					1.6, nullptr);
+    result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-	result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-	if(result!=HasReturnvaluesIF::RETURN_OK){
+        initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
-		sif::error << "Object add component failed" << std::endl;
     }
 
     //TODO: Add handling of missed deadlines
     /* Polling Sequence Table Default */
-	FixedTimeslotTaskIF * PollingSequenceTableTaskDefault =
+    FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
-			TaskFactory::instance()->createFixedTimeslotTask("PST_TASK_DEFAULT",
+            "PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
-					50, PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 3.0,
+            missedDeadlineFunc);
-					nullptr);
+    result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault);
-	result = pst::pollingSequenceInitDefault(PollingSequenceTableTaskDefault);
     if (result != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "InitMission::initTasks: Creating PST failed!"
+        sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
-				<< std::endl;
     }
 
 #if TE0720 == 0
-	FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()->
+    FixedTimeslotTaskIF* gomSpacePstTask = factory->
             createFixedTimeslotTask("GS_PST_TASK", 50,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, nullptr);
+                    PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 3.0, missedDeadlineFunc);
-	result = pst::gomspacePstInit(GomSpacePstTask);
+    result = pst::gomspacePstInit(gomSpacePstTask);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "InitMission::initTasks: GomSpace PST initialization "
+        sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
-				<< "failed!" << std::endl;
     }
 #endif
 
+    PeriodicTaskIF* testTask = factory->createPeriodicTask(
+            "GPIOD_TEST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
+#if OBSW_ADD_TEST_CODE == 1
+    result = testTask->addComponent(objects::TEST_TASK);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+    }
+#endif /* OBSW_ADD_TEST_CODE == 1 */
 #if TE0720 == 1 && TEST_LIBGPIOD == 1
-	PeriodicTaskIF* TestTask = TaskFactory::instance()->
+    result = testTask->addComponent(objects::LIBGPIOD_TEST);
-            createPeriodicTask("Libgpiod Test Task", 60,
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-                    PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, nullptr);
+        initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
-    result = TestTask->addComponent(objects::LIBGPIOD_TEST);
-    if(result != HasReturnvaluesIF::RETURN_OK){
-        sif::error << "Object add component libgpiod test task object" << std::endl;
     }
-#endif
+#endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */
 
-	//Main thread sleep
     sif::info << "Starting tasks.." << std::endl;
-	TmTcDistributor->startTask();
+    tmTcDistributor->startTask();
-	UdpBridgeTask->startTask();
+    udpBridgeTask->startTask();
-	UdpPollingTask->startTask();
+    udpPollingTask->startTask();
 
 #if TE0720 == 0
-	GomSpacePstTask->startTask();
+    gomSpacePstTask->startTask();
 #endif
-	PollingSequenceTableTaskDefault->startTask();
+    pollingSequenceTableTaskDefault->startTask();
 
-	PusVerification->startTask();
+    pusVerification->startTask();
-	PusEvents->startTask();
+    pusEvents->startTask();
-	PusHighPrio->startTask();
+    pusHighPrio->startTask();
-	PusMedPrio->startTask();
+    pusMedPrio->startTask();
-	PusLowPrio->startTask();
+    pusLowPrio->startTask();
 
-#if TE0720 == 1 && TEST_LIBGPIOD == 1
+    testTask->startTask();
-	TestTask->startTask();
-#endif
     sif::info << "Tasks started.." << std::endl;
 }

bsp_q7s/InitMission.h

@@ -1,7 +1,7 @@
 #ifndef BSP_Q7S_INITMISSION_H_
 #define BSP_Q7S_INITMISSION_H_
 
-namespace InitMission {
+namespace initmission {
 void initMission();
 void initTasks();
 };

bsp_q7s/ObjectFactory.cpp

@@ -4,15 +4,9 @@
 #include <devices/addresses.h>
 #include <devices/gpioIds.h>
 #include <tmtc/pusIds.h>
+#include <devices/powerSwitcherList.h>
 
-#include <fsfw/datapoollocal/LocalDataPoolManager.h>
+#include <bsp_q7s/devices/HeaterHandler.h>
-#include <fsfw/tmtcservices/CommandingServiceBase.h>
-#include <fsfw/tmtcservices/PusServiceBase.h>
-#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
-#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
-#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
-
-#include <fsfwconfig/devices/powerSwitcherList.h>
 
 #include <mission/core/GenericFactory.h>
 #include <mission/devices/PDU1Handler.h>
@@ -21,7 +15,6 @@
 #include <mission/devices/PCDUHandler.h>
 #include <mission/devices/P60DockHandler.h>
 #include <mission/devices/Tmp1075Handler.h>
-#include <mission/devices/HeaterHandler.h>
 #include <mission/devices/SolarArrayDeploymentHandler.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
@@ -34,8 +27,15 @@
 #include <linux/gpio/LinuxLibgpioIF.h>
 #include <linux/gpio/GpioCookie.h>
 
+#include <fsfw/datapoollocal/LocalDataPoolManager.h>
+#include <fsfw/tmtcservices/CommandingServiceBase.h>
+#include <fsfw/tmtcservices/PusServiceBase.h>
+#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
+#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
+#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
+
 #if TEST_LIBGPIOD == 1
-#include "LibgpiodTest.h"
+#include <linux/boardtest/LibgpiodTest.h>
 #endif
 
 void Factory::setStaticFrameworkObjectIds() {
@@ -119,37 +119,37 @@ void ObjectFactory::produce(){
     new LinuxLibgpioIF(objects::GPIO_IF);
 #if TE0720 == 0
     /* Pin H2-11 on stack connector */
-    GpioConfig_t gpioConfigHeater0(std::string("gpiochip7"), 18,
+    GpiodRegular gpioConfigHeater0(std::string("gpiochip7"), 18,
             std::string("Heater0"), gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
 
     /* Pin H2-12 on stack connector */
-    GpioConfig_t gpioConfigHeater1(std::string("gpiochip7"), 14,
+    GpiodRegular gpioConfigHeater1(std::string("gpiochip7"), 14,
             std::string("Heater1"), gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
 
     /* Pin H2-13 on stack connector */
-    GpioConfig_t gpioConfigHeater2(std::string("gpiochip7"), 20,
+    GpiodRegular gpioConfigHeater2(std::string("gpiochip7"), 20,
             std::string("Heater2"), gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
 
-    GpioConfig_t gpioConfigHeater3(std::string("gpiochip7"), 16,
+    GpiodRegular gpioConfigHeater3(std::string("gpiochip7"), 16,
             std::string("Heater3"), gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
 
-    GpioConfig_t gpioConfigHeater4(std::string("gpiochip7"), 24,
+    GpiodRegular gpioConfigHeater4(std::string("gpiochip7"), 24,
             std::string("Heater4"), gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
 
-    GpioConfig_t gpioConfigHeater5(std::string("gpiochip7"), 26,
+    GpiodRegular gpioConfigHeater5(std::string("gpiochip7"), 26,
             std::string("Heater5"), gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
 
-    GpioConfig_t gpioConfigHeater6(std::string("gpiochip7"), 22,
+    GpiodRegular gpioConfigHeater6(std::string("gpiochip7"), 22,
             std::string("Heater6"), gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
 
-    GpioConfig_t gpioConfigHeater7(std::string("gpiochip7"), 28,
+    GpiodRegular gpioConfigHeater7(std::string("gpiochip7"), 28,
             std::string("Heater7"), gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
 
@@ -157,10 +157,10 @@ void ObjectFactory::produce(){
             pcduSwitches::TCS_BOARD_8V_HEATER_IN);
 
     GpioCookie* solarArrayDeplCookie = new GpioCookie;
-    GpioConfig_t gpioConfigDeplSA1(std::string("gpiochip7"), 25,
+    GpiodRegular gpioConfigDeplSA1(std::string("gpiochip7"), 25,
             std::string("DeplSA1"), gpio::OUT, 0);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA1);
-    GpioConfig_t gpioConfigDeplSA2(std::string("gpiochip7"), 23,
+    GpiodRegular gpioConfigDeplSA2(std::string("gpiochip7"), 23,
             std::string("DeplSA2"), gpio::OUT, 0);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA2);
 
@@ -180,14 +180,14 @@ void ObjectFactory::produce(){
     GpioConfig_t gpioConfigMio0(std::string("gpiochip0"), 0,
             std::string("MIO0"), gpio::IN, 0);
     GpioCookie* gpioCookie = new GpioCookie;
-    gpioCookie->addGpio(gpioIds::Test_ID, gpioConfigMio0);
+    gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
     new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
 #elif TE0720 == 1
     /* Configuration for MIO0 on TE0720-03-1CFA */
     GpioConfig_t gpioConfigForDummyHeater(std::string("gpiochip0"), 0,
             std::string("Heater0"), gpio::OUT, 0);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater);
-    new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, objects::PCDU_HANDLER,
+    new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
-            pcduSwitches::TCS_BOARD_8V_HEATER_IN);
+            objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
 #endif
 }

bsp_q7s/boardtest/CMakeLists.txt

@@ -1,5 +1,4 @@
 target_sources(${TARGET_NAME} PRIVATE
-	LibgpiodTest.cpp
 )
 
 

bsp_q7s/boardtest/LibgpiodTest.cpp

@@ -1,37 +0,0 @@
-#include "LibgpiodTest.h"
-
-#include <fsfwconfig/devices/gpioIds.h>
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-#include <fsfw/objectmanager/ObjectManagerIF.h>
-
-LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
-        GpioCookie* gpioCookie):
-        TestTask(objectId) {
-
-    gpioInterface = objectManager->get<GpioIF>(gpioIfobjectId);
-    if (gpioInterface == nullptr) {
-        sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
-    }
-    gpioInterface->initialize(gpioCookie);
-}
-
-LibgpiodTest::~LibgpiodTest() {
-}
-
-ReturnValue_t LibgpiodTest::performPeriodicAction() {
-    int gpioState;
-    ReturnValue_t result;
-
-    result = gpioInterface->readGpio(gpioIds::Test_ID, &gpioState);
-    if (result != RETURN_OK) {
-        sif::debug << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
-                << std::endl;
-        return RETURN_FAILED;
-    }
-    else {
-        sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState
-                << std::endl;
-    }
-    return RETURN_OK;
-}
-

bsp_q7s/devices/CMakeLists.txt

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

bsp_q7s/devices/HeaterHandler.cpp

@@ -1,13 +1,14 @@
-#include <mission/devices/HeaterHandler.h>
+#include "HeaterHandler.h"
 #include <fsfwconfig/devices/powerSwitcherList.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <devices/gpioIds.h>
+#include <linux/gpio/GpioCookie.h>
 
 HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
         CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) :
-        SystemObject(setObjectId_), gpioDriverId(gpioDriverId_), gpioCookie(gpioCookie_), mainLineSwitcherObjectId(
+        SystemObject(setObjectId_), gpioDriverId(gpioDriverId_), gpioCookie(gpioCookie_),
-                mainLineSwitcherObjectId_), mainLineSwitch(mainLineSwitch_), actionHelper(this,
+        mainLineSwitcherObjectId(mainLineSwitcherObjectId_), mainLineSwitch(mainLineSwitch_),
-                nullptr) {
+        actionHelper(this, nullptr) {
     commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
             MessageQueueMessage::MAX_MESSAGE_SIZE);
 }
@@ -42,7 +43,7 @@ ReturnValue_t HeaterHandler::initialize() {
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
-	result = gpioInterface->initialize(gpioCookie);
+	result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
 	if (result != RETURN_OK) {
         sif::error << "HeaterHandler::initialize: Failed to initialize Gpio interface" << std::endl;
 	    return ObjectManagerIF::CHILD_INIT_FAILED;

bsp_q7s/devices/HeaterHandler.h

@@ -116,7 +116,7 @@ private:
 
     CookieIF * gpioCookie;
 
-    GpioIF* gpioInterface;
+    GpioIF* gpioInterface = nullptr;
 
     /** Queue to receive messages from other objects. */
     MessageQueueIF* commandQueue = nullptr;

bsp_q7s/main.cpp

@@ -13,15 +13,15 @@
 int main(void)
 {
     std::cout << "-- EIVE OBSW --" << std::endl;
-    std::cout << "-- Compiled for Linux " << " --" << std::endl;
+    std::cout << "-- Compiled for Linux (Xiphos Q7S) --" << std::endl;
     std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "."
     		<< SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
     std::cout << "-- " <<  __DATE__ << " " << __TIME__ << " --" << std::endl;
 
-	InitMission::initMission();
+	initmission::initMission();
 
 	for(;;) {
-		// suspend main thread by sleeping it.
+		/* Suspend main thread by sleeping it. */
 		TaskFactory::delayTask(5000);
 	}
 }

bsp_rpi/CMakeLists.txt

@@ -6,11 +6,8 @@ target_sources(${TARGET_NAME} PUBLIC
 
 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)
-
+add_subdirectory(gpio)
-# wiringPi is deprecated unfortunately..
+
-#target_link_libraries(${TARGET_NAME} PRIVATE
-#    wiringPi
-#)
 
 
 

bsp_rpi/InitMission.cpp

@@ -1,16 +1,19 @@
 #include "InitMission.h"
 #include "ObjectFactory.h"
 
+#include <fsfwconfig/objects/systemObjectList.h>
+#include <fsfwconfig/OBSWConfig.h>
+#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
+
+#include <mission/utility/InitMission.h>
+
 #include <fsfw/objectmanager/ObjectManagerIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 #include <fsfw/tasks/PeriodicTaskIF.h>
 #include <fsfw/tasks/TaskFactory.h>
-#include <fsfwconfig/objects/systemObjectList.h>
-#include <fsfwconfig/OBSWConfig.h>
-#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
 
 #include <iostream>
 
@@ -21,7 +24,7 @@ ServiceInterfaceStream sif::error("ERROR");
 
 ObjectManagerIF *objectManager = nullptr;
 
-void InitMission::initMission() {
+void initmission::initMission() {
     sif::info << "Building global objects.." << std::endl;
     /* Instantiate global object manager and also create all objects */
     objectManager = new ObjectManager(ObjectFactory::produce);
@@ -32,129 +35,144 @@ void InitMission::initMission() {
     initTasks();
 }
 
-void InitMission::initTasks(){
+void initmission::initTasks() {
+    TaskFactory* factory = TaskFactory::instance();
+    if(factory == nullptr) {
+        /* Should never happen ! */
+        return;
+    }
+#if OBSW_PRINT_MISSED_DEADLINES == 1
+    void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
+#else
+    void (*missedDeadlineFunc) (void) = nullptr;
+#endif
+
     /* TMTC Distribution */
-	PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
+    PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
-			createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
+            "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-					0.100, nullptr);
+    ReturnValue_t result = tmTcDistributor->addComponent(
-	ReturnValue_t result = TmTcDistributor->addComponent(
             objects::CCSDS_PACKET_DISTRIBUTOR);
     if(result != HasReturnvaluesIF::RETURN_OK){
         sif::error << "Object add component failed" << std::endl;
     }
-	result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
+    result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
     if(result != HasReturnvaluesIF::RETURN_OK){
         sif::error << "Object add component failed" << std::endl;
     }
-    result = TmTcDistributor->addComponent(objects::TM_FUNNEL);
+    result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Object add component failed" << std::endl;
     }
 
     /* UDP bridge */
-    PeriodicTaskIF* UdpBridgeTask = TaskFactory::instance()->createPeriodicTask(
+    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
-    		"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
+            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
-			0.2, nullptr);
+    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
-    result = UdpBridgeTask->addComponent(objects::UDP_BRIDGE);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Add component UDP Unix Bridge failed" << std::endl;
     }
-    PeriodicTaskIF* UdpPollingTask = TaskFactory::instance()->
+    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
-    		createPeriodicTask("UDP_POLLING", 80,
+            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
-    		PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
+    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
-    result = UdpPollingTask->addComponent(objects::UDP_POLLING_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Add component UDP Polling failed" << std::endl;
     }
 
     /* PUS Services */
-	PeriodicTaskIF* PusVerification = TaskFactory::instance()->
+    PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
-			createPeriodicTask("PUS_VERIF_1", 40,
+            "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-					PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
+    result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-	result = PusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
     if(result != HasReturnvaluesIF::RETURN_OK){
         sif::error << "Object add component failed" << std::endl;
     }
 
-	PeriodicTaskIF* PusEvents = TaskFactory::instance()->
+    PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
-			createPeriodicTask("PUS_VERIF_1", 60,
+            "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-					PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
+    result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-	result = PusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
     if(result != HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
+        initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
     }
 
-	PeriodicTaskIF* PusHighPrio = TaskFactory::instance()->
+    PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
-			createPeriodicTask("PUS_HIGH_PRIO", 50,
+            "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
-					PeriodicTaskIF::MINIMUM_STACK_SIZE,
+    result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-					0.200, nullptr);
-	result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-	if(result != HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-	result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-	if(result != HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-
-	PeriodicTaskIF* PusMedPrio = TaskFactory::instance()->
-			createPeriodicTask("PUS_HIGH_PRIO", 40,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE,
-					0.8, nullptr);
-	result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-	if(result != HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-	result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-	if(result != HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-
-	PeriodicTaskIF* PusLowPrio = TaskFactory::instance()->
-			createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
-					1.6, nullptr);
-	result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-	if(result != HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-
-
-#if OBSW_ADD_TEST_CODE == 1
-	FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()->
-			createFixedTimeslotTask("PST_TEST_TASK", 10,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
-	result = pst::pollingSequenceTestFunction(TestTimeslotTask);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "InitMission::createTasks: Test PST initialization "
+        initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
-				<< "failed!" << std::endl;
+    }
+    result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
     }
 
-#endif
+    PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
-
+            "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
-	PeriodicTaskIF* SpiTestTask = TaskFactory::instance()->
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-            createPeriodicTask("SPI_TEST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-                    2.0, nullptr);
+        initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
-    result = SpiTestTask->addComponent(objects::SPI_TEST);
+    }
-    if(result != HasReturnvaluesIF::RETURN_OK){
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-        sif::error << "Object add SPI test failed" << std::endl;
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
+    }
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
     }
 
-	//Main thread sleep
+    PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
+            "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
+    result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
+    }
+
+#if RPI_TEST_ACS_BOARD == 1
+    FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
+            "ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
+    result = pst::pollingSequenceAcsTest(acsTask);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
+    }
+#endif /* RPI_TEST_ACS_BOARD == 1 */
+
+    PeriodicTaskIF* testTask = factory->createPeriodicTask(
+            "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+#if OBSW_ADD_TEST_CODE == 1
+    result = testTask->addComponent(objects::TEST_TASK);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+    }
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+#if RPI_ADD_SPI_TEST == 1
+    result = testTask->addComponent(objects::SPI_TEST);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
+    }
+#endif /* RPI_ADD_SPI_TEST == 1 */
+#if RPI_ADD_GPIO_TEST == 1
+    result = testTask->addComponent(objects::LIBGPIOD_TEST);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
+    }
+#endif /* RPI_ADD_GPIO_TEST == 1 */
+
     sif::info << "Starting tasks.." << std::endl;
-	TmTcDistributor->startTask();
+    tmTcDistributor->startTask();
-	UdpBridgeTask->startTask();
+    udpBridgeTask->startTask();
-	UdpPollingTask->startTask();
+    udpPollingTask->startTask();
 
-	PusVerification->startTask();
+    pusVerification->startTask();
-	PusEvents->startTask();
+    pusEvents->startTask();
-	PusHighPrio->startTask();
+    pusHighPrio->startTask();
-	PusMedPrio->startTask();
+    pusMedPrio->startTask();
-	PusLowPrio->startTask();
+    pusLowPrio->startTask();
-
-	SpiTestTask->startTask();
 
 #if OBSW_ADD_TEST_CODE == 1
-	TestTimeslotTask->startTask();
+    testTask->startTask();
-#endif
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+#if RPI_TEST_ACS_BOARD == 1
+    acsTask->startTask();
+#endif /* RPI_TEST_ACS_BOARD == 1 */
     sif::info << "Tasks started.." << std::endl;
 }

bsp_rpi/InitMission.h

@@ -1,7 +1,7 @@
 #ifndef BSP_LINUX_INITMISSION_H_
 #define BSP_LINUX_INITMISSION_H_
 
-namespace InitMission {
+namespace initmission {
 void initMission();
 void initTasks();
 };

bsp_rpi/ObjectFactory.cpp

@@ -1,20 +1,32 @@
 #include "ObjectFactory.h"
-#include <bsp_rpi/boardtest/SpiTest.h>
+#include <bsp_rpi/gpio/GPIORPi.h>
-#include <fsfw/datapoollocal/LocalDataPoolManager.h>
 
 #include <objects/systemObjectList.h>
+#include <devices/addresses.h>
+#include <devices/gpioIds.h>
 #include <OBSWConfig.h>
 #include <tmtc/apid.h>
 #include <tmtc/pusIds.h>
 
+#include <linux/boardtest/LibgpiodTest.h>
+#include <linux/boardtest/SpiTestClass.h>
+#include <linux/gpio/GpioCookie.h>
+#include <linux/gpio/LinuxLibgpioIF.h>
+
+#include <linux/spi/SpiCookie.h>
+
+#include <mission/core/GenericFactory.h>
+#include <mission/utility/TmFunnel.h>
+#include <mission/devices/MGMHandlerLIS3MDL.h>
+
+#include <fsfw/datapoollocal/LocalDataPoolManager.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
 #include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
 #include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
-
+#include <fsfw/tasks/TaskFactory.h>
-#include <mission/core/GenericFactory.h>
+#include <linux/spi/SpiComIF.h>
-#include <mission/utility/TmFunnel.h>
 
 void Factory::setStaticFrameworkObjectIds() {
     PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@@ -44,5 +56,52 @@ void ObjectFactory::produce(){
             objects::TM_STORE, objects::TC_STORE);
     new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
 
-	new SpiTest(objects::SPI_TEST);
+    GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
+
+#if RPI_ADD_SPI_TEST == 1
+    new SpiTestClass(objects::SPI_TEST, gpioIF);
+#endif
+
+#if RPI_LOOPBACK_TEST_GPIO == 1
+    GpioCookie* gpioCookieLoopback = new GpioCookie();
+    /* Loopback pins. Adapt according to setup */
+    gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
+    int bcmPinSender = 26;
+    gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
+    int bcmPinReader = 16;
+    gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
+            gpio::Direction::OUT, 0);
+    gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
+            gpio::Direction::IN, 0);
+    new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
+#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */
+
+    new SpiComIF(objects::SPI_COM_IF, gpioIF);
+
+#if RPI_TEST_ACS_BOARD == 1
+
+    GpioCookie* gpioCookieAcsBoard = new GpioCookie();
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
+            "MGM_0_LIS3", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
+            "MGM_1_RM3100", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
+            "MGM_2_LIS3", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
+            "MGM_3_RM3100", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
+            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
+            "GYRO_1_L3G", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
+            "GYRO_2_L3G", gpio::Direction::OUT, 1);
+    gpioIF->addGpios(gpioCookieAcsBoard);
+
+    SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3,
+            gpioIds::MGM_0_LIS3_CS, "/dev/spidev0.0", 24, spi::SpiMode::MODE_3, 3'900'000);
+    auto mgmHandler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
+            objects::SPI_COM_IF, spiCookie);
+    mgmHandler->setStartUpImmediately();
+
+#endif /* RPI_TEST_ACS_BOARD == 1 */
 }

bsp_rpi/boardconfig/rpi_config.h

@@ -0,0 +1,24 @@
+#ifndef BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
+#define BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_
+
+#include <cstdint>
+
+#define RPI_ADD_GPIO_TEST               0
+#define RPI_LOOPBACK_TEST_GPIO          0
+
+/* Only one of those 2 should be enabled! */
+#define RPI_ADD_SPI_TEST                0
+#define RPI_TEST_ACS_BOARD              1
+
+/* Adapt these values accordingly */
+namespace gpio {
+static constexpr uint8_t MGM_0_BCM_PIN = 0;
+static constexpr uint8_t MGM_1_BCM_PIN = 1;
+static constexpr uint8_t MGM_2_BCM_PIN = 17;
+static constexpr uint8_t MGM_3_BCM_PIN = 27;
+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 = 4;
+}
+
+#endif /* BSP_RPI_BOARDCONFIG_RPI_CONFIG_H_ */

bsp_rpi/boardtest/CMakeLists.txt

@@ -1,6 +1,4 @@
 target_sources(${TARGET_NAME} PRIVATE
-	SpiTest.cpp
-	RPiGPIO.cpp
 )
 
 

bsp_rpi/boardtest/SpiTest.cpp

@@ -1,61 +0,0 @@
-#include "SpiTest.h"
-
-#include <fsfw/serviceinterface/ServiceInterface.h>
-
-#include <fcntl.h>
-#include <sys/ioctl.h>
-
-
-
-SpiTest::SpiTest(object_id_t objectId): SystemObject(objectId) {
-    sif::info << "Setting up Raspberry Pi WiringPi library." << std::endl;
-//  wiringPiSetupGpio();
-
-//	 pinMode(SS_MGM_0_LIS3, OUTPUT);
-//    pinMode(SS_MGM_1_RM, OUTPUT);
-//    pinMode(SS_GYRO_0_ADIS, OUTPUT);
-//    pinMode(SS_GYRO_1_L3G, OUTPUT);
-//    pinMode(SS_GYRO_2_L3G, OUTPUT);
-//    pinMode(SS_MGM_2_LIS3, OUTPUT);
-//    pinMode(SS_MGM_3_RM, OUTPUT);
-//
-//    digitalWrite(SS_MGM_0_LIS3, HIGH);
-//    digitalWrite(SS_MGM_1_RM, HIGH);
-//    digitalWrite(SS_GYRO_0_ADIS, HIGH);
-//    digitalWrite(SS_GYRO_1_L3G, HIGH);
-//    digitalWrite(SS_GYRO_2_L3G, HIGH);
-//    digitalWrite(SS_MGM_2_LIS3, HIGH);
-//    digitalWrite(SS_MGM_3_RM, HIGH);
-
-	int spiFd = open(spiDeviceName.c_str(), O_RDWR);
-	if (spiFd < 0){
-		sif::error << "Could not open SPI device!" << std::endl;
-	}
-
-	spiMode = SPI_MODE_3;
-	int ret = ioctl(spiFd, SPI_IOC_WR_MODE, &spiMode);
-	if(ret < 0) {
-		sif::error << "Could not set write mode!" << std::endl;
-	}
-
-	/* Datenrate setzen */
-	ret = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &spiSpeed);
-	if(ret < 0) {
-		sif::error << "Could not SPI speed!" << std::endl;
-	}
-}
-
-ReturnValue_t SpiTest::performOperation(uint8_t opCode) {
-	if(oneShot) {
-
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t SpiTest::initialize() {
-	//transferHandle.rx_buf = reinterpret_cast<__u64>(receiveBuffer);
-	//transferHandle.tx_buf = reinterpret_cast<__u64>(sendBuffer);
-	//transferHandle.speed_hz = 976000;
-	//transferHandle.len = 2;
-	return HasReturnvaluesIF::RETURN_OK;
-}

bsp_rpi/boardtest/SpiTest.h

@@ -1,45 +0,0 @@
-#ifndef BSP_LINUX_TEST_SPITEST_H_
-#define BSP_LINUX_TEST_SPITEST_H_
-
-#include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/tasks/ExecutableObjectIF.h>
-#include <linux/spi/spidev.h>
-#include <string>
-
-class SpiTest:
-        public SystemObject,
-        public ExecutableObjectIF {
-public:
-	SpiTest(object_id_t objectId);
-
-	ReturnValue_t performOperation(uint8_t opCode) override;
-	ReturnValue_t initialize() override;
-private:
-	// These chip selects (BCM number) will be pulled high if not used
-	// ACS board specific.
-	enum SpiChipSelects {
-	    SS_MGM_0_LIS3 = 0,  //!< MGM 0, LIS3MDLTR, U6, A side
-	    SS_MGM_1_RM = 1, //!< MGM 1, RM3100, U7, A side
-	    SS_GYRO_0_ADIS = 2, //!< Gyro 0, ADIS16485, U3, A side
-	    SS_GYRO_1_L3G = 3, //!< Gyro 1, L3GD20H, U4, A side
-	    SS_GYRO_2_L3G = 4, //!< Gyro 2, L3GD20h, U5, B side
-	    SS_MGM_2_LIS3 = 17, //!< MGM 2, LIS3MDLTR, U8, B side
-	    SS_MGM_3_RM = 27, //!< MGM 3, RM3100, U9, B side
-	};
-
-	const std::string spiDeviceName = "/dev/spidev0.0";
-	int spiFd = 0;
-
-	uint8_t spiMode = SPI_MODE_3;
-	uint32_t spiSpeed = 976000;
-
-	uint8_t sendBuffer[32];
-	uint8_t receiveBuffer[32];
-	struct spi_ioc_transfer transferHandle;
-
-	bool oneShot = true;
-
-};
-
-
-#endif /* BSP_LINUX_TEST_SPITEST_H_ */

bsp_rpi/gpio/CMakeLists.txt

@@ -0,0 +1,9 @@
+target_sources(${TARGET_NAME} PUBLIC
+	GPIORPi.cpp
+)
+
+
+
+
+
+

bsp_rpi/gpio/GPIORPi.cpp

@@ -0,0 +1,36 @@
+#include "GPIORPi.h"
+#include <FSFWConfig.h>
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <linux/gpio/GpioCookie.h>
+
+ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
+        std::string consumer, gpio::Direction direction, int initValue) {
+    if(cookie == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    GpiodRegular config;
+    /* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
+    will not need this */
+    config.chipname = "gpiochip0";
+
+    config.consumer = consumer;
+    config.direction = direction;
+    config.initValue = initValue;
+
+    /* Sanity check for the BCM pins before assigning it */
+    if(bcmPin > 27) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;
+#else
+        sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    config.lineNum = bcmPin;
+    cookie->addGpio(gpioId, config);
+    return HasReturnvaluesIF::RETURN_OK;
+}

bsp_rpi/gpio/GPIORPi.h

@@ -0,0 +1,26 @@
+#ifndef BSP_RPI_GPIO_GPIORPI_H_
+#define BSP_RPI_GPIO_GPIORPI_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <linux/gpio/gpioDefinitions.h>
+
+class GpioCookie;
+
+namespace gpio {
+
+/**
+ * Create a GpioConfig_t. This function does a sanity check on the BCM pin number and fails if the
+ * BCM pin is invalid.
+ * @param cookie    Adds the configuration to this cookie directly
+ * @param gpioId    ID which identifies the GPIO configuration
+ * @param bcmPin    Raspberry Pi BCM pin
+ * @param consumer  Information string
+ * @param direction GPIO direction
+ * @param initValue Intial value for output pins, 0 for low, 1 for high
+ * @return
+ */
+ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
+        std::string consumer, gpio::Direction direction, int initValue);
+}
+
+#endif /* BSP_RPI_GPIO_GPIORPI_H_ */

bsp_rpi/main.cpp

@@ -1,28 +1,26 @@
 #include "InitMission.h"
-
 #include <OBSWVersion.h>
+
 #include <fsfw/tasks/TaskFactory.h>
 
 #include <iostream>
 
-#include <unistd.h>
-
 /**
- * @brief 	This is the main program for the target hardware.
+ * @brief 	    This is the main program and entry point for the Raspberry Pi.
  * @return
  */
 int main(void)
 {
     std::cout << "-- EIVE OBSW --" << std::endl;
-    std::cout << "-- Compiled for Linux " << " --" << std::endl;
+    std::cout << "-- Compiled for Linux (Raspberry Pi) --" << std::endl;
     std::cout << "-- Software version " << SW_NAME << " v" << SW_VERSION << "."
     		<< SW_SUBVERSION << "." << SW_SUBSUBVERSION << " -- " << std::endl;
     std::cout << "-- " <<  __DATE__ << " " << __TIME__ << " --" << std::endl;
 
-	InitMission::initMission();
+	initmission::initMission();
 
 	for(;;) {
-		// suspend main thread by sleeping it.
+		/* Suspend main thread by sleeping it. */
 		TaskFactory::delayTask(5000);
 	}
 }

cmake/scripts/RPi/create_cmake_debug_cfg.sh

@@ -17,6 +17,7 @@ fi
 os_fsfw="linux"
 tgt_bsp="arm/raspberrypi"
 build_generator=""
+build_dir="Debug-RPi"
 if [ "${OS}" = "Windows_NT" ]; then
 	build_generator="MinGW Makefiles"
 # Could be other OS but this works for now.
@@ -24,4 +25,5 @@ else
 	build_generator="Unix Makefiles"
 fi
 
-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}"
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+		-l"${build_dir}"

cmake/scripts/RPi/create_cmake_release_cfg.sh

@@ -17,6 +17,7 @@ fi
 os_fsfw="linux"
 tgt_bsp="arm/raspberrypi"
 build_generator=""
+build_dir="Release-RPi"
 if [ "${OS}" = "Windows_NT" ]; then
 	build_generator="MinGW Makefiles"
 # Could be other OS but this works for now.
@@ -24,4 +25,5 @@ else
 	build_generator="Unix Makefiles"
 fi
 
-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}"
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -t "${tgt_bsp}"  \
+		-l"${build_dir}"

cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh

@@ -17,6 +17,7 @@ fi
 os_fsfw="linux"
 tgt_bsp="arm/raspberrypi"
 build_generator=""
+build_dir="RelWithDeb-RPi"
 if [ "${OS}" = "Windows_NT" ]; then
 	build_generator="MinGW Makefiles"
 # Could be other OS but this works for now.
@@ -24,4 +25,5 @@ else
 	build_generator="Unix Makefiles"
 fi
 
-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" -t "${tgt_bsp}"
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" -t "${tgt_bsp}" \
+		-l"${build_dir}"

cmake/scripts/cmake_build_config.py

@@ -61,8 +61,9 @@ def main():
     else:
         cmake_target_cfg_cmd = ""
 
-    # TODO: Use builddir if given (need to check whether path is relative or absolute)
     build_folder = cmake_build_type
+    if args.builddir is not None:
+        build_folder = args.builddir
     
     build_path = source_location + os.path.sep + build_folder
     if os.path.isdir(build_path):

fsfw

@@ -1 +1 @@
-Subproject commit 7d0916a44e18c87b00998448333023186b3d85b1
+Subproject commit 92f249dc62cf02a5052fee4e9877bc89b2be1ab5

fsfwconfig/OBSWConfig.h

@@ -6,11 +6,17 @@
 #ifndef FSFWCONFIG_OBSWCONFIG_H_
 #define FSFWCONFIG_OBSWCONFIG_H_
 
-#define TEST_LIBGPIOD       0
+#ifdef RASPBERRY_PI
+#include <rpi_config.h>
+#endif
+#include "OBSWVersion.h"
 
 /* These defines should be disabled for mission code but are useful for
 debugging. */
 #define OBSW_VERBOSE_LEVEL          1
+#define OBSW_PRINT_MISSED_DEADLINES 1
+#define OBSW_ADD_TEST_CODE          1
+#define TEST_LIBGPIOD               0
 
 #define TE0720                      0
 
@@ -19,8 +25,6 @@ debugging. */
 #define PDU2_DEBUG                  0
 #define ACU_DEBUG                   1
 
-#include "OBSWVersion.h"
-
 #ifdef __cplusplus
 
 #include "objects/systemObjectList.h"

fsfwconfig/OBSWVersion.h

@@ -4,8 +4,8 @@
 //! TODO: Think of a cool name for the software releases.
 const char* const SW_NAME = "eive";
 
-#define SW_VERSION 0
+#define SW_VERSION 1
-#define SW_SUBVERSION 2
+#define SW_SUBVERSION 0
 #define SW_SUBSUBVERSION 0
 
 

fsfwconfig/devices/addresses.h

@@ -1,20 +1,24 @@
-/**
- * \file addresses.cpp
- *
- * \date 07.11.2019
- */
-
 #ifndef FSFWCONFIG_DEVICES_ADDRESSES_H_
 #define FSFWCONFIG_DEVICES_ADDRESSES_H_
-#include <stdint.h>
+
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfwconfig/objects/systemObjectList.h>
+#include <cstdint>
 
 namespace addresses {
 	/* Logical addresses have uint32_t datatype */
 	enum logicalAddresses: address_t {
 		PCDU,
 
+        MGM_0_LIS3 = objects::MGM_0_LIS3_HANDLER,
+		MGM_1_RM3100 = objects::MGM_1_RM3100_HANDLER,
+		MGM_2_LIS3 = objects::MGM_2_LIS3_HANDLER,
+		MGM_3_RM3100 = objects::MGM_3_RM3100_HANDLER,
+
+		GYRO_0_ADIS = objects::GYRO_0_ADIS_HANDLER,
+		GYRO_1_L3G = objects::GYRO_1_L3G_HANDLER,
+		GYRO_2_L3G = objects::GYRO_2_L3G_HANDLER,
+
 		/* Dummy and Test Addresses */
 		DUMMY_ECHO = 129,
 		DUMMY_GPS0  = 130,

fsfwconfig/devices/gpioIds.h

@@ -15,7 +15,17 @@ namespace gpioIds {
 		HEATER_7,
 		DEPLSA1,
 		DEPLSA2,
-		Test_ID
+
+		MGM_0_LIS3_CS,
+		MGM_1_RM3100_CS,
+		GYRO_0_ADIS_CS,
+		GYRO_1_L3G_CS,
+		GYRO_2_L3G_CS,
+		MGM_2_LIS3_CS,
+		MGM_3_RM3100_CS,
+
+		TEST_ID_0,
+		TEST_ID_1
 	};
 }
 

fsfwconfig/objects/systemObjectList.h

@@ -30,6 +30,7 @@ namespace objects {
 		ARDUINO_COM_IF = 0x49000001,
 		CSP_COM_IF = 0x49000002,
 		I2C_COM_IF = 0x49000003,
+		SPI_COM_IF = 0x49000004,
 
 		/* 0x47 ('G') for Gpio Interfaces */
 		GPIO_IF = 0x47000001,
@@ -41,10 +42,17 @@ namespace objects {
 		ACU_HANDLER = 0x44000004,
 		TMP1075_HANDLER_1 = 0x44000005,
 		TMP1075_HANDLER_2 = 0x44000006,
+        MGM_0_LIS3_HANDLER = 0x4400007,
+		MGM_1_RM3100_HANDLER = 0x44000008,
+		MGM_2_LIS3_HANDLER = 0x44000009,
+		MGM_3_RM3100_HANDLER = 0x44000010,
+		GYRO_0_ADIS_HANDLER = 0x44000011,
+		GYRO_1_L3G_HANDLER = 0x44000012,
+		GYRO_2_L3G_HANDLER = 0x44000013,
 
 		/* Custom device handler */
-		PCDU_HANDLER = 0x44000007,
+		PCDU_HANDLER = 0x44001000,
-		SOLAR_ARRAY_DEPL_HANDLER = 0x44000008,
+		SOLAR_ARRAY_DEPL_HANDLER = 0x44001001,
 
 		/* 0x54 ('T') for thermal objects */
 		HEATER_HANDLER = 0x54000003,

fsfwconfig/pollingsequence/PollingSequenceFactory.cpp

@@ -33,14 +33,12 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
     if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
         return HasReturnvaluesIF::RETURN_OK;
     }
-	else {
+
     sif::error << "PollingSequence::initialize has errors!" << std::endl;
     return HasReturnvaluesIF::RETURN_FAILED;
-	}
 }
 
 ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
-
     uint32_t length = thisSequence->getPeriodMs();
 
     thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@@ -91,12 +89,29 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
     thisSequence->addSlot(objects::ACU_HANDLER,
             length * 0.8, DeviceHandlerIF::GET_READ);
 
-	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+    if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
         sif::error << "Initialization of GomSpace PST failed" << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;
     }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) {
+    uint32_t length = thisSequence->getPeriodMs();
+
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
+            DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
+            DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
+            DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
+            DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
+            DeviceHandlerIF::GET_READ);
+    if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "Initialization of ACS Board PST failed" << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

fsfwconfig/pollingsequence/PollingSequenceFactory.h

@@ -32,6 +32,8 @@ ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
  * 			blocking calls when requesting data from devices.
  */
 ReturnValue_t gomspacePstInit(FixedTimeslotTaskIF *thisSequence);
+
+ReturnValue_t pollingSequenceAcsTest(FixedTimeslotTaskIF* thisSequence);
 }
 
 

fsfwconfig/returnvalues/classIds.h

@@ -14,6 +14,7 @@ enum {
 	MGM_LIS3MDL,
 	MGM_RM3100,
 	LINUX_LIBGPIO_IF,
+	LINUX_SPI_COM_IF,
 	PCDU_HANDLER,
 	HEATER_HANDLER,
 	SA_DEPL_HANDLER

linux/CMakeLists.txt

@@ -2,4 +2,6 @@ add_subdirectory(gpio)
 add_subdirectory(i2c)
 add_subdirectory(csp)
 add_subdirectory(spi)
+add_subdirectory(utility)
+add_subdirectory(boardtest)
 

linux/boardtest/CMakeLists.txt

@@ -0,0 +1,10 @@
+target_sources(${TARGET_NAME} PRIVATE
+	LibgpiodTest.cpp
+	I2cTestClass.cpp
+	SpiTestClass.cpp
+	UartTestClass.cpp
+)
+
+
+
+

linux/boardtest/I2cTestClass.cpp

@@ -0,0 +1,8 @@
+#include <linux/boardtest/I2cTestClass.h>
+
+I2cTestClass::I2cTestClass(object_id_t objectId): TestTask(objectId) {
+}
+
+ReturnValue_t I2cTestClass::performPeriodicAction() {
+    return HasReturnvaluesIF::RETURN_OK;
+}

linux/boardtest/I2cTestClass.h

@@ -0,0 +1,17 @@
+#ifndef LINUX_BOARDTEST_I2CTESTCLASS_H_
+#define LINUX_BOARDTEST_I2CTESTCLASS_H_
+
+#include <test/testtasks/TestTask.h>
+
+class I2cTestClass: public TestTask {
+public:
+    I2cTestClass(object_id_t objectId);
+
+    ReturnValue_t performPeriodicAction() override;
+private:
+
+};
+
+
+
+#endif /* LINUX_BOARDTEST_I2CTESTCLASS_H_ */

linux/boardtest/LibgpiodTest.cpp

@@ -0,0 +1,99 @@
+#include "LibgpiodTest.h"
+
+#include <fsfwconfig/devices/gpioIds.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/tasks/TaskFactory.h>
+
+LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
+        GpioCookie* gpioCookie):
+        TestTask(objectId) {
+
+    gpioInterface = objectManager->get<GpioIF>(gpioIfobjectId);
+    if (gpioInterface == nullptr) {
+        sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
+    }
+    gpioInterface->addGpios(gpioCookie);
+    testCase = TestCases::LOOPBACK;
+}
+
+LibgpiodTest::~LibgpiodTest() {
+}
+
+ReturnValue_t LibgpiodTest::performPeriodicAction() {
+    int gpioState;
+    ReturnValue_t result;
+
+    switch(testCase) {
+    case(TestCases::READ): {
+        result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
+        if (result != RETURN_OK) {
+            sif::debug << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
+                    << std::endl;
+            return RETURN_FAILED;
+        }
+        else {
+            sif::debug << "LibgpiodTest::performPeriodicAction: MIO 0 state = " << gpioState
+                    << std::endl;
+        }
+        break;
+    }
+    case(TestCases::LOOPBACK): {
+        break;
+    }
+    }
+
+
+    return RETURN_OK;
+}
+
+ReturnValue_t LibgpiodTest::performOneShotAction() {
+    int gpioState;
+    ReturnValue_t result;
+
+    switch(testCase) {
+    case(TestCases::READ): {
+        break;
+    }
+    case(TestCases::LOOPBACK): {
+        result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
+        if(result == HasReturnvaluesIF::RETURN_OK) {
+            sif::info << "LibgpiodTest::performOneShotAction: "
+                    "GPIO pulled high successfully for loopback test" << std::endl;
+        }
+        else {
+            sif::warning << "LibgpiodTest::performOneShotAction: Could not pull GPIO high!"
+                    << std::endl;
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+        result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
+        if(result == HasReturnvaluesIF::RETURN_OK and gpioState == 1) {
+            sif::info << "LibgpiodTest::performOneShotAction: "
+                    "GPIO state read successfully and is high" << std::endl;
+        }
+        else {
+            sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not high!"
+                    << std::endl;
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+
+        result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
+        if(result == HasReturnvaluesIF::RETURN_OK) {
+            sif::info << "LibgpiodTest::performOneShotAction: "
+                    "GPIO pulled low successfully for loopback test" << std::endl;
+        }
+        result = gpioInterface->readGpio(gpioIds::TEST_ID_1, &gpioState);
+        if(result == HasReturnvaluesIF::RETURN_OK and gpioState == 0) {
+            sif::info << "LibgpiodTest::performOneShotAction: "
+                    "GPIO state read successfully and is low" << std::endl;
+        }
+        else {
+            sif::warning << "LibgpiodTest::performOneShotAction: GPIO read and is not low!"
+                    << std::endl;
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+        break;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

linux/boardtest/LibgpiodTest.h

@@ -12,11 +12,19 @@
  */
 class LibgpiodTest: public TestTask {
 public:
+    enum TestCases {
+        READ = 0,
+        LOOPBACK = 1
+    };
+
+    TestCases testCase;
+
     LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId, GpioCookie* gpioCookie);
     virtual ~LibgpiodTest();
 
 protected:
-    virtual ReturnValue_t performPeriodicAction() override;
+    ReturnValue_t performOneShotAction() override;
+    ReturnValue_t performPeriodicAction() override;
 
 private:
     GpioIF* gpioInterface;

linux/boardtest/SpiTestClass.cpp

@@ -0,0 +1,231 @@
+#include "SpiTestClass.h"
+
+#include <fsfwconfig/devices/gpioIds.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+#include <linux/spi/spidev.h>
+#include <fcntl.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <linux/gpio/gpioDefinitions.h>
+#include <linux/gpio/GpioCookie.h>
+#include <linux/utility/Utility.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <bitset>
+
+
+SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId),
+        gpioIF(gpioIF) {
+    if(gpioIF == nullptr) {
+        sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
+    }
+    testMode = TestModes::MGM_LIS3MDL;
+    spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
+    spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
+}
+
+ReturnValue_t SpiTestClass::performOneShotAction() {
+    switch(testMode) {
+    case(TestModes::NONE): {
+        break;
+    }
+    case(TestModes::MGM_LIS3MDL): {
+        performLis3MdlTest(mgm0Lis3ChipSelect);
+        break;
+    }
+    case(TestModes::MGM_RM3100): {
+        performRm3100Test(mgm1Rm3100ChipSelect);
+        break;
+    }
+    case(TestModes::GYRO_L3GD20H): {
+        break;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiTestClass::performPeriodicAction() {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void SpiTestClass::performRm3100Test(uint8_t mgmId) {
+    /* Configure all SPI chip selects and pull them high */
+    acsInit();
+
+    /* Adapt accordingly */
+    if(mgmId != mgm1Rm3100ChipSelect and mgmId != mgm3Rm3100ChipSelect) {
+        sif::warning << "SpiTestClass::performRm3100Test: Invalid MGM ID!" << std::endl;
+    }
+    gpioId_t currentGpioId = 0;
+    uint8_t chipSelectPin = mgmId;
+    if(chipSelectPin == mgm1Rm3100ChipSelect) {
+        currentGpioId = gpioIds::MGM_1_RM3100_CS;
+    }
+    else {
+        currentGpioId = gpioIds::MGM_3_RM3100_CS;
+    }
+    uint32_t rm3100speed = 3'900'000;
+    uint8_t rm3100revidReg = 0x36;
+    spi::SpiMode rm3100mode = spi::SpiMode::MODE_3;
+    //spiTransferStruct.speed_hz = rm3100Speed;
+#ifdef RASPBERRY_PI
+    std::string deviceName = "/dev/spidev0.0";
+#else
+    std::string deviceName = "placeholder";
+#endif
+    int fileDescriptor = 0;
+
+
+    utility::UnixFileHelper fileHelper(deviceName, &fileDescriptor, O_RDWR,
+            "SpiComIF::initializeInterface: ");
+    if(fileHelper.getOpenResult()) {
+        sif::error << "SpiTestClass::performRm3100Test: File descriptor could not be opened!"
+                << std::endl;
+        return;
+    }
+    setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed);
+
+    uint8_t revId = readStmRegister(fileDescriptor, currentGpioId, rm3100revidReg, false);
+    sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId) <<
+            std::endl;
+}
+
+void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
+    /* Configure all SPI chip selects and pull them high */
+    acsInit();
+
+    /* Adapt accordingly */
+    if(lis3Id != mgm0Lis3ChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
+        sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
+    }
+    gpioId_t currentGpioId = 0;
+    uint8_t chipSelectPin = lis3Id;
+    uint8_t whoAmIReg = 0b0000'1111;
+    if(chipSelectPin == mgm0Lis3ChipSelect) {
+        currentGpioId = gpioIds::MGM_0_LIS3_CS;
+    }
+    else {
+        currentGpioId = gpioIds::MGM_2_LIS3_CS;
+    }
+    uint32_t spiSpeed = 3'900'000;
+    spi::SpiMode spiMode = spi::SpiMode::MODE_3;
+#ifdef RASPBERRY_PI
+    std::string deviceName = "/dev/spidev0.0";
+#else
+    std::string deviceName = "placeholder";
+#endif
+    int fileDescriptor = 0;
+
+    utility::UnixFileHelper fileHelper(deviceName, &fileDescriptor, O_RDWR,
+            "SpiComIF::initializeInterface: ");
+    if(fileHelper.getOpenResult()) {
+        sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
+                << std::endl;
+        return;
+    }
+    setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+
+    uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
+    sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I Regiter 0b" <<
+            std::bitset<8>(whoAmIRegVal) << std::endl;
+}
+
+
+void SpiTestClass::acsInit() {
+    GpioCookie* gpioCookie = new GpioCookie();
+    std::string rpiGpioName = "gpiochip0";
+    {
+        GpiodRegular gpio(rpiGpioName, mgm0Lis3ChipSelect, "MGM_0_LIS3",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
+    }
+    {
+        GpiodRegular gpio(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
+    }
+    {
+        GpiodRegular gpio(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
+    }
+    {
+        GpiodRegular gpio(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
+    }
+    {
+        GpiodRegular gpio(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
+    }
+    {
+        GpiodRegular gpio(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
+    }
+    {
+        GpiodRegular gpio(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
+    }
+    if(gpioIF != nullptr) {
+        gpioIF->addGpios(gpioCookie);
+    }
+}
+
+void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
+        bool autoIncrement) {
+    if(autoIncrement) {
+        reg |= STM_AUTO_INCR_MASK;
+    }
+    spiTransferStruct.len = 2;
+    sendBuffer[0] = reg;
+    sendBuffer[1] = value;
+
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullLow(chipSelect);
+    }
+    int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
+    if(retval != 0) {
+        utility::handleIoctlError("SpiTestClass::writeStmRegister: Write failed");
+    }
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullHigh(chipSelect);
+    }
+}
+
+void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed) {
+    int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
+    if(retval != 0) {
+        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
+    }
+
+    retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
+    if(retval != 0) {
+        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
+    }
+}
+
+uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
+        bool autoIncrement) {
+    reg |= STM_READ_MASK;
+    if(autoIncrement) {
+        reg |= STM_AUTO_INCR_MASK;
+    }
+    spiTransferStruct.len = 2;
+    sendBuffer[0] = reg;
+    sendBuffer[1] = 0;
+
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullLow(chipSelect);
+    }
+    int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
+    if(retval < 0) {
+        utility::handleIoctlError("SpiTestClass::readStmRegiste: Read failed");
+    }
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullHigh(chipSelect);
+    }
+    return recvBuffer[1];
+}

linux/boardtest/SpiTestClass.h

@@ -0,0 +1,61 @@
+#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
+#define LINUX_BOARDTEST_SPITESTCLASS_H_
+
+#include <linux/gpio/GpioIF.h>
+#include <linux/spi/SpiCookie.h>
+#include <test/testtasks/TestTask.h>
+
+#include <vector>
+
+class SpiTestClass: public TestTask {
+public:
+    enum TestModes {
+        NONE,
+        MGM_LIS3MDL,
+        MGM_RM3100,
+        GYRO_L3GD20H,
+    };
+
+    TestModes testMode;
+
+    SpiTestClass(object_id_t objectId, GpioIF* gpioIF);
+
+    ReturnValue_t performOneShotAction() override;
+    ReturnValue_t performPeriodicAction() override;
+private:
+
+    GpioIF* gpioIF;
+
+    std::array<uint8_t, 128> recvBuffer;
+    std::array<uint8_t, 128> sendBuffer;
+    struct spi_ioc_transfer spiTransferStruct;
+
+    void performRm3100Test(uint8_t mgmId);
+    void performLis3MdlTest(uint8_t lis3Id);
+
+    /* ACS board specific code which pulls all GPIOs high */
+    void acsInit();
+
+    /* ACS board specific variables */
+    uint8_t mgm0Lis3ChipSelect = 0;
+    uint8_t mgm1Rm3100ChipSelect = 1;
+    uint8_t gyro0AdisChipSelect = 5;
+    uint8_t gyro1L3gd20ChipSelect = 6;
+    uint8_t gyro2L3gd20ChipSelect = 4;
+    uint8_t mgm2Lis3mdlChipSelect = 17;
+    uint8_t mgm3Rm3100ChipSelect = 27;
+
+    static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
+    static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
+
+    void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed);
+    void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
+            bool autoIncrement);
+    uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
+
+};
+
+
+
+
+#endif /* LINUX_BOARDTEST_SPITESTCLASS_H_ */

linux/boardtest/UartTestClass.cpp

@@ -0,0 +1,8 @@
+#include <linux/boardtest/UartTestClass.h>
+
+UartTestClass::UartTestClass(object_id_t objectId): TestTask(objectId) {
+}
+
+ReturnValue_t UartTestClass::performPeriodicAction() {
+    return HasReturnvaluesIF::RETURN_OK;
+}

linux/boardtest/UartTestClass.h

@@ -0,0 +1,15 @@
+#ifndef LINUX_BOARDTEST_UARTTESTCLASS_H_
+#define LINUX_BOARDTEST_UARTTESTCLASS_H_
+
+#include <test/testtasks/TestTask.h>
+
+class UartTestClass: public TestTask {
+public:
+    UartTestClass(object_id_t objectId);
+
+    ReturnValue_t performPeriodicAction() override;
+private:
+
+};
+
+#endif /* LINUX_BOARDTEST_UARTTESTCLASS_H_ */

linux/csp/CspComIF.h

@@ -1,5 +1,5 @@
-#ifndef BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_
+#ifndef LINUX_CSP_CSPCOMIF_H_
-#define BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_
+#define LINUX_CSP_CSPCOMIF_H_
 
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
@@ -86,4 +86,4 @@ private:
 	void initiatePingRequest(uint8_t cspAddress, uint16_t querySize);
 };
 
-#endif /* BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_ */
+#endif /* LINUX_CSP_CSPCOMIF_H_ */

linux/csp/CspCookie.h

@@ -1,5 +1,5 @@
-#ifndef BSP_Q7S_COMIF_COOKIES_CSPCOOKIE_H_
+#ifndef LINUX_CSP_CSPCOOKIE_H_
-#define BSP_Q7S_COMIF_COOKIES_CSPCOOKIE_H_
+#define LINUX_CSP_CSPCOOKIE_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <cstdint>
@@ -24,4 +24,4 @@ private:
 	uint8_t cspAddress;
 };
 
-#endif /* BSP_Q7S_COMIF_COOKIES_CSPCOOKIE_H_ */
+#endif /* LINUX_CSP_CSPCOOKIE_H_ */

linux/gpio/CMakeLists.txt

@@ -3,6 +3,10 @@ target_sources(${TARGET_NAME} PUBLIC
 	LinuxLibgpioIF.cpp
 )
 
+target_link_libraries(${TARGET_NAME} PUBLIC
+    gpiod
+)
+
 
 
 

linux/gpio/GpioCookie.cpp

@@ -1,25 +1,29 @@
 #include "GpioCookie.h"
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
 
 GpioCookie::GpioCookie() {
 }
 
-void GpioCookie::addGpio(gpioId_t gpioId, GpioConfig_t gpioConfig){
+ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpiodRegular& gpioConfig){
-	gpioMapIter = gpioMap.find(gpioId);
+	auto gpioMapIter = gpioMap.find(gpioId);
 	if(gpioMapIter == gpioMap.end()) {
-		std::pair status = gpioMap.emplace(gpioId, gpioConfig);
+		auto statusPair = gpioMap.emplace(gpioId, new GpiodRegular(gpioConfig));
-		if (status.second == false) {
+		if (statusPair.second == false) {
-			sif::error << "GpioCookie::addGpio: Failed to add GPIO "
+#if FSFW_VERBOSE_LEVEL >= 1
-					<< gpioId << "to GPIO map" << std::endl;
+			sif::error << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
+			        "to GPIO map" << std::endl;
+#endif
+			return HasReturnvaluesIF::RETURN_FAILED;
 		}
+		return HasReturnvaluesIF::RETURN_OK;
 	}
-	else {
+#if FSFW_VERBOSE_LEVEL >= 1
-		sif::error << "GpioCookie::addGpio: GPIO already exists in GPIO map "
+	sif::error << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
-				<< std::endl;
+#endif
-	}
+	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-GpioMap GpioCookie::getGpioMap() const{
+GpioMap GpioCookie::getGpioMap() const {
 	return gpioMap;
 }
 

linux/gpio/GpioCookie.h

@@ -1,48 +1,10 @@
-#ifndef SAM9G20_COMIF_COOKIES_GPIO_COOKIE_H_
+#ifndef LINUX_GPIO_GPIOCOOKIE_H_
-#define SAM9G20_COMIF_COOKIES_GPIO_COOKIE_H_
+#define LINUX_GPIO_GPIOCOOKIE_H_
 
 #include "GpioIF.h"
+#include "gpioDefinitions.h"
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
-#include <string>
-#include <unordered_map>
-
-namespace gpio {
-enum Direction {
-    IN = 0,
-    OUT = 1
-};
-}
-
-/**
- * @brief	Struct containing information about the GPIO to use. This is
- * 			required by the libgpiod to access and drive a GPIO.
- * @param chipname	String of the chipname specifying the group which contains
- *  	  			the GPIO to access. E.g. gpiochip0. To detect names of
- *  	  			GPIO groups run gpiodetect on the linux command line.
- * @param lineNum	The offset of the GPIO within the GPIO group.
- * @param consumer	Name of the consumer. Simply a description of the GPIO configuration.
- * @param direction Specifies whether the GPIO should be used as in- or output.
- * @param initValue Defines the initial state of the GPIO when configured as output. Only required
- *                  for output GPIOs.
- * @param lineHandle    The handle returned by gpiod_chip_get_line will be later written to this
- *                      pointer.
- */
-typedef struct GpioConfig {
-    GpioConfig(std::string chipname_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, int initValue_) :
-                chipname(chipname_), lineNum(lineNum_), consumer(consumer_), direction(direction_),
-                initValue(initValue_) {
-    }
-    std::string chipname;
-    int lineNum;
-    std::string consumer;
-    gpio::Direction direction;
-    int initValue;
-    struct gpiod_line* lineHandle = nullptr;
-} GpioConfig_t;
-using GpioMap = std::unordered_map<gpioId_t, GpioConfig_t>;
-using GpioMapIter = GpioMap::iterator;
 
 /**
  * @brief   Cookie for the GpioIF. Allows the GpioIF to determine which
@@ -61,16 +23,17 @@ public:
 
     virtual ~GpioCookie();
 
-    void addGpio(gpioId_t gpioId, GpioConfig_t gpioConfig);
+    ReturnValue_t addGpio(gpioId_t gpioId, GpiodRegular& gpioConfig);
     /**
      * @brief	Get map with registered GPIOs.
      */
     GpioMap getGpioMap() const;
 
 private:
-
+    /**
+     * Returns a copy of the internal GPIO map.
+     */
     GpioMap gpioMap;
-    GpioMapIter gpioMapIter;
 };
 
-#endif
+#endif /* LINUX_GPIO_GPIOCOOKIE_H_ */

linux/gpio/GpioIF.h

@@ -1,17 +1,18 @@
-#ifndef BSP_Q7S_GPIO_GPIOIF_H_
+#ifndef LINUX_GPIO_GPIOIF_H_
-#define BSP_Q7S_GPIO_GPIOIF_H_
+#define LINUX_GPIO_GPIOIF_H_
 
+#include "gpioDefinitions.h"
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 #include <fsfw/devicehandlers/CookieIF.h>
 
-typedef uint16_t gpioId_t;
+class GpioCookie;
 
 /**
  * @brief	This class defines the interface for objects requiring the control
  * 			over GPIOs.
  * @author	J. Meier
  */
-class GpioIF : public HasReturnvaluesIF{
+class GpioIF : public HasReturnvaluesIF {
 public:
 
 	virtual ~GpioIF() {};
@@ -21,13 +22,14 @@ public:
 	 * @param cookie	Cookie specifying informations of the GPIOs required
 	 * 					by a object.
 	 */
-	virtual ReturnValue_t initialize(CookieIF * cookie) = 0;
+	virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
 
 	/**
 	 * @brief	By implementing this function a child must provide the
 	 * 			functionality to pull a certain GPIO to high logic level.
 	 *
 	 * @param gpioId	A unique number which specifies the GPIO to drive.
+	 * @return  Returns RETURN_OK for success. This should never return RETURN_FAILED.
 	 */
 	virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
 
@@ -49,4 +51,4 @@ public:
     virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
 };
 
-#endif /* BSP_Q7S_GPIO_GPIOIF_H_ */
+#endif /* LINUX_GPIO_GPIOIF_H_ */

linux/gpio/LinuxLibgpioIF.cpp

@@ -1,71 +1,91 @@
 #include "LinuxLibgpioIF.h"
+#include "GpioCookie.h"
+
 #include <fsfw/serviceinterface/ServiceInterface.h>
+#include <linux/gpio/gpioDefinitions.h>
 
 #include <utility>
 #include <unistd.h>
 #include <gpiod.h>
 
+
 LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
 }
 
 LinuxLibgpioIF::~LinuxLibgpioIF() {
 }
 
-ReturnValue_t LinuxLibgpioIF::initialize(CookieIF * cookie){
+ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
     ReturnValue_t result;
-    GpioMap mapToAdd;
+    if(gpioCookie == nullptr) {
-
-    if(cookie == nullptr) {
         sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
         return RETURN_FAILED;
     }
-    GpioCookie* gpioCookie = dynamic_cast<GpioCookie*>(cookie);
-    if(gpioCookie == nullptr) {
-        sif::error << "LinuxLibgpioIF: Invalid Gpio Cookie!"
-                << std::endl;
-        return RETURN_FAILED;
-    }
 
-    mapToAdd = gpioCookie->getGpioMap();
+    GpioMap mapToAdd = gpioCookie->getGpioMap();
 
+    /* Check whether this ID already exists in the map and remove duplicates */
     result = checkForConflicts(mapToAdd);
     if (result != RETURN_OK){
         return result;
     }
 
-    result = configureGpios(&mapToAdd);
+    result = configureGpios(mapToAdd);
     if (result != RETURN_OK) {
         return RETURN_FAILED;
     }
 
-    /* Register new GPIOs in gpioMap*/
+    /* Register new GPIOs in gpioMap */
     gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
 
     return RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap* mapToAdd) {
+ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
-    GpioMapIter mapToAddIter;
+    for(auto& gpioConfig: mapToAdd) {
+        switch(gpioConfig.second->gpioType) {
+        case(gpio::GpioTypes::NONE): {
+            return GPIO_INVALID_INSTANCE;
+        }
+        case(gpio::GpioTypes::GPIOD_REGULAR): {
+            GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            configureRegularGpio(gpioConfig.first, regularGpio);
+            break;
+        }
+        case(gpio::GpioTypes::CALLBACK): {
+            auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+            if(gpioCallback->callback == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
+                    gpioCallback->initValue, gpioCallback->callbackArgs);
+        }
+        }
+    }
+    return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
     std::string chipname;
     unsigned int lineNum;
     struct gpiod_chip *chip;
     gpio::Direction direction;
     std::string consumer;
     struct gpiod_line *lineHandle;
-    int result;
+    int result = 0;
 
-    mapToAddIter = mapToAdd->begin();
+    chipname = regularGpio->chipname;
-    for (; mapToAddIter != mapToAdd->end(); mapToAddIter++) {
-
-        chipname = mapToAddIter->second.chipname;
     chip = gpiod_chip_open_by_name(chipname.c_str());
     if (!chip) {
         sif::error << "LinuxLibgpioIF::configureGpios: Failed to open chip "
-                    << chipname << ". Gpio ID: " << mapToAddIter->first << std::endl;
+                << chipname << ". Gpio ID: " << gpioId << std::endl;
         return RETURN_FAILED;
     }
 
-        lineNum = mapToAddIter->second.lineNum;
+    lineNum = regularGpio->lineNum;
     lineHandle = gpiod_chip_get_line(chip, lineNum);
     if (!lineHandle) {
         sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line" << std::endl;
@@ -73,69 +93,98 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap* mapToAdd) {
         return RETURN_FAILED;
     }
 
-        direction = mapToAddIter->second.direction;
+    direction = regularGpio->direction;
-        consumer = mapToAddIter->second.consumer;
+    consumer = regularGpio->consumer;
     /* Configure direction and add a description to the GPIO */
     switch (direction) {
-        case gpio::OUT:
+    case(gpio::OUT): {
         result = gpiod_line_request_output(lineHandle, consumer.c_str(),
-                    mapToAddIter->second.initValue);
+                regularGpio->initValue);
         if (result < 0) {
-                sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
+            sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum <<
-                        << lineNum << " from GPIO instance with ID: " << mapToAddIter->first
+                    " from GPIO instance with ID: " << gpioId << std::endl;
-                        << std::endl;
             gpiod_line_release(lineHandle);
             return RETURN_FAILED;
         }
         break;
-        case gpio::IN:
+    }
+    case(gpio::IN): {
         result = gpiod_line_request_input(lineHandle, consumer.c_str());
         if (result < 0) {
             sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
-                        << lineNum << " from GPIO instance with ID: " << mapToAddIter->first
+                    << lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
-                        << std::endl;
             gpiod_line_release(lineHandle);
             return RETURN_FAILED;
         }
         break;
-        default:
+    }
+    default: {
         sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
                 << std::endl;
-            return RETURN_FAILED;
+        return GPIO_INVALID_INSTANCE;
+    }
+
     }
     /**
      * Write line handle to GPIO configuration instance so it can later be used to set or
      * read states of GPIOs.
      */
-        mapToAddIter->second.lineHandle = lineHandle;
+    regularGpio->lineHandle = lineHandle;
-    }
     return RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId){
+ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
-    return driveGpio(gpioId, 1);
+    gpioMapIter = gpioMap.find(gpioId);
+    if (gpioMapIter == gpioMap.end()) {
+        sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
+        return UNKNOWN_GPIO_ID;
+    }
+
+    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
+        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
+    }
+    else {
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+        if(gpioCallback->callback == nullptr) {
+            return GPIO_INVALID_INSTANCE;
+        }
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
+                1, gpioCallback->callbackArgs);
+    }
+    return GPIO_TYPE_FAILURE;
 }
 
-ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId){
+ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
-    return driveGpio(gpioId, 0);
+    gpioMapIter = gpioMap.find(gpioId);
+    if (gpioMapIter == gpioMap.end()) {
+        sif::warning << "LinuxLibgpioIF::driveGpio: Unknown GPIOD ID " << gpioId << std::endl;
+        return UNKNOWN_GPIO_ID;
+    }
+
+    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
+        return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
+    }
+    else {
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+        if(gpioCallback->callback == nullptr) {
+            return GPIO_INVALID_INSTANCE;
+        }
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
+                0, gpioCallback->callbackArgs);
+    }
+    return GPIO_TYPE_FAILURE;
 }
 
 ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
-        unsigned int logiclevel) {
+        GpiodRegular* regularGpio, unsigned int logicLevel) {
-    int result;
+    if(regularGpio == nullptr) {
-    struct gpiod_line *lineHandle;
+        return GPIO_TYPE_FAILURE;
-
-    gpioMapIter = gpioMap.find(gpioId);
-    if (gpioMapIter == gpioMap.end()){
-        sif::debug << "LinuxLibgpioIF::driveGpio: Unknown gpio id " << gpioId << std::endl;
-        return RETURN_FAILED;
     }
 
-    lineHandle = gpioMapIter->second.lineHandle;
+    int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
-    result = gpiod_line_set_value(lineHandle, logiclevel);
     if (result < 0) {
-        sif::error << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID "
+        sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
-                << gpioId << " to logic level " << logiclevel << std::endl;
+                " to logic level " << logicLevel << std::endl;
         return DRIVE_GPIO_FAILURE;
     }
 
@@ -143,38 +192,107 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
 }
 
 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
-    struct gpiod_line *lineHandle;
-
     gpioMapIter = gpioMap.find(gpioId);
     if (gpioMapIter == gpioMap.end()){
-        sif::debug << "LinuxLibgpioIF::readGpio: Unknown gpio id " << gpioId << std::endl;
+        sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
-        return RETURN_FAILED;
+        return UNKNOWN_GPIO_ID;
+    }
+
+    if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
+        GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+        if(regularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+        *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
+    }
+    else {
+
     }
 
-    lineHandle = gpioMapIter->second.lineHandle;
-    *gpioState = gpiod_line_get_value(lineHandle);
 
     return RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap mapToAdd){
+ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
-    gpioId_t gpioId;
+    ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
-    GpioMapIter mapToAddIter = mapToAdd.begin();
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    for(; mapToAddIter != mapToAdd.end(); mapToAddIter++){
+    for(auto& gpioConfig: mapToAdd) {
-        gpioId = mapToAddIter->first;
+        switch(gpioConfig.second->gpioType) {
-        gpioMapIter = gpioMap.find(gpioId);
+        case(gpio::GpioTypes::GPIOD_REGULAR): {
-        if(gpioMapIter != mapToAdd.end()){
+            auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
-            /* An entry for this GPIO already exists. Check if configuration
+            if(regularGpio == nullptr)  {
-             * of direction is equivalent */
+                return GPIO_TYPE_FAILURE;
-            if (mapToAddIter->second.direction != gpioMapIter->second.direction){
-                sif::error << "LinuxLibgpioIF::checkForConflicts: Detected conflict "
-                        << "for GPIO " << mapToAddIter->first << std::endl;
-                return RETURN_OK;
             }
+            /* Check for conflicts and remove duplicates if necessary */
+            result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                status = result;
+            }
+            break;
+        }
+        case(gpio::GpioTypes::CALLBACK): {
+            auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
+            if(callbackGpio == nullptr)  {
+                return GPIO_TYPE_FAILURE;
+            }
+            /* Check for conflicts and remove duplicates if necessary */
+            result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                status = result;
+            }
+            break;
+        }
+        default: {
+
+        }
+        }
+    }
+    return status;
+}
+
+
+ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
+        GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
+    /* Cross check with private map */
+    gpioMapIter = gpioMap.find(gpioIdToCheck);
+    if(gpioMapIter != gpioMap.end()) {
+        if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIOD_REGULAR) {
+            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
+                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
+            mapToAdd.erase(gpioIdToCheck);
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+        auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
+        if(ownRegularGpio == nullptr) {
+            return GPIO_TYPE_FAILURE;
+        }
+
         /* Remove element from map to add because a entry for this GPIO
-             * already exists */
+        already exists */
-            mapToAdd.erase(mapToAddIter);
+        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
+                << " detected. Duplicate will be removed from map to add." << std::endl;
+        mapToAdd.erase(gpioIdToCheck);
     }
-    }
+    return HasReturnvaluesIF::RETURN_OK;
-    return RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
+        GpioCallback *callbackGpio, GpioMap& mapToAdd) {
+    /* Cross check with private map */
+    gpioMapIter = gpioMap.find(gpioIdToCheck);
+    if(gpioMapIter != gpioMap.end()) {
+        if(gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
+            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
+                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
+            mapToAdd.erase(gpioIdToCheck);
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+
+        /* Remove element from map to add because a entry for this GPIO
+        already exists */
+        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
+                << " detected. Duplicate will be removed from map to add." << std::endl;
+        mapToAdd.erase(gpioIdToCheck);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }

linux/gpio/LinuxLibgpioIF.h

@@ -1,11 +1,12 @@
-#ifndef BSP_Q7S_GPIO_LINUXLIBGPIOIF_H_
+#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
-#define BSP_Q7S_GPIO_LINUXLIBGPIOIF_H_
+#define LINUX_GPIO_LINUXLIBGPIOIF_H_
 
 #include <linux/gpio/GpioIF.h>
-#include <linux/gpio/GpioCookie.h>
 #include <fsfwconfig/returnvalues/classIds.h>
 #include <fsfw/objectmanager/SystemObject.h>
 
+class GpioCookie;
+
 /**
  * @brief	This class implements the GpioIF for a linux based system. The
  * 			implementation is based on the libgpiod lib which requires linux 4.8
@@ -16,21 +17,27 @@
 class LinuxLibgpioIF : public GpioIF, public SystemObject {
 public:
 
-    static const uint8_t INTERFACE_ID = CLASS_ID::LINUX_LIBGPIO_IF;
+    static const uint8_t gpioRetvalId = CLASS_ID::LINUX_LIBGPIO_IF;
 
-	static const ReturnValue_t DRIVE_GPIO_FAILURE = MAKE_RETURN_CODE(0x2);
+    static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
+    static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
+    static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
+    static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
 
 	LinuxLibgpioIF(object_id_t objectId);
 	virtual ~LinuxLibgpioIF();
 
-	ReturnValue_t initialize(CookieIF * cookie) override;
+	ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
 	ReturnValue_t pullHigh(gpioId_t gpioId) override;
 	ReturnValue_t pullLow(gpioId_t gpioId) override;
 	ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 
 private:
-
+	/* Holds the information and configuration of all used GPIOs */
-	/*Holds the information and configuration of all used GPIOs */
 	GpioMap gpioMap;
 	GpioMapIter gpioMapIter;
 
@@ -40,8 +47,9 @@ private:
 	 * @param gpioId	The GPIO ID of the GPIO to drive.
 	 * @param logiclevel	The logic level to set. O or 1.
 	 */
-	ReturnValue_t driveGpio(gpioId_t gpioId,
+	ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
-			unsigned int logiclevel);
+
+	ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
 
 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether
@@ -52,12 +60,18 @@ private:
 	 *
 	 * @return	RETURN_OK if successful, otherwise RETURN_FAILED
 	 */
-	ReturnValue_t checkForConflicts(GpioMap mapToAdd);
+	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
+
+	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
+	        GpioMap& mapToAdd);
+    ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
+            GpioMap& mapToAdd);
 
 	/**
 	 * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
 	 */
-	ReturnValue_t configureGpios(GpioMap* mapToAdd);
+	ReturnValue_t configureGpios(GpioMap& mapToAdd);
+
 };
 
-#endif /* BSP_Q7S_GPIO_LINUXLIBGPIOIF_H_ */
+#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

linux/gpio/gpioDefinitions.h

@@ -0,0 +1,92 @@
+#ifndef LINUX_GPIO_GPIODEFINITIONS_H_
+#define LINUX_GPIO_GPIODEFINITIONS_H_
+
+#include <string>
+#include <unordered_map>
+
+using gpioId_t = uint16_t;
+
+namespace gpio {
+enum Direction {
+    IN = 0,
+    OUT = 1
+};
+
+enum GpioOperation {
+    READ,
+    WRITE
+};
+
+enum GpioTypes {
+    NONE,
+    GPIOD_REGULAR,
+    CALLBACK
+};
+
+static constexpr gpioId_t NO_GPIO = -1;
+}
+
+/**
+ * @brief   Struct containing information about the GPIO to use. This is
+ *          required by the libgpiod to access and drive a GPIO.
+ * @param chipname      String of the chipname specifying the group which contains the GPIO to
+ *                      access. E.g. gpiochip0. To detect names of GPIO groups run gpiodetect on
+ *                      the linux command line.
+ * @param lineNum       The offset of the GPIO within the GPIO group.
+ * @param consumer      Name of the consumer. Simply a description of the GPIO configuration.
+ * @param direction     Specifies whether the GPIO should be used as in- or output.
+ * @param initValue     Defines the initial state of the GPIO when configured as output.
+ *                      Only required for output GPIOs.
+ * @param lineHandle    The handle returned by gpiod_chip_get_line will be later written to this
+ *                      pointer.
+ */
+class GpioBase {
+public:
+
+    GpioBase() = default;
+
+    GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+            int initValue):
+            gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
+
+    virtual~ GpioBase() {};
+
+    /* Can be used to cast GpioBase to a concrete child implementation */
+    gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
+    std::string consumer;
+    gpio::Direction direction = gpio::Direction::IN;
+    int initValue = 0;
+};
+
+class GpiodRegular: public GpioBase {
+public:
+    GpiodRegular(): GpioBase(gpio::GpioTypes::GPIOD_REGULAR, std::string(),
+            gpio::Direction::IN, 0) {};
+
+    GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
+            gpio::Direction direction_, int initValue_):
+            GpioBase(gpio::GpioTypes::GPIOD_REGULAR, consumer_, direction_, initValue_),
+            chipname(chipname_), lineNum(lineNum_) {}
+    std::string chipname;
+    int lineNum = 0;
+    struct gpiod_line* lineHandle = nullptr;
+};
+
+class GpioCallback: public GpioBase {
+public:
+    GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
+            void (* callback) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args),
+            void* callbackArgs):
+            GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
+            callback(callback), callbackArgs(callbackArgs) {}
+
+    void (* callback) (gpioId_t gpioId, gpio::GpioOperation gpioOp,
+            int value, void* args) = nullptr;
+    void* callbackArgs = nullptr;
+};
+
+
+using GpioMap = std::unordered_map<gpioId_t, GpioBase*>;
+using GpioMapIter = GpioMap::iterator;
+
+#endif /* LINUX_GPIO_GPIODEFINITIONS_H_ */

linux/i2c/I2cComIF.cpp

@@ -1,12 +1,13 @@
 #include "I2cComIF.h"
 #include <fsfw/serviceinterface/ServiceInterface.h>
-
 #include <unistd.h>
 #include <fcntl.h>
 #include <sys/ioctl.h>
 #include <linux/i2c-dev.h>
 #include <errno.h>
-#include <string.h>
+#include <linux/utility/Utility.h>
+
+#include <cstring>
 
 
 I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
@@ -14,18 +15,18 @@ I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
 
 I2cComIF::~I2cComIF() {}
 
-ReturnValue_t I2cComIF::initializeInterface(CookieIF * cookie) {
+ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
 
     address_t i2cAddress;
     std::string deviceFile;
 
     if(cookie == nullptr) {
+        sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
         return NULLPOINTER;
     }
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
     if(i2cCookie == nullptr) {
-	    sif::error << "I2cComIF: Invalid I2C Cookie!"
+        sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
-	            << std::endl;
         return NULLPOINTER;
     }
 
@@ -35,25 +36,18 @@ ReturnValue_t I2cComIF::initializeInterface(CookieIF * cookie) {
     if(i2cDeviceMapIter == i2cDeviceMap.end()) {
         size_t maxReplyLen = i2cCookie->getMaxReplyLen();
         I2cInstance_t i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
-		std::pair status = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
+        auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
-		if (status.second == false) {
+        if (not statusPair.second) {
-			sif::error << "I2cComIF::initializeInterface: Failed to insert "
+            sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
-					<< "device with address " << i2cAddress << "to I2C device "
+                    i2cAddress << "to I2C device " << "map" << std::endl;
-					<< "map" << std::endl;
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
         return HasReturnvaluesIF::RETURN_OK;
     }
-	}
-	else {
-		sif::error << "I2cComIF: Device with address " << i2cAddress
-				<< "already in use" << std::endl;
-	}
 
-	i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
+    sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
-	if(i2cDeviceMapIter == i2cDeviceMap.end()) {
+            "already in use" << std::endl;
-		sif::error << "Failure" << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
@@ -75,8 +69,7 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
 
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
     if(i2cCookie == nullptr) {
-		sif::error << "I2cComIF::sendMessasge: Invalid I2C Cookie!"
+        sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
-				<< std::endl;
         return NULLPOINTER;
     }
 
@@ -89,6 +82,10 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
     }
 
     deviceFile = i2cCookie->getDeviceFile();
+    utility::UnixFileHelper fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+        return fileHelper.getOpenResult();
+    }
     result = openDevice(deviceFile, i2cAddress, &fd);
     if (result != HasReturnvaluesIF::RETURN_OK){
         return result;
@@ -98,10 +95,8 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
         sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
                 "device with error code " << errno << ". Error description: "
                 << strerror(errno) << std::endl;
-		close(fd);
         return HasReturnvaluesIF::RETURN_FAILED;
     }
-	close(fd);
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -111,7 +106,6 @@ ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
 
 ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
         size_t requestLen) {
-
     ReturnValue_t result;
     int fd;
     std::string deviceFile;
@@ -122,8 +116,7 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
 
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
     if(i2cCookie == nullptr) {
-		sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!"
+        sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
-				<< std::endl;
         i2cDeviceMapIter->second.replyLen = 0;
         return NULLPOINTER;
     }
@@ -138,6 +131,10 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
     }
 
     deviceFile = i2cCookie->getDeviceFile();
+    utility::UnixFileHelper fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+        return fileHelper.getOpenResult();
+    }
     result = openDevice(deviceFile, i2cAddress, &fd);
     if (result != HasReturnvaluesIF::RETURN_OK){
         i2cDeviceMapIter->second.replyLen = 0;
@@ -146,19 +143,15 @@ ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
 
     uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
 
-	if (read(fd, replyBuffer, requestLen) != (int)requestLen) {
+    if (read(fd, replyBuffer, requestLen) != static_cast<int>(requestLen)) {
         sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
                 << "device failed with error code " << errno <<". Description"
                 << " of error: " << strerror(errno) << std::endl;
-		close(fd);
         i2cDeviceMapIter->second.replyLen = 0;
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
     i2cDeviceMapIter->second.replyLen = requestLen;
-
-	close(fd);
-
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -166,8 +159,7 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
         uint8_t **buffer, size_t* size) {
     I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
     if(i2cCookie == nullptr) {
-		sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!"
+        sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
-				<< std::endl;
         return NULLPOINTER;
     }
 
@@ -186,18 +178,18 @@ ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
 
 ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
         address_t i2cAddress, int* fileDescriptor) {
-	*fileDescriptor = open(deviceFile.c_str(), O_RDWR);
-	if (*fileDescriptor < 0) {
-		sif::error << "I2cComIF: Opening i2c device failed with error code "
-				<< errno << ". Error description: " << strerror(errno)
-				<< std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
 
     if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
-		sif::error << "I2cComIF: Specifying target device failed with error "
+#if FSFW_VERBOSE_LEVEL >= 1
-				<< "code " << errno << ". Error description "
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-				<< strerror(errno) << std::endl;
+        sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
+                << std::endl;
+        sif::warning << "Error description " << strerror(errno) << std::endl;
+#else
+        sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
+        sif::printWarning("Error description: %s\n", strerror(errno));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
         return HasReturnvaluesIF::RETURN_FAILED;
     }
     return HasReturnvaluesIF::RETURN_OK;

linux/i2c/I2cComIF.h

@@ -1,5 +1,5 @@
-#ifndef BSP_Q7S_COMIF_I2COMIF_H_
+#ifndef LINUX_I2C_I2COMIF_H_
-#define BSP_Q7S_COMIF_I2COMIF_H_
+#define LINUX_I2C_I2COMIF_H_
 
 #include "I2cCookie.h"
 #include <fsfw/objectmanager/SystemObject.h>
@@ -45,8 +45,8 @@ private:
 	I2cDeviceMapIter i2cDeviceMapIter;
 
 	/**
-	 * @brief	This function opens an i2c device and binds the opened file
+	 * @brief	This function opens an I2C device and binds the opened file
-	 * 			to a specific i2c address.
+	 * 			to a specific I2C address.
 	 * @param deviceFile	The name of the device file. E.g. i2c-0
 	 * @param i2cAddress	The address of the i2c slave device.
 	 * @param fileDescriptor	Pointer to device descriptor.
@@ -56,4 +56,4 @@ private:
 			address_t i2cAddress, int* fileDescriptor);
 };
 
-#endif /* BSP_Q7S_COMIF_I2COMIF_H_ */
+#endif /* LINUX_I2C_I2COMIF_H_ */

linux/i2c/I2cCookie.cpp

@@ -2,8 +2,7 @@
 
 I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
 		std::string deviceFile_) :
-		i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(
+		i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {
-				deviceFile_) {
 }
 
 address_t I2cCookie::getAddress() const {

linux/i2c/I2cCookie.h

@@ -1,5 +1,5 @@
-#ifndef SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_
+#ifndef LINUX_I2C_I2CCOOKIE_H_
-#define SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_
+#define LINUX_I2C_I2CCOOKIE_H_
 
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <string>
@@ -34,4 +34,4 @@ private:
 	std::string deviceFile;
 };
 
-#endif
+#endif /* LINUX_I2C_I2CCOOKIE_H_ */

linux/spi/CMakeLists.txt

@@ -1,4 +1,6 @@
 target_sources(${TARGET_NAME} PUBLIC
+    SpiComIF.cpp
+    SpiCookie.cpp
 )
 
 

linux/spi/SpiComIF.cpp

@@ -0,0 +1,308 @@
+#include "SpiComIF.h"
+
+#include <linux/utility/Utility.h>
+#include <linux/spi/SpiCookie.h>
+
+#include <fsfw/ipc/MutexFactory.h>
+#include <fsfw/ipc/MutexHelper.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
+
+#include <linux/spi/spidev.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+
+#include <cerrno>
+#include <cstring>
+
+SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF): SystemObject(objectId),
+        gpioComIF(gpioComIF) {
+    if(gpioComIF == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
+#else
+        sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    }
+
+    spiMutex = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
+    int retval = 0;
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    if(spiCookie == nullptr) {
+        return NULLPOINTER;
+    }
+
+    address_t spiAddress = spiCookie->getSpiAddress();
+
+    auto iter = spiDeviceMap.find(spiAddress);
+    if(iter == spiDeviceMap.end()) {
+        size_t bufferSize = spiCookie->getMaxBufferSize();
+        SpiInstance spiInstance = {std::vector<uint8_t>(bufferSize)};
+        auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
+        if (not statusPair.second) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
+                    spiAddress << "to SPI device map" << std::endl;
+#else
+            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
+                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        /* Now we emplaced the read buffer in the map, we still need to assign that location
+        to the SPI driver transfer struct */
+        spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
+    }
+    else {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
+#else
+        sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    /* Pull CS high in any case to be sure that device is inactive */
+    gpioId_t gpioId = spiCookie->getChipSelectPin();
+    if(gpioId != gpio::NO_GPIO) {
+        gpioComIF->pullHigh(gpioId);
+    }
+
+    size_t spiSpeed = 0;
+    spi::SpiMode spiMode = spi::SpiMode::MODE_0;
+
+    SpiCookie::UncommonParameters params;
+    spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
+
+    int fileDescriptor = 0;
+    utility::UnixFileHelper fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
+            "SpiComIF::initializeInterface: ");
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+        return fileHelper.getOpenResult();
+    }
+
+    /* These flags are rather uncommon */
+    if(params.threeWireSpi or params.noCs or params.csHigh) {
+        uint32_t currentMode = 0;
+        retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
+        }
+
+        if(params.threeWireSpi) {
+            currentMode |= SPI_3WIRE;
+        }
+        if(params.noCs) {
+            /* Some drivers like the Raspberry Pi ignore this flag in any case */
+            currentMode |= SPI_NO_CS;
+        }
+        if(params.csHigh) {
+            currentMode |= SPI_CS_HIGH;
+        }
+        /* Write adapted mode */
+        retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
+        }
+    }
+    if(params.lsbFirst) {
+        retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
+        }
+    }
+    if(params.bitsPerWord != 8) {
+        retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
+        if(retval != 0) {
+            utility::handleIoctlError("SpiComIF::initializeInterface: "
+                    "Could not write bits per word!");
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    int retval = 0;
+
+    if(spiCookie == nullptr) {
+        return NULLPOINTER;
+    }
+
+    if(sendLen > spiCookie->getMaxBufferSize()) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
+                "larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
+#else
+        sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
+                "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
+                static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return DeviceCommunicationIF::TOO_MUCH_DATA;
+    }
+
+
+    /* Prepare transfer */
+    int fileDescriptor = 0;
+    std::string device = spiCookie->getSpiDevice();
+    utility::UnixFileHelper fileHelper(device, &fileDescriptor, O_RDWR,
+            "SpiComIF::sendMessage: ");
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+        return OPENING_FILE_FAILED;
+    }
+    spi::SpiMode spiMode = spi::SpiMode::MODE_0;
+    uint32_t spiSpeed = 0;
+    spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+    setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+    spiCookie->assignWriteBuffer(sendData);
+    spiCookie->assignTransferSize(sendLen);
+
+    bool fullDuplex = spiCookie->isFullDuplex();
+    gpioId_t gpioId = spiCookie->getChipSelectPin();
+
+    /* GPIO access is mutex protected */
+    MutexHelper(spiMutex, timeoutType, timeoutMs);
+
+    /* Pull SPI CS low. For now, no support for active high given  */
+    if(gpioId != gpio::NO_GPIO) {
+        gpioComIF->pullLow(gpioId);
+    }
+
+    /* Execute transfer */
+    if(fullDuplex) {
+        /* Initiate a full duplex SPI transfer. */
+        retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
+        if(retval < 0) {
+            utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+            result = FULL_DUPLEX_TRANSFER_FAILED;
+        }
+    }
+    else {
+        /* We write with a blocking half-duplex transfer here */
+        if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
+                    std::endl;
+#else
+            sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+            result = HALF_DUPLEX_TRANSFER_FAILED;
+        }
+    }
+
+    if(gpioId != gpio::NO_GPIO) {
+        gpioComIF->pullHigh(gpioId);
+    }
+    return result;
+}
+
+ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    if(spiCookie == nullptr) {
+        return NULLPOINTER;
+    }
+
+    bool fullDuplex = spiCookie->isFullDuplex();
+    if(fullDuplex) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    std::string device = spiCookie->getSpiDevice();
+    int fileDescriptor = 0;
+    utility::UnixFileHelper fileHelper(device, &fileDescriptor, O_RDWR,
+            "SpiComIF::requestReceiveMessage: ");
+    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+        return OPENING_FILE_FAILED;
+    }
+
+    uint8_t* rxBuf = nullptr;
+    size_t readSize = spiCookie->getCurrentTransferSize();
+    result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    gpioId_t gpioId = spiCookie->getChipSelectPin();
+    MutexHelper(spiMutex, timeoutType, timeoutMs);
+    if(gpioId != gpio::NO_GPIO) {
+        gpioComIF->pullLow(gpioId);
+    }
+
+    if(read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
+#else
+        sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        result = HALF_DUPLEX_TRANSFER_FAILED;
+    }
+
+    if(gpioId != gpio::NO_GPIO) {
+        gpioComIF->pullHigh(gpioId);
+    }
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
+    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+    if(spiCookie == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    uint8_t* rxBuf = nullptr;
+    ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    *buffer = rxBuf;
+    *size = spiCookie->getCurrentTransferSize();
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
+    if(buffer == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    auto iter = spiDeviceMap.find(spiAddress);
+    if(iter == spiDeviceMap.end()) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    *buffer = iter->second.replyBuffer.data();
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed) {
+    int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
+    if(retval != 0) {
+        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
+    }
+
+    retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
+    if(retval != 0) {
+        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
+    }
+}

linux/spi/SpiComIF.h

@@ -0,0 +1,63 @@
+#ifndef LINUX_SPI_SPICOMIF_H_
+#define LINUX_SPI_SPICOMIF_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <linux/gpio/GpioIF.h>
+#include <linux/spi/spiDefinitions.h>
+#include <returnvalues/classIds.h>
+
+#include <vector>
+#include <unordered_map>
+
+/**
+ * @brief   Encapsulates access to linux SPI driver for FSFW objects
+ * @details
+ * Right now, only full-duplex SPI is supported.
+ * @author  R. Mueller
+ */
+class SpiComIF: public DeviceCommunicationIF, public SystemObject {
+public:
+    static constexpr uint8_t spiRetvalId = CLASS_ID::LINUX_SPI_COM_IF;
+    static constexpr ReturnValue_t OPENING_FILE_FAILED =
+            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
+    /* Full duplex (ioctl) transfer failure */
+    static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
+            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
+    /* Half duplex (read/write) transfer failure */
+    static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
+            HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
+
+    SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
+
+    ReturnValue_t initializeInterface(CookieIF * cookie) override;
+    ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
+            size_t sendLen) override;
+    ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+    ReturnValue_t requestReceiveMessage(CookieIF *cookie,
+            size_t requestLen) override;
+    ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+            size_t *size) override;
+private:
+
+    struct SpiInstance {
+        std::vector<uint8_t> replyBuffer;
+    };
+
+    GpioIF* gpioComIF = nullptr;
+
+    MutexIF* spiMutex = nullptr;
+    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+    uint32_t timeoutMs = 20;
+
+    using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
+    using SpiDeviceMapIter = SpiDeviceMap::iterator;
+
+    SpiDeviceMap spiDeviceMap;
+
+
+    ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
+    void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed);
+};
+
+#endif /* LINUX_SPI_SPICOMIF_H_ */

linux/spi/SpiCookie.cpp

@@ -0,0 +1,99 @@
+#include "SpiCookie.h"
+
+SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+        const size_t maxSize, spi::SpiMode spiMode, uint32_t spiSpeed): spiAddress(spiAddress),
+        chipSelectPin(chipSelect), spiDevice(spiDev), maxSize(maxSize), spiMode(spiMode),
+        spiSpeed(spiSpeed) {
+}
+
+SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
+        spi::SpiMode spiMode, uint32_t spiSpeed):
+        SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
+}
+
+void SpiCookie::getSpiParameters(spi::SpiMode& spiMode, uint32_t& spiSpeed,
+        UncommonParameters* parameters) const {
+    spiMode = this->spiMode;
+    spiSpeed = this->spiSpeed;
+
+    if(parameters != nullptr) {
+        parameters->threeWireSpi = uncommonParameters.threeWireSpi;
+        parameters->lsbFirst = uncommonParameters.lsbFirst;
+        parameters->noCs = uncommonParameters.noCs;
+        parameters->bitsPerWord = uncommonParameters.bitsPerWord;
+        parameters->csHigh = uncommonParameters.csHigh;
+    }
+}
+
+gpioId_t SpiCookie::getChipSelectPin() const {
+    return chipSelectPin;
+}
+
+size_t SpiCookie::getMaxBufferSize() const {
+    return maxSize;
+}
+
+address_t SpiCookie::getSpiAddress() const {
+    return spiAddress;
+}
+
+std::string SpiCookie::getSpiDevice() const {
+    return spiDevice;
+}
+
+void SpiCookie::setThreeWireSpi(bool enable) {
+    uncommonParameters.threeWireSpi = enable;
+}
+
+void SpiCookie::setLsbFirst(bool enable) {
+    uncommonParameters.lsbFirst = enable;
+}
+
+void SpiCookie::setNoCs(bool enable) {
+    uncommonParameters.noCs = enable;
+}
+
+void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
+    uncommonParameters.bitsPerWord = bitsPerWord;
+}
+
+void SpiCookie::setCsHigh(bool enable) {
+    uncommonParameters.csHigh = enable;
+}
+
+void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
+    spiTransferStruct.cs_change = deselectCs;
+    spiTransferStruct.delay_usecs = delayUsecs;
+}
+
+void SpiCookie::assignReadBuffer(uint8_t* rx) {
+    if(rx != nullptr) {
+        spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
+    }
+}
+
+void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
+    if(tx != nullptr) {
+        spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
+    }
+}
+
+spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
+    return &spiTransferStruct;
+}
+
+void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) {
+    this->halfDuplex = halfDuplex;
+}
+
+bool SpiCookie::isFullDuplex() const {
+    return not this->halfDuplex;
+}
+
+void SpiCookie::assignTransferSize(size_t transferSize) {
+    spiTransferStruct.len = transferSize;
+}
+
+size_t SpiCookie::getCurrentTransferSize() const {
+    return spiTransferStruct.len;
+}

linux/spi/SpiCookie.h

@@ -0,0 +1,113 @@
+#ifndef LINUX_SPI_SPICOOKIE_H_
+#define LINUX_SPI_SPICOOKIE_H_
+
+#include "spiDefinitions.h"
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <linux/gpio/gpioDefinitions.h>
+#include <linux/spi/spidev.h>
+
+class SpiCookie: public CookieIF {
+public:
+
+    /**
+     * Each SPI device will have a corresponding cookie. The cookie is used by the communication
+     * interface and contains device specific information like the largest expected size to be
+     * sent and received and the GPIO pin used to toggle the SPI slave select pin.
+     * @param spiAddress
+     * @param chipSelect    Chip select. gpio::NO_GPIO can be used for hardware slave selects.
+     * @param spiDev
+     * @param maxSize
+     */
+    SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
+            const size_t maxReplySize, spi::SpiMode spiMode, uint32_t spiSpeed);
+
+    /**
+     * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
+     * slave select or if CS logic is performed with decoders.
+     */
+    SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
+            spi::SpiMode spiMode, uint32_t spiSpeed);
+
+    address_t getSpiAddress() const;
+    std::string getSpiDevice() const;
+    gpioId_t getChipSelectPin() const;
+    size_t getMaxBufferSize() const;
+    /**
+     * True if SPI transfers should be performed in full duplex mode
+     * @return
+     */
+    bool isFullDuplex() const;
+
+    /**
+     * Set transfer type to full duplex or half duplex. Full duplex is the default setting,
+     * ressembling common SPI hardware implementation with shift registers, where read and writes
+     * happen simultaneosly.
+     * @param fullDuplex
+     */
+    void setFullOrHalfDuplex(bool halfDuplex);
+
+    /**
+     * This needs to be called to specify where the SPI driver writes to or reads from.
+     * @param readLocation
+     * @param writeLocation
+     */
+    void assignReadBuffer(uint8_t* rx);
+    void assignWriteBuffer(const uint8_t* tx);
+    /**
+     * Assign size for the next transfer.
+     * @param transferSize
+     */
+    void assignTransferSize(size_t transferSize);
+    size_t getCurrentTransferSize() const;
+
+    struct UncommonParameters {
+        uint8_t bitsPerWord = 8;
+        bool noCs = false;
+        bool csHigh = false;
+        bool threeWireSpi = false;
+        /* MSB first is more common */
+        bool lsbFirst = false;
+    };
+
+    /**
+     * Can be used to explicitely disable hardware chip select.
+     * Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
+     * (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
+     * @param enable
+     */
+    void setNoCs(bool enable);
+    void setThreeWireSpi(bool enable);
+    void setLsbFirst(bool enable);
+    void setCsHigh(bool enable);
+    void setBitsPerWord(uint8_t bitsPerWord);
+
+    void getSpiParameters(spi::SpiMode& spiMode, uint32_t& spiSpeed,
+            UncommonParameters* parameters = nullptr) const;
+
+    /**
+     * See spidev.h cs_change and delay_usecs
+     * @param deselectCs
+     * @param delayUsecs
+     */
+    void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
+
+    spi_ioc_transfer* getTransferStructHandle();
+private:
+    size_t currentTransferSize = 0;
+
+    address_t spiAddress;
+    gpioId_t chipSelectPin;
+    std::string spiDevice;
+
+    const size_t maxSize;
+    spi::SpiMode spiMode;
+    uint32_t spiSpeed;
+    bool halfDuplex = false;
+
+    struct spi_ioc_transfer spiTransferStruct = {};
+    UncommonParameters uncommonParameters;
+};
+
+
+
+#endif /* LINUX_SPI_SPICOOKIE_H_ */

linux/spi/spiDefinitions.h

@@ -0,0 +1,15 @@
+#ifndef LINUX_SPI_SPIDEFINITONS_H_
+#define LINUX_SPI_SPIDEFINITONS_H_
+
+namespace spi {
+
+enum SpiMode {
+    MODE_0,
+    MODE_1,
+    MODE_2,
+    MODE_3
+};
+
+}
+
+#endif /* LINUX_SPI_SPIDEFINITONS_H_ */

linux/utility/CMakeLists.txt

@@ -0,0 +1,7 @@
+target_sources(${TARGET_NAME} PUBLIC
+    Utility.cpp
+)
+
+
+
+

linux/utility/Utility.cpp

@@ -0,0 +1,52 @@
+#include "Utility.h"
+
+void utility::handleIoctlError(const char* const customPrintout) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(customPrintout != nullptr) {
+        sif::warning << customPrintout << std::endl;
+    }
+    sif::warning << "handleIoctlError: Error code " << errno << ", "<< strerror(errno) <<
+            std::endl;
+#else
+    if(customPrintout != nullptr) {
+        sif::printWarning("%s\n", customPrintout);
+    }
+    sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+
+}
+
+utility::UnixFileHelper::UnixFileHelper(std::string device, int* fileDescriptor, int flags,
+        std::string diagnosticPrefix):
+        fileDescriptor(fileDescriptor) {
+    if(fileDescriptor == nullptr) {
+        return;
+    }
+    *fileDescriptor = open(device.c_str(), flags);
+    if (*fileDescriptor < 0) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << diagnosticPrefix <<"Opening device failed with error code " << errno <<
+                "." << std::endl;
+        sif::warning << "Error description: " << strerror(errno) << std::endl;
+#else
+        sif::printError("%sOpening device failed with error code %d.\n", diagnosticPrefix);
+        sif::printWarning("Error description: %s\n", strerror(errno));
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        openStatus = OPEN_FILE_FAILED;
+    }
+}
+
+utility::UnixFileHelper::~UnixFileHelper() {
+    if(fileDescriptor != nullptr) {
+        close(*fileDescriptor);
+    }
+}
+
+ReturnValue_t utility::UnixFileHelper::getOpenResult() const {
+    return openStatus;
+}
+

linux/utility/Utility.h

@@ -0,0 +1,36 @@
+#ifndef LINUX_UTILITY_UTILITY_H_
+#define LINUX_UTILITY_UTILITY_H_
+
+#include <cerrno>
+#include <cstring>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+#include <fcntl.h>
+#include <unistd.h>
+
+namespace utility {
+
+void handleIoctlError(const char* const customPrintout);
+
+class UnixFileHelper {
+public:
+    static constexpr int READ_WRITE_FLAG = O_RDWR;
+    static constexpr int READ_ONLY_FLAG = O_RDONLY;
+    static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
+
+    static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
+
+    UnixFileHelper(std::string device, int* fileDescriptor, int flags,
+            std::string diagnosticPrefix = "");
+
+    virtual~ UnixFileHelper();
+
+    ReturnValue_t getOpenResult() const;
+private:
+    int* fileDescriptor = nullptr;
+    ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
+};
+
+}
+
+#endif /* LINUX_UTILITY_UTILITY_H_ */

mission/core/GenericFactory.cpp

@@ -11,6 +11,7 @@
 #include <fsfw/pus/CService200ModeCommanding.h>
 #include <fsfw/pus/Service17Test.h>
 #include <fsfw/pus/Service1TelecommandVerification.h>
+#include <fsfw/pus/Service20ParameterManagement.h>
 #include <fsfw/pus/Service3Housekeeping.h>
 #include <fsfw/pus/Service2DeviceAccess.h>
 #include <fsfw/pus/Service5EventReporting.h>
@@ -78,6 +79,8 @@ void ObjectFactory::produceGenericObjects() {
             apid::EIVE_OBSW, pus::PUS_SERVICE_9);
     new Service17Test(objects::PUS_SERVICE_17_TEST, apid::EIVE_OBSW,
             pus::PUS_SERVICE_17);
+    new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, apid::EIVE_OBSW,
+            pus::PUS_SERVICE_20);
     new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT,
             apid::EIVE_OBSW, pus::PUS_SERVICE_200);
 

mission/devices/CMakeLists.txt

@@ -10,7 +10,6 @@ target_sources(${TARGET_NAME} PUBLIC
 	PDU1Handler.cpp
 	PDU2Handler.cpp
 	ACUHandler.cpp
-	HeaterHandler.cpp
 	SolarArrayDeploymentHandler.cpp
 )
 

mission/devices/MGMHandlerLIS3MDL.cpp

@@ -1,3 +1,4 @@
+#include <fsfw/datapool/PoolReadHelper.h>
 #include "MGMHandlerLIS3MDL.h"
 
 
@@ -8,7 +9,7 @@ MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
 #if OBSW_VERBOSE_LEVEL >= 1
     debugDivider = new PeriodicOperationDivider(10);
 #endif
-	// Set to default values right away.
+    /* Set to default values right away. */
     registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
     registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
     registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
@@ -23,22 +24,27 @@ MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
 
 void MGMHandlerLIS3MDL::doStartUp() {
     switch (internalState) {
-	case(InternalState::STATE_NONE):
+    case(InternalState::STATE_NONE): {
         internalState = InternalState::STATE_FIRST_CONTACT;
         break;
-
+    }
-	case(InternalState::STATE_FIRST_CONTACT):
+    case(InternalState::STATE_FIRST_CONTACT): {
-		internalState = InternalState::STATE_SETUP;
+        /* Will be set by checking device ID (WHO AM I register) */
-		break;
-
-	case(InternalState::STATE_SETUP):
-		internalState = InternalState::STATE_CHECK_REGISTERS;
-		break;
-
-	case(InternalState::STATE_CHECK_REGISTERS): {
-		// Set up cached registers which will be used to configure the MGM.
         if(commandExecuted) {
             commandExecuted = false;
+        }
+        internalState = InternalState::STATE_SETUP;
+        break;
+    }
+    case(InternalState::STATE_SETUP): {
+        internalState = InternalState::STATE_CHECK_REGISTERS;
+        break;
+    }
+    case(InternalState::STATE_CHECK_REGISTERS): {
+        /* Set up cached registers which will be used to configure the MGM. */
+        if(commandExecuted) {
+            commandExecuted = false;
+            /* Replace _MODE_TO_ON with MODE_NORMAL to jump to normal mode quickly */
             setMode(_MODE_TO_ON);
         }
         break;
@@ -72,12 +78,18 @@ ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
         *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
         break;
     }
-	default:
+    default: {
-		// might be a configuration error.
+        /* might be a configuration error. */
-		sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-				<< "internal state!" << std::endl;
+        sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
+                std::endl;
+#else
+        sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
         return HasReturnvaluesIF::RETURN_OK;
     }
+
+    }
     return buildCommandFromCommand(*id, NULL, 0);
 }
 
@@ -184,6 +196,13 @@ ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
         if (start[1] != registers[0] or start[2] != registers[1] or
                 start[3] != registers[2] or start[4] != registers[3] or
                 start[5] != registers[4]) {
+#if OBSW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
+#else
+            sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
+#endif
+#endif
             return DeviceHandlerIF::INVALID_DATA;
         }
         if(mode == _MODE_START_UP) {
@@ -202,12 +221,28 @@ ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
     else if (len == SINGLE_COMMAND_ANSWER_LEN) {
         *foundLen = len;
         *foundId = getPendingCommand();
+        if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
+            if(start[1] != MGMLIS3MDL::DEVICE_ID) {
+#if OBSW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
+#else
+                sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
+#endif
+#endif
+                return DeviceHandlerIF::INVALID_DATA;
+            }
+
+            if(mode == _MODE_START_UP) {
+                commandExecuted = true;
+            }
+        }
     }
     else {
         return DeviceHandlerIF::INVALID_DATA;
     }
 
-	// Data with SPI Interface has always this answer
+    /* Data with SPI Interface always has this answer */
     if (start[0] == 0b11111111) {
         return RETURN_OK;
     }
@@ -227,7 +262,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
         break;
     }
     case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
-		// TODO: Store configuration and sensor values in new local datasets.
+        // TODO: Store configuration in new local datasets.
 
         uint8_t scale = getFullScale(registers[2]);
         float sensitivityFactor = getSensitivityFactor(scale);
@@ -239,7 +274,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
         int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
                 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
 
-		// Target value in microtesla
+        /* Target value in microtesla */
         float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
                 *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
         float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
@@ -249,21 +284,27 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
 
 #if OBSW_VERBOSE_LEVEL >= 1
         if(debugDivider->checkAndIncrement()) {
+            /* Set terminal to utf-8 if there is an issue with micro printout. */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::info << "MGMHandlerLIS3: Magnetic field strength in"
                     " microtesla:" << std::endl;
-			// Set terminal to utf-8 if there is an issue with micro printout.
             sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl;
             sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl;
             sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl;
+#else
+            sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
+            sif::printInfo("X: %f " "\xC2\xB5" "T\n", mgmX);
+            sif::printInfo("Y: %f " "\xC2\xB5" "T\n", mgmY);
+            sif::printInfo("Z: %f " "\xC2\xB5" "T\n", mgmZ);
+#endif
         }
 #endif
-		ReturnValue_t result = dataset.read();
+        PoolReadHelper readHelper(&dataset);
-		if(result == HasReturnvaluesIF::RETURN_OK) {
+        if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
             dataset.fieldStrengthX = mgmX;
             dataset.fieldStrengthY = mgmY;
             dataset.fieldStrengthZ = mgmZ;
             dataset.setValidity(true, true);
-		    dataset.commit();
         }
         break;
     }
@@ -273,9 +314,13 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
         float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
 #if OBSW_VERBOSE_LEVEL >= 1
         if(debugDivider->check()) {
-			// Set terminal to utf-8 if there is an issue with micro printout.
+            /* Set terminal to utf-8 if there is an issue with micro printout. */
-			sif::info << "MGMHandlerLIS3: Temperature: " << tempValue<< " °C"
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-					<< std::endl;
+            sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " \xC2\xB0" << "C" <<
+                    std::endl;
+#else
+            sif::printInfo("MGMHandlerLIS3: Temperature: %f" "\xC2\xB0" "C\n");
+#endif
         }
 #endif
         ReturnValue_t result = dataset.read();
@@ -397,7 +442,6 @@ void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
 }
 
 ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
-
     commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
 
     for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
@@ -406,7 +450,7 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
     rawPacket = commandBuffer;
     rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
 
-	// We dont have to check if this is working because we just did it
+    /* We dont have to check if this is working because we just did it */
     return RETURN_OK;
 }
 
@@ -415,7 +459,7 @@ void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
 }
 
 uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
-	return 5000;
+    return 30000;
 }
 
 void MGMHandlerLIS3MDL::modeChanged(void) {
@@ -434,3 +478,6 @@ ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
             new PoolEntry<float>({0.0}));
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+void MGMHandlerLIS3MDL::performOperationHook() {
+}

mission/devices/MGMHandlerLIS3MDL.h

@@ -161,6 +161,8 @@ private:
     PeriodicOperationDivider* debugDivider;
 #endif
 
+    void performOperationHook() override;
+
 };
 
 #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

mission/devices/SolarArrayDeploymentHandler.cpp

@@ -1,14 +1,17 @@
-#include <mission/devices/SolarArrayDeploymentHandler.h>
+#include <devices/powerSwitcherList.h>
-#include <fsfwconfig/devices/powerSwitcherList.h>
-#include <fsfw/ipc/QueueFactory.h>
 #include <devices/gpioIds.h>
 
+#include <mission/devices/SolarArrayDeploymentHandler.h>
+#include <linux/gpio/GpioCookie.h>
+#include <fsfw/ipc/QueueFactory.h>
+
+
 SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_,
         object_id_t gpioDriverId_, CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_,
         uint8_t mainLineSwitch_, gpioId_t deplSA1, gpioId_t deplSA2, uint32_t burnTimeMs) :
-        SystemObject(setObjectId_), gpioDriverId(gpioDriverId_), gpioCookie(gpioCookie_), mainLineSwitcherObjectId(
+        SystemObject(setObjectId_), gpioDriverId(gpioDriverId_), gpioCookie(gpioCookie_),
-                mainLineSwitcherObjectId_), mainLineSwitch(mainLineSwitch_), deplSA1(deplSA1), deplSA2(
+        mainLineSwitcherObjectId(mainLineSwitcherObjectId_), mainLineSwitch(mainLineSwitch_),
-                deplSA2), burnTimeMs(burnTimeMs), actionHelper(this, nullptr) {
+        deplSA1(deplSA1), deplSA2(deplSA2), burnTimeMs(burnTimeMs), actionHelper(this, nullptr) {
     commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
             MessageQueueMessage::MAX_MESSAGE_SIZE);
 }
@@ -38,7 +41,7 @@ ReturnValue_t SolarArrayDeploymentHandler::initialize() {
         return ObjectManagerIF::CHILD_INIT_FAILED;
     }
 
-    result = gpioInterface->initialize(gpioCookie);
+    result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
     if (result != RETURN_OK) {
         sif::error << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface"
                 << std::endl;

mission/devices/SolarArrayDeploymentHandler.h

@@ -1,6 +1,8 @@
 #ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
 #define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
 
+#include <linux/gpio/GpioIF.h>
+
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@@ -9,7 +11,7 @@
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/timemanager/Countdown.h>
-#include <linux/gpio/GpioIF.h>
+
 #include <unordered_map>
 
 /**
@@ -115,7 +117,7 @@ private:
     gpioId_t deplSA1;
     gpioId_t deplSA2;
 
-    GpioIF* gpioInterface;
+    GpioIF* gpioInterface = nullptr;
 
     /** Time duration switches are active to cut the burn wire */
     uint32_t burnTimeMs;

mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h

@@ -24,11 +24,11 @@ static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
 static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
 static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
 
-//Number of all control registers
+/* Number of all control registers */
 static const uint8_t NR_OF_CTRL_REGISTERS = 5;
-//Number of registers in the MGM
+/* Number of registers in the MGM */
 static const uint8_t NR_OF_REGISTERS = 19;
-//Total number of adresses for all registers
+/* Total number of adresses for all registers */
 static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
 static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
 static const uint8_t TEMPERATURE_REPLY_LEN = 3;
@@ -37,47 +37,47 @@ static const uint8_t SETUP_REPLY_LEN = 6;
 /*------------------------------------------------------------------------*/
 /* Register adresses */
 /*------------------------------------------------------------------------*/
-// Register adress returns identifier of device with default 0b00111101
+/* Register adress returns identifier of device with default 0b00111101 */
 static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
 static const uint8_t DEVICE_ID = 0b00111101;            // Identifier for Device
 
-//Register adress to access register 1
+/* Register adress to access register 1 */
 static const uint8_t CTRL_REG1 = 0b00100000;
-//Register adress to access register 2
+/* Register adress to access register 2 */
 static const uint8_t CTRL_REG2 = 0b00100001;
-//Register adress to access register 3
+/* Register adress to access register 3 */
 static const uint8_t CTRL_REG3 = 0b00100010;
-//Register adress to access register 4
+/* Register adress to access register 4 */
 static const uint8_t CTRL_REG4 = 0b00100011;
-//Register adress to access register 5
+/* Register adress to access register 5 */
 static const uint8_t CTRL_REG5 = 0b00100100;
 
-//Register adress to access status register
+/* Register adress to access status register */
 static const uint8_t STATUS_REG_IDX = 8;
 static const uint8_t STATUS_REG = 0b00100111;
 
- //Register adress to access low byte of x-axis
+/* Register adress to access low byte of x-axis */
 static const uint8_t X_LOWBYTE_IDX = 9;
 static const uint8_t X_LOWBYTE = 0b00101000;
-//Register adress to access high byte of x-axis
+/* Register adress to access high byte of x-axis */
 static const uint8_t X_HIGHBYTE_IDX = 10;
 static const uint8_t X_HIGHBYTE = 0b00101001;
-//Register adress to access low byte of y-axis
+/* Register adress to access low byte of y-axis */
 static const uint8_t Y_LOWBYTE_IDX = 11;
 static const uint8_t Y_LOWBYTE = 0b00101010;
-//Register adress to access high byte of y-axis
+/* Register adress to access high byte of y-axis */
 static const uint8_t Y_HIGHBYTE_IDX = 12;
 static const uint8_t Y_HIGHBYTE = 0b00101011;
-//Register adress to access low byte of z-axis
+/* Register adress to access low byte of z-axis */
 static const uint8_t Z_LOWBYTE_IDX = 13;
 static const uint8_t Z_LOWBYTE = 0b00101100;
-//Register adress to access high byte of z-axis
+/* Register adress to access high byte of z-axis */
 static const uint8_t Z_HIGHBYTE_IDX = 14;
 static const uint8_t Z_HIGHBYTE = 0b00101101;
 
-//Register adress to access low byte of temperature sensor
+/* Register adress to access low byte of temperature sensor */
 static const uint8_t TEMP_LOWBYTE = 0b00101110;
-//Register adress to access high byte of temperature sensor
+/* Register adress to access high byte of temperature sensor */
 static const uint8_t TEMP_HIGHBYTE = 0b00101111;
 
 /*------------------------------------------------------------------------*/

mission/utility/InitMission.h

@@ -0,0 +1,22 @@
+#ifndef MISSION_UTILITY_INITMISSION_H_
+#define MISSION_UTILITY_INITMISSION_H_
+
+#include <fsfw/objectmanager/SystemObjectIF.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+namespace initmission {
+
+void printAddObjectError(const char* name, object_id_t objectId) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "InitMission::printAddError: Adding object " << name << " with object ID 0x"
+            << std::hex << std::setfill('0') << std::setw(8) << objectId
+            << " failed!" << std::dec << std::endl;
+#else
+    sif::printError("InitMission::printAddError: Adding object %s with object ID 0x%08x failed!\n" ,
+            name, objectId);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+}
+
+}
+
+#endif /* MISSION_UTILITY_INITMISSION_H_ */

test/testtasks/TestTask.cpp

@@ -8,14 +8,9 @@
 #include <array>
 #include <cstring>
 
-bool TestTask::oneShotAction = true;
-MutexIF* TestTask::testLock = nullptr;
 
 TestTask::TestTask(object_id_t objectId_):
 	SystemObject(objectId_), testMode(testModes::A) {
-	if(testLock == nullptr) {
-		testLock = MutexFactory::instance()->createMutex();
-	}
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 }
 
@@ -24,19 +19,17 @@ TestTask::~TestTask() {
 
 ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
 	ReturnValue_t result = RETURN_OK;
-	sif::info << "Hallo EIVE!" << std::endl;
+
-	testLock ->lockMutex(MutexIF::TimeoutType::WAITING, 20);
 	if(oneShotAction) {
-		// Add code here which should only be run once
+		/* Add code here which should only be run once */
 		performOneShotAction();
 		oneShotAction = false;
 	}
-	testLock->unlockMutex();
 
-	// Add code here which should only be run once per performOperation
+	/* Add code here which should only be run once per performOperation */
 	performPeriodicAction();
 
-	// Add code here which should only be run on alternating cycles.
+	/* Add code here which should only be run on alternating cycles. */
 	if(testMode == testModes::A) {
 		performActionA();
 		testMode = testModes::B;
@@ -49,7 +42,7 @@ ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
 }
 
 ReturnValue_t TestTask::performOneShotAction() {
-	// Everything here will only be performed once.
+	/* Everything here will only be performed once. */
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -61,12 +54,12 @@ ReturnValue_t TestTask::performPeriodicAction() {
 
 ReturnValue_t TestTask::performActionA() {
 	ReturnValue_t result = RETURN_OK;
-	// Add periodically executed code here
+	/* Add periodically executed code here */
 	return result;
 }
 
 ReturnValue_t TestTask::performActionB() {
 	ReturnValue_t result = RETURN_OK;
-	// Add periodically executed code here
+	/* Add periodically executed code here */
 	return result;
 }

test/testtasks/TestTask.h

@@ -48,8 +48,7 @@ protected:
 private:
 	// Actually, to be really thread-safe, a mutex should be used as well
 	// Let's keep it simple for now.
-	static bool oneShotAction;
+	bool oneShotAction = true;
-	static MutexIF* testLock;
 	StorageManagerIF* IPCStore;
 };
 

tmtc

@@ -1 +1 @@
-Subproject commit 1d5fe4ebc7165c2a4979c5f9be9cfa0324e366fb
+Subproject commit 90c45ea0c77f04677322b3c8c9077db841fc3129