bsp_linux_board/ObjectFactory.cpp

@@ -9,6 +9,7 @@
 #include "fsfw/tmtcpacket/pus/tm.h"
 #include "fsfw/tmtcservices/CommandingServiceBase.h"
 #include "fsfw/tmtcservices/PusServiceBase.h"
+#include "linux/ObjectFactory.h"
 #include "linux/boardtest/LibgpiodTest.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
@@ -63,38 +64,44 @@ void ObjectFactory::produce(void* args) {
   GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
   GpioCookie* gpioCookie = nullptr;
   static_cast<void>(gpioCookie);
-
+  std::string spiDev = "/dev/spidev0.1";
-  new SpiComIF(objects::SPI_COM_IF, gpioIF);
+  SpiComIF* spiComIF = new SpiComIF(objects::SPI_COM_IF, gpioIF);
-
+  static_cast<void>(spiComIF);
-  std::string spiDev;
-  SpiCookie* spiCookie = nullptr;
-  static_cast<void>(spiCookie);
 
 #if OBSW_ADD_ACS_BOARD == 1
-  if (gpioCookie == nullptr) {
+  createRpiAcsBoard(gpioIF, spiDev);
-    gpioCookie = new GpioCookie();
+#endif
-  }
+
+#if OBSW_ADD_SUN_SENSORS == 1
+  createSunSensorComponents(gpioIF, spiComIF, nullptr, spiDev);
+#endif
+
+#if OBSW_ADD_TEST_CODE == 1
+  createTestTasks();
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+}
+
+void ObjectFactory::createRpiAcsBoard(GpioIF* gpioIF, std::string spiDev) {
+  GpioCookie* gpioCookie = new GpioCookie();
   // TODO: Missing pin for Gyro 2
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
-                            "MGM_1_RM3100", gpio::Direction::OUT, 1);
+                            "MGM_1_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
-                            "MGM_3_RM3100", gpio::Direction::OUT, 1);
+                            "MGM_3_RM3100", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
-                            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
+                            "GYRO_0_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
-                            "GYRO_2_ADIS", gpio::Direction::OUT, 1);
+                            "GYRO_2_ADIS", gpio::Direction::OUT, gpio::Levels::HIGH);
   gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
-                            gpio::Direction::OUT, 1);
+                            gpio::Direction::OUT, gpio::Levels::HIGH);
   gpioIF->addGpios(gpioCookie);
-
+  SpiCookie* spiCookie =
-  spiDev = "/dev/spidev0.1";
-  spiCookie =
       new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
                     MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
   auto mgmLis3Handler =
@@ -136,9 +143,9 @@ void ObjectFactory::produce(void* args) {
 
   spiCookie =
       new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-                    ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  auto adisHandler =
+  auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
-      new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
+                                              spiCookie, ADIS1650X::Type::ADIS16505);
   adisHandler->setStartUpImmediately();
   spiCookie =
       new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
@@ -152,9 +159,9 @@ void ObjectFactory::produce(void* args) {
 
   spiCookie =
       new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
-                    ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+                    ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-  adisHandler =
+  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
-      new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
+                                         spiCookie, ADIS1650X::Type::ADIS16505);
   adisHandler->setStartUpImmediately();
 
   spiCookie =
@@ -166,12 +173,6 @@ void ObjectFactory::produce(void* args) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
   gyroL3gHandler->setToGoToNormalMode(true);
 #endif
-
-#endif /* RPI_TEST_ACS_BOARD == 1 */
-
-#if OBSW_ADD_TEST_CODE == 1
-  createTestTasks();
-#endif /* OBSW_ADD_TEST_CODE == 1 */
 }
 
 void ObjectFactory::createTestTasks() {

bsp_linux_board/ObjectFactory.h

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

bsp_q7s/callbacks/CMakeLists.txt

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

bsp_q7s/callbacks/gpioCallbacks.cpp

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

bsp_q7s/callbacks/q7sGpioCallbacks.cpp

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

bsp_q7s/callbacks/q7sGpioCallbacks.h

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

bsp_q7s/core/ObjectFactory.cpp

@@ -1,22 +1,10 @@
 #include "ObjectFactory.h"
 
-#include <fsfw/ipc/QueueFactory.h>
-#include <linux/obc/AxiPtmeConfig.h>
-#include <linux/obc/PapbVcInterface.h>
-#include <linux/obc/PdecHandler.h>
-#include <linux/obc/Ptme.h>
-#include <linux/obc/PtmeConfig.h>
-#include <mission/system/AcsBoardFdir.h>
-#include <mission/system/RtdFdir.h>
-#include <mission/system/SusAssembly.h>
-#include <mission/system/SusFdir.h>
-#include <mission/system/TcsBoardAssembly.h>
-
 #include "OBSWConfig.h"
 #include "bsp_q7s/boardtest/Q7STestTask.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
-#include "bsp_q7s/callbacks/gpioCallbacks.h"
 #include "bsp_q7s/callbacks/pcduSwitchCb.h"
+#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
 #include "bsp_q7s/callbacks/rwSpiCallback.h"
 #include "bsp_q7s/core/CoreController.h"
 #include "bsp_q7s/devices/PlocMemoryDumper.h"
@@ -29,15 +17,28 @@
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "devices/powerSwitcherList.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "linux/ObjectFactory.h"
 #include "linux/boardtest/I2cTestClass.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
+#include "linux/callbacks/gpioCallbacks.h"
 #include "linux/csp/CspComIF.h"
 #include "linux/csp/CspCookie.h"
 #include "linux/devices/GPSHyperionLinuxController.h"
 #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "linux/devices/startracker/StarTrackerHandler.h"
 #include "linux/devices/startracker/StrHelper.h"
+#include "linux/obc/AxiPtmeConfig.h"
+#include "linux/obc/PapbVcInterface.h"
+#include "linux/obc/PdecHandler.h"
+#include "linux/obc/Ptme.h"
+#include "linux/obc/PtmeConfig.h"
+#include "mission/system/AcsBoardFdir.h"
+#include "mission/system/RtdFdir.h"
+#include "mission/system/SusAssembly.h"
+#include "mission/system/SusFdir.h"
+#include "mission/system/TcsBoardAssembly.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
 
@@ -137,10 +138,10 @@ void ObjectFactory::produce(void* args) {
 #if BOARD_TE0720 == 0
   new CoreController(objects::CORE_CONTROLLER);
 
-  gpioCallbacks::disableAllDecoder();
+  gpioCallbacks::disableAllDecoder(gpioComIF);
   createPcduComponents(gpioComIF, &pwrSwitcher);
   createRadSensorComponent(gpioComIF);
-  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher);
+  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
 
 #if OBSW_ADD_ACS_BOARD == 1
   createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
@@ -264,7 +265,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua
 
 #if BOARD_TE0720 == 0
   /* Adding gpios for chip select decoding to the gpioComIf */
-  gpioCallbacks::initSpiCsDecoder(*gpioComIF);
+  q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
 #endif
 }
 
@@ -326,161 +327,6 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
 #endif
 }
 
-void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                                              PowerSwitchIF* pwrSwitcher) {
-  using namespace gpio;
-  GpioCookie* gpioCookieSus = new GpioCookie();
-  GpioCallback* susgpio = nullptr;
-
-  susgpio = new GpioCallback("Chip select SUS 0", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_0, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 1", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 2", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 3", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 4", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 5", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 6", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 7", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 8", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 9", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 10", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
-  susgpio = new GpioCallback("Chip select SUS 11", Direction::OUT, Levels::HIGH,
-                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
-  gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
-
-  gpioComIF->addGpios(gpioCookieSus);
-
-  SusFdir* fdir = nullptr;
-  std::array<SusHandler*, 12> susHandlers = {};
-#if OBSW_ADD_SUN_SENSORS == 1
-  SpiCookie* spiCookie =
-      new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, q7s::SPI_DEFAULT_DEV, SUS::MAX_CMD_SIZE,
-                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_0);
-  susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[0]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_1);
-  susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[1]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_2);
-  susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[2]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, std::string(q7s::SPI_DEFAULT_DEV),
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_3);
-  susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[3]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, std::string(q7s::SPI_DEFAULT_DEV),
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_4);
-  susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[4]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, std::string(q7s::SPI_DEFAULT_DEV),
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_5);
-  susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[5]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_6);
-  susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[6]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_7);
-  susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[7]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_8);
-  susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[8]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_9);
-  susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[9]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_10);
-  susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[10]->setCustomFdir(fdir);
-
-  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, q7s::SPI_DEFAULT_DEV,
-                            SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
-  susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
-  fdir = new SusFdir(objects::SUS_11);
-  susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
-  susHandlers[11]->setCustomFdir(fdir);
-
-  for (auto& sus : susHandlers) {
-    if (sus != nullptr) {
-#if OBSW_TEST_SUS == 1
-      sus->setStartUpImmediately();
-      sus->setToGoToNormalMode(true);
-#endif
-#if OBSW_DEBUG_SUS == 1
-      sus->enablePeriodicPrintout(true, 3);
-#endif
-    }
-  }
-  std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1,  objects::SUS_2,
-                                        objects::SUS_3, objects::SUS_4,  objects::SUS_5,
-                                        objects::SUS_6, objects::SUS_7,  objects::SUS_8,
-                                        objects::SUS_9, objects::SUS_10, objects::SUS_11};
-  SusAssHelper susAssHelper = SusAssHelper(susIds);
-  auto susAss =
-      new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
-  static_cast<void>(susAss);
-#endif /* OBSW_ADD_SUN_SENSORS == 1 */
-}
-
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                                              PowerSwitchIF* pwrSwitcher) {
   using namespace gpio;

bsp_q7s/core/ObjectFactory.h

@@ -18,8 +18,6 @@ void createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher
 void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF);
 void createTmpComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
-void createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
-                               PowerSwitchIF* pwrSwitcher);
 void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                               PowerSwitchIF* pwrSwitcher);
 void createHeaterComponents();

linux/CMakeLists.txt

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

linux/ObjectFactory.cpp

@@ -0,0 +1,172 @@
+#include "ObjectFactory.h"
+
+#include <fsfw/power/PowerSwitchIF.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
+#include <linux/callbacks/gpioCallbacks.h>
+#include <mission/devices/SusHandler.h>
+#include <mission/system/SusAssembly.h>
+#include <mission/system/SusFdir.h>
+
+#include "OBSWConfig.h"
+#include "devConf.h"
+#include "devices/addresses.h"
+#include "devices/gpioIds.h"
+
+void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
+                                              PowerSwitchIF* pwrSwitcher, std::string spiDev) {
+  using namespace gpio;
+  GpioCookie* gpioCookieSus = new GpioCookie();
+  GpioCallback* susgpio = nullptr;
+
+  susgpio = new GpioCallback("Chip select SUS 0", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_0, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 1", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 2", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 3", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 4", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 5", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 6", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 7", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 8", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 9", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 10", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
+  susgpio = new GpioCallback("Chip select SUS 11", Direction::OUT, Levels::HIGH,
+                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+  gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
+
+  gpioComIF->addGpios(gpioCookieSus);
+
+#if OBSW_ADD_SUN_SENSORS == 1
+  SusFdir* fdir = nullptr;
+  std::array<SusHandler*, 12> susHandlers = {};
+  SpiCookie* spiCookie =
+      new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, spiDev, SUS::MAX_CMD_SIZE,
+                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[0] = new SusHandler(objects::SUS_0, 0, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_0);
+  susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[0]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[1] = new SusHandler(objects::SUS_1, 1, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_1);
+  susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[1]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[2] = new SusHandler(objects::SUS_2, 2, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_2);
+  susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[2]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[3] = new SusHandler(objects::SUS_3, 3, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_3);
+  susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[3]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[4] = new SusHandler(objects::SUS_4, 4, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_4);
+  susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[4]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[5] = new SusHandler(objects::SUS_5, 5, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_5);
+  susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[5]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[6] = new SusHandler(objects::SUS_6, 6, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_6);
+  susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[6]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[7] = new SusHandler(objects::SUS_7, 7, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_7);
+  susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[7]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[8] = new SusHandler(objects::SUS_8, 8, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_8);
+  susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[8]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[9] = new SusHandler(objects::SUS_9, 9, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_9);
+  susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[9]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[10] = new SusHandler(objects::SUS_10, 10, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_10);
+  susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[10]->setCustomFdir(fdir);
+
+  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, spiDev, SUS::MAX_CMD_SIZE,
+                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  susHandlers[11] = new SusHandler(objects::SUS_11, 11, objects::SPI_COM_IF, spiCookie);
+  fdir = new SusFdir(objects::SUS_11);
+  susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
+  susHandlers[11]->setCustomFdir(fdir);
+
+  for (auto& sus : susHandlers) {
+    if (sus != nullptr) {
+#if OBSW_TEST_SUS == 1
+      sus->setStartUpImmediately();
+      sus->setToGoToNormalMode(true);
+#endif
+#if OBSW_DEBUG_SUS == 1
+      sus->enablePeriodicPrintout(true, 3);
+#endif
+    }
+  }
+  std::array<object_id_t, 12> susIds = {objects::SUS_0, objects::SUS_1,  objects::SUS_2,
+                                        objects::SUS_3, objects::SUS_4,  objects::SUS_5,
+                                        objects::SUS_6, objects::SUS_7,  objects::SUS_8,
+                                        objects::SUS_9, objects::SUS_10, objects::SUS_11};
+  SusAssHelper susAssHelper = SusAssHelper(susIds);
+  auto susAss =
+      new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
+  static_cast<void>(susAss);
+#endif /* OBSW_ADD_SUN_SENSORS == 1 */
+}

linux/ObjectFactory.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include <string>
+
+class GpioIF;
+class SpiComIF;
+class PowerSwitchIF;
+
+namespace ObjectFactory {
+
+void createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher,
+                               std::string spiDev);
+
+}

linux/callbacks/CMakeLists.txt

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

linux/callbacks/gpioCallbacks.cpp

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

linux/callbacks/gpioCallbacks.h

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

linux/fsfwconfig/OBSWConfig.h.in

@@ -127,6 +127,7 @@ debugging. */
 #define OBSW_ADD_SUN_SENSORS                        0
 #define OBSW_ADD_MGT                                0
 #define OBSW_ADD_ACS_BOARD                          0
+#define OBSW_ADD_ACS_HANDLERS                       0
 #define OBSW_ADD_GPS_0                              0
 #define OBSW_ADD_GPS_1                              0
 #define OBSW_ADD_RW                                 0