bsp_q7s/core/ObjectFactory.cpp

@@ -44,10 +44,6 @@
 #include "linux/csp/CspComIF.h"
 #include "linux/csp/CspCookie.h"
 #include "linux/devices/GPSHyperionLinuxController.h"
-#include "linux/devices/PayloadPcduHandler.h"
-#include "linux/devices/SolarArrayDeploymentHandler.h"
-#include "linux/devices/SusHandler.h"
-#include "linux/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/ACUHandler.h"
 #include "mission/devices/BpxBatteryHandler.h"
@@ -59,9 +55,12 @@
 #include "mission/devices/PCDUHandler.h"
 #include "mission/devices/PDU1Handler.h"
 #include "mission/devices/PDU2Handler.h"
+#include "mission/devices/PayloadPcduHandler.h"
 #include "mission/devices/PlocMPSoCHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
+#include "mission/devices/SolarArrayDeploymentHandler.h"
+#include "mission/devices/SusHandler.h"
 #include "mission/devices/SyrlinksHkHandler.h"
 #include "mission/devices/Tmp1075Handler.h"
 #include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
@@ -69,6 +68,7 @@
 #include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h"
 #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
+#include "mission/devices/devicedefinitions/SusDefinitions.h"
 #include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
 #include "mission/tmtc/CCSDSHandler.h"

linux/devices/CMakeLists.txt

@@ -1,7 +1,4 @@
 target_sources(${OBSW_NAME} PRIVATE
-	SolarArrayDeploymentHandler.cpp
-	SusHandler.cpp
-	PayloadPcduHandler.cpp
 )
 
 if(EIVE_BUILD_GPSD_GPS_HANDLER)

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -6,7 +6,7 @@
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
 #include "OBSWConfig.h"
-#include "linux/devices/SusHandler.h"
+#include "mission/devices/SusHandler.h"
 #include "objects/systemObjectList.h"
 
 ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) {

mission/devices/CMakeLists.txt

@@ -16,4 +16,7 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
     GyroADIS1650XHandler.cpp
     RwHandler.cpp
     max1227.cpp
+    SusHandler.cpp
+    PayloadPcduHandler.cpp
+    SolarArrayDeploymentHandler.cpp
 )

mission/devices/PayloadPcduHandler.cpp

@@ -1,11 +1,14 @@
 #include "PayloadPcduHandler.h"
 
 #include <fsfw/src/fsfw/datapool/PoolReadGuard.h>
+
+#ifdef FSFW_OSAL_LINUX
 #include <fsfw_hal/linux/UnixFileGuard.h>
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <fsfw_hal/linux/utility.h>
 #include <sys/ioctl.h>
+#endif
 
 #include "devices/gpioIds.h"
 
@@ -315,6 +318,7 @@ void PayloadPcduHandler::stateMachineToNormal() {
   }
 }
 
+#ifdef FSFW_OSAL_LINUX
 ReturnValue_t PayloadPcduHandler::extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
                                                        const uint8_t* sendData, size_t sendLen,
                                                        void* args) {
@@ -443,3 +447,4 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
+#endif

mission/devices/PayloadPcduHandler.h

@@ -5,11 +5,14 @@
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <fsfw/timemanager/Countdown.h>
 
+#include "fsfw/FSFW.h"
 #include "fsfw_hal/common/gpio/GpioIF.h"
 #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
 
+#ifdef FSFW_OSAL_LINUX
 class SpiComIF;
 class SpiCookie;
+#endif
 
 /**
  * @brief Device handler for the EIVE Payload PCDU
@@ -35,8 +38,11 @@ class PayloadPcduHandler : public DeviceHandlerBase {
 
   static ReturnValue_t extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
                                             const uint8_t* sendData, size_t sendLen, void* args);
+
+#ifdef FSFW_OSAL_LINUX
   static ReturnValue_t transferAsTwo(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                                      size_t sendLen, bool tempOnly);
+#endif
 
  private:
   enum class States {

mission/devices/SusHandler.cpp

@@ -2,7 +2,6 @@
 
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/globalfunctions/arrayprinter.h>
-#include <fsfw_hal/linux/spi/SpiComIF.h>
 
 #include "OBSWConfig.h"
 
@@ -28,11 +27,11 @@ void SusHandler::doStartUp() {
   }
   if (comState == ComStates::WRITE_SETUP) {
     if (commandExecuted) {
-#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
+      if (goToNormalModeImmediately) {
-      setMode(MODE_NORMAL);
+        setMode(_MODE_TO_NORMAL);
-#else
+      } else {
-      setMode(_MODE_TO_ON);
+        setMode(_MODE_TO_ON);
-#endif
+      }
       commandExecuted = false;
       if (clkMode == ClkModes::INT_CLOCKED) {
         comState = ComStates::START_INT_CLOCKED_CONVERSIONS;
@@ -170,23 +169,17 @@ ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8
       PoolReadGuard readSet(&dataset);
 
       dataset.temperatureCelcius = static_cast<int16_t>((packet[0] << 8) | packet[1]) * 0.125;
-      dataset.ain0 = (*(packet + 2) << 8 | *(packet + 3));
+      for (uint8_t idx = 0; idx < 6; idx++) {
-      dataset.ain1 = (*(packet + 4) << 8 | *(packet + 5));
+        dataset.channels[idx] = packet[idx * 2 + 2] << 8 | packet[idx * 2 + 3];
-      dataset.ain2 = (*(packet + 6) << 8 | *(packet + 7));
+      }
-      dataset.ain3 = (*(packet + 8) << 8 | *(packet + 9));
-      dataset.ain4 = (*(packet + 10) << 8 | *(packet + 11));
-      dataset.ain5 = (*(packet + 12) << 8 | *(packet + 13));
       printDataset();
       break;
     }
     case (SUS::READ_EXT_TIMED_CONVERSIONS): {
       PoolReadGuard readSet(&dataset);
-      dataset.ain0 = (packet[1] << 8) | packet[2];
+      for (uint8_t idx = 0; idx < 6; idx++) {
-      dataset.ain1 = (packet[3] << 8) | packet[4];
+        dataset.channels[idx] = packet[idx * 2 + 1] << 8 | packet[idx * 2 + 2];
-      dataset.ain2 = (packet[5] << 8) | packet[6];
+      }
-      dataset.ain3 = (packet[7] << 8) | packet[8];
-      dataset.ain4 = (packet[9] << 8) | packet[10];
-      dataset.ain5 = (packet[11] << 8) | packet[12];
       // Read temperature in next read cycle
       if (clkMode == ClkModes::EXT_CLOCKED_WITH_TEMP) {
         comState = ComStates::EXT_CLOCKED_TEMP;
@@ -213,13 +206,8 @@ uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retu
 
 ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                   LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(SUS::TEMPERATURE_C, new PoolEntry<float>({0.0}));
+  localDataPoolMap.emplace(SUS::TEMPERATURE_C, &tempC);
-  localDataPoolMap.emplace(SUS::AIN0, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(SUS::CHANNEL_VEC, &channelVec);
-  localDataPoolMap.emplace(SUS::AIN1, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(SUS::AIN2, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(SUS::AIN3, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(SUS::AIN4, new PoolEntry<uint16_t>({0}));
-  localDataPoolMap.emplace(SUS::AIN5, new PoolEntry<uint16_t>({0}));
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -228,15 +216,14 @@ void SusHandler::setToGoToNormalMode(bool enable) { this->goToNormalModeImmediat
 void SusHandler::printDataset() {
   if (periodicPrintout) {
     if (divider.checkAndIncrement()) {
-      sif::info << "SUS " << std::setw(2) << std::dec << static_cast<int>(susIdx) << " ID "
+      sif::info << "SUS ADC hex [" << std::setfill('0') << std::hex;
-                << std::hex << "0x" << this->getObjectId() << " [" << std::hex << std::setw(3);
+      for (uint8_t idx = 0; idx < 6; idx++) {
-      sif::info << dataset.ain0 << ",";
+        sif::info << std::setw(3) << dataset.channels[idx];
-      sif::info << dataset.ain1 << ",";
+        if (idx < 6 - 1) {
-      sif::info << dataset.ain2 << ",";
+          sif::info << ",";
-      sif::info << dataset.ain3 << ",";
+        }
-      sif::info << dataset.ain4 << ",";
+      }
-      sif::info << dataset.ain5 << "] ";
+      sif::info << "] | T[C] " << std::dec << dataset.temperatureCelcius.value << std::endl;
-      sif::info << "T[C] " << dataset.temperatureCelcius << " C" << std::endl;
     }
   }
 }

mission/devices/SusHandler.h

@@ -76,6 +76,8 @@ class SusHandler : public DeviceHandlerBase {
   // Read temperature in each alternating communication step when using
   // externally clocked mode
   ClkModes clkMode = ClkModes::INT_CLOCKED;
+  PoolEntry<float> tempC = PoolEntry<float>({0.0});
+  PoolEntry<uint16_t> channelVec = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0});
 
   uint8_t susIdx = 0;
   uint8_t cmdBuffer[SUS::MAX_CMD_SIZE];

mission/devices/devicedefinitions/SusDefinitions.h

@@ -61,15 +61,7 @@ static const uint8_t MAX_CMD_SIZE = 32;
 
 static const uint8_t POOL_ENTRIES = 7;
 
-enum Max1227PoolIds : lp_id_t {
+enum Max1227PoolIds : lp_id_t { TEMPERATURE_C, CHANNEL_VEC };
-  TEMPERATURE_C,
-  AIN0,
-  AIN1,
-  AIN2,
-  AIN3,
-  AIN4,
-  AIN5,
-};
 
 class SusDataset : public StaticLocalDataSet<POOL_ENTRIES> {
  public:
@@ -78,12 +70,7 @@ class SusDataset : public StaticLocalDataSet<POOL_ENTRIES> {
   SusDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SUS_DATA_SET_ID)) {}
 
   lp_var_t<float> temperatureCelcius = lp_var_t<float>(sid.objectId, TEMPERATURE_C, this);
-  lp_var_t<uint16_t> ain0 = lp_var_t<uint16_t>(sid.objectId, AIN0, this);
+  lp_vec_t<uint16_t, 6> channels = lp_vec_t<uint16_t, 6>(sid.objectId, CHANNEL_VEC, this);
-  lp_var_t<uint16_t> ain1 = lp_var_t<uint16_t>(sid.objectId, AIN1, this);
-  lp_var_t<uint16_t> ain2 = lp_var_t<uint16_t>(sid.objectId, AIN2, this);
-  lp_var_t<uint16_t> ain3 = lp_var_t<uint16_t>(sid.objectId, AIN3, this);
-  lp_var_t<uint16_t> ain4 = lp_var_t<uint16_t>(sid.objectId, AIN4, this);
-  lp_var_t<uint16_t> ain5 = lp_var_t<uint16_t>(sid.objectId, AIN5, this);
 };
 }  // namespace SUS